13 Animation

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 0   60  2 0   250
d1 d 2
 1.2  0.1
dt dt

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 

1
 2  cos  
 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 kinematics provides easier
specification for many animation tasks,
but it is computationally more 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:
t1
Minimize  f t  dt subject to xt0   a and xt1   b
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

13 Animation

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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

cgvr.korea.ac.kr 34 Graphics Lab @ Korea University

 Two Links Connected by Rotational Joints

cgvr.korea.ac.kr 35 Graphics Lab @ Korea University

 Animator Specifies Joint Angles: 1 and 2

cgvr.korea.ac.kr 36 Graphics Lab @ Korea University