Computer Animation: CGVR - Korea.ac - KR

Graphics
Computer Animation
고려대학교 컴퓨터 그래픽스 연구실
cgvr.korea.ac.kr 1 Graphics Lab @ Korea University

Computer Animation CGVR
 What is Animation?
 Make objects change over time
according to scripted actions
 What is Simulation?
 Predict how objects change over
time according to physical laws

Outline
CGVR
 Principles of Animation
 Keyframe Animation
 Articulated Figures

Principle of Traditional
Animation – Disney – CGVR
 Squash and Stretch

 Slow In and Out
 Anticipation
 Exaggeration
 Follow Through and Overlapping Action
 Timing
 Staging
 Straight Ahead Action and Pose-to-Pose Action
 Arcs
 Secondary Action
 Appeal

Squash and Stretch
CGVR
Stretch
Squash

Slow In and Out
CGVR

Anticipation
CGVR

Computer Animation
CGVR
 Animation Pipeline
 3D modeling
 Motion specification
 Motion simulation
 Shading, lighting, & rendering
 Postprocessing

Outline
CGVR

Keyframe Animation
CGVR
 Define Character Poses at Specific Time

Steps Called “Keyframes”

Keyframe Animation
CGVR
 Interpolate Variables Describing Keyframes

to Determine Poses for Character in between

Inbetweening
CGVR
 Linear Interpolation
 Usually not enough continuity

Inbetweening
CGVR
 Spline Interpolation
 Maybe good enough

Inbetweening
CGVR
 May not follow physical laws

Inbetweening
CGVR
 May not follow physical laws

Inbetweening
CGVR
 Inverse Kinematics or Dynamics

Outline
CGVR

Articulated Figures
CGVR
 Character Poses Described by Set of Rigid

Bodies Connected by “Joints”
Base
Arm
Hand
Scene Graph

Articulated Figures
CGVR
 Well-Suited for Humanoid Characters

Articulated Figures
CGVR
 Joints Provide Handles for Moving

Articulated Figure

Inbetweening
CGVR
 Compute Joint Angles between Keyframes

 consider the length constancy
Right Wrong

Example: Walk Cycle
CGVR
 Articulated Figure:
Hip Upper Leg (Hip Rotate)
Upper Leg Hip Rotate

Knee
Lower Leg (Knee Rotate)
Lower Leg Hip Rotate + Knee Rotate
Ankle Foot (Ankle Rotate)

Foot

Example: Walk Cycle
CGVR
 Hip Joint Orientation:

Example: Walk Cycle
CGVR
 Knee Joint Orientation:

Example: Walk Cycle
CGVR
 Ankle Joint Orientation:

Challenge of Animation
CGVR
 Temporal Aliasing
 Motion blur

Temporal Ailasing
CGVR
 Artifacts due to Limited Temporal Resolution

 Strobing
 Flickering

Temporal Ailasing
CGVR

 Strobing
 Flickering

Temporal Ailasing
CGVR

 Strobing
 Flickering

Temporal Ailasing
CGVR

 Strobing
 Flickering

Motion Blur
CGVR
 Composite Weighted Images of Adjacent

Frames
 Remove parts of signal under-sampled in time

Summary
CGVR
 Animation Requires ...

 Modeling
 Scripting
 Inbetweening
 Lighting, shading
 Rendering
 Image processing

Graphics
Kinematics &
Dynamics
고려대학교 컴퓨터 그래픽스 연구실

Overview
CGVR
 Kinematics
 Consider only motion
 Determined by positions, velocities, accelerations
 Dynamics
 Consider underlying forces
 Compute motion from initial conditions and physics

Example: 2-Link Structure
CGVR
 Two Links Connected by Rotational Joints
“End-Effector”
X=(x, y)
(0, 0)

Forward Kinematics
CGVR
 Animator Specifies Joint Angles: 1 and 2

 Computer Finds Positions of End-Effector: X
X=(x, y)
(0, 0)
X=(l1cos1l2cos(1), l1sin1l2sin(1))

Forward Kinematics
CGVR
 Joint Motions can be Specified by Spline

Curves
X=(x, y)
(0, 0)

Forward Kinematics
CGVR
 Joint Motions can be Specified by Initial

Conditions and Velocities
X=(x, y)
(0, 0) 1  00 60

60 22 00 250
250
1
dd1 dd2
1  1.2 2  0.1
 1.2  0.1
dtdt dtdt

Example: 2-Link Structure
CGVR
 What If Animator Knows Position of “End-

Effector”
“End-Effector”
X=(x, y)
(0, 0)

Inverse Kinematics
CGVR
 Animator Specifies End-Effector Positions: X

 Computer Finds Joint Angles: 1 and 2
X=(x, y)
(0, 0)  x 2  y 2  l12  l22 

 2  cos  1

 2l1l2 
  l2 sin  2  x   l1  l2 cos  2  y
1 
 l2 sin  2  y   l1  l2 cos  2  x
Inverse Kinematics
CGVR
 End-Effector Postions can be Specified by

Spline Curves
X=(x, y)
(0, 0)

Inverse Kinematics
CGVR
 Problem for More Complex Structures

 System of equations is usually under-defined
 Multiple solutions
X=(x, y)
(0, 0)
Three unknowns: 13
Two equations: x, y

Inverse Kinematics
CGVR
 Solution for More Complex Structures

 Find best solution (e.g., minimize energy in motion)
 Non-linear optimization
X=(x, y)
(0, 0)

Summary
CGVR
 Forward Kinematics
 Specify conditions (joint angles)
 Compute positions of end-effectors
 Inverse Kinematics
 “Goal-directed” motion
 Specify goal positions of end effectors
 Compute conditions required to achieve goals
Inverse
Inverse kinematics
kinematics provides
provides easier
easier
specification
specification for for many
many animation
animation tasks,
tasks,
but
but itit isis computationally
computationally more
more difficult
difficult
Overview
CGVR
 Kinematics
 Consider only motion
 Determined by positions, velocities, accelerations
 Dynamics
 Consider underlying forces
 Compute motion from initial conditions and physics

Dynamics
CGVR
 Simulation of Physics Insures Realism of

Motion

Space Time Constraints
CGVR
 Animator Specifies Constraints

 What the character’s physical structure is
 e.g., articulated figure
 What the character has to do
 e.g., jump from here to there within time t
 What other physical structures are present
 e.g., floor to push off and land
 How the motion should be performed
 e.g., minimize energy

CGVR
 Computer Finds the “Best” Physical Motion

 Satisfying constraints
 Example: Particle with Jet Propulsion
 x(t) is position of particle at time t
 f(t) is force of jet propulsion at time t
 Particle’s equation of motion is:
mx  f  mg  0
 Suppose we want to move from a to b within t0 to t1
with minimum jet fuel:
Minimize  f  t  dt subject to x t0   a and x t1   b
t1 2
t0

CGVR
 Discretize Time Steps

xi  xi 1
x 
h
xi 1  2 xi  xi 1

x 
h2
 xi 1  2 xi  xi 1 
m x  2   f i  mg  0
 h 
Minimize h f i subject to x0  a and x1  b
2

CGVR
 Solve with Iterative Optimization Methods

CGVR
 Advantages
 Free animator from having to specify details of
physically realistic motion with spline curves
 Easy to vary motions due to new parameters and/or
new constraints
 Challenges
 Specifying constraints and objective functions
 Avoiding local minima during optimization

CGVR
 Adapting Motion
Original Jump
Heavier Base

CGVR
 Adapting Motion
Hurdle

CGVR
 Adapting Motion
Ski Jump

CGVR
 Editing Motion
Original Adapted
CGVR
 Morphing Motion
The female character morphs into a

smaller character during her spine

CGVR
 Advantages
 Free animator from having to specify details of
physically realistic motion with spline curves
 Easy to vary motions due to new parameters and/or
new constraints
 Challenges
 Specifying constraints and objective functions
 Avoiding local minima during optimization

Dynamics
CGVR
 Other Physical Simulations

 Rigid bodies
 Soft bodies
 Cloth
 Liquids
 Gases
 etc.
Cloth
Hot Gases
Summary
CGVR
 Kinematics
 Forward kinematics
 Animator specifies joints (hard)
 Compute end-effectors (easy)
 Inverse kinematics
 Animator specifies end-effectors (easier)
 Solve for joints (harder)
 Dynamics
 Space-time constraints
 Animator specifies structures & constraints (easiest)
 Solve for motion (hardest)
 Also other physical simulations

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Graphics

고려대학교 컴퓨터 그래픽스 연구실

cgvr.korea.ac.kr 1 Graphics Lab @ Korea University

cgvr.korea.ac.kr 2 Graphics Lab @ Korea University

cgvr.korea.ac.kr 3 Graphics Lab @ Korea University

 Squash and Stretch

cgvr.korea.ac.kr 4 Graphics Lab @ Korea University

cgvr.korea.ac.kr 5 Graphics Lab @ Korea University

cgvr.korea.ac.kr 6 Graphics Lab @ Korea University

cgvr.korea.ac.kr 7 Graphics Lab @ Korea University

cgvr.korea.ac.kr 8 Graphics Lab @ Korea University

cgvr.korea.ac.kr 9 Graphics Lab @ Korea University

 Define Character Poses at Specific Time

cgvr.korea.ac.kr 10 Graphics Lab @ Korea University

 Interpolate Variables Describing Keyframes

cgvr.korea.ac.kr 11 Graphics Lab @ Korea University

cgvr.korea.ac.kr 12 Graphics Lab @ Korea University

cgvr.korea.ac.kr 13 Graphics Lab @ Korea University

cgvr.korea.ac.kr 14 Graphics Lab @ Korea University

cgvr.korea.ac.kr 15 Graphics Lab @ Korea University

 Inverse Kinematics or Dynamics

cgvr.korea.ac.kr 16 Graphics Lab @ Korea University

cgvr.korea.ac.kr 17 Graphics Lab @ Korea University

 Character Poses Described by Set of Rigid

cgvr.korea.ac.kr 18 Graphics Lab @ Korea University

 Well-Suited for Humanoid Characters

cgvr.korea.ac.kr 19 Graphics Lab @ Korea University

 Joints Provide Handles for Moving

cgvr.korea.ac.kr 20 Graphics Lab @ Korea University

 Compute Joint Angles between Keyframes

cgvr.korea.ac.kr 21 Graphics Lab @ Korea University

Hip Upper Leg (Hip Rotate)

Upper Leg Hip Rotate

Lower Leg Hip Rotate + Knee Rotate

Ankle Foot (Ankle Rotate)

cgvr.korea.ac.kr 22 Graphics Lab @ Korea University

 Hip Joint Orientation:

cgvr.korea.ac.kr 23 Graphics Lab @ Korea University

 Knee Joint Orientation:

cgvr.korea.ac.kr 24 Graphics Lab @ Korea University

 Ankle Joint Orientation:

cgvr.korea.ac.kr 25 Graphics Lab @ Korea University

cgvr.korea.ac.kr 26 Graphics Lab @ Korea University

 Artifacts due to Limited Temporal Resolution

cgvr.korea.ac.kr 27 Graphics Lab @ Korea University

 Artifacts due to Limited Temporal Resolution

cgvr.korea.ac.kr 28 Graphics Lab @ Korea University

 Artifacts due to Limited Temporal Resolution

cgvr.korea.ac.kr 29 Graphics Lab @ Korea University

 Artifacts due to Limited Temporal Resolution

cgvr.korea.ac.kr 30 Graphics Lab @ Korea University

 Composite Weighted Images of Adjacent

cgvr.korea.ac.kr 31 Graphics Lab @ Korea University

 Animation Requires ...

cgvr.korea.ac.kr 32 Graphics Lab @ Korea University

고려대학교 컴퓨터 그래픽스 연구실

cgvr.korea.ac.kr 33 Graphics Lab @ Korea University