Efficient elasticity for character skinning with contact and collisions

McAdams, A., Zhu, Y., Selle, A., Empey, M., Tamstorf, R., Teran, J., Sifakis, E. ACM Transactions on Graphics (SIGGRAPH Proceedings), 2011.


Abstract: We present a new algorithm for near-interactive simulation of skeleton driven, high resolution elasticity models. Our methodology is used for soft tissue deformation in character animation. The algorithm is based on a novel discretization of corotational elasticity over a hexahedral lattice. Within this framework we enforce positive definiteness of the stiffness matrix to allow efficient quasistatics and dynamics. In addition, we present a multigrid method that converges with very high efficiency. Our design targets performance through parallelism using a fully vectorized and branch-free SVD algorithm as well as a stable one-point quadrature scheme. Since body collisions, self collisions and soft-constraints are necessary for real-world examples, we present a simple framework for enforcing them. The whole approach is demonstrated in an end-to-end production-level character skinning system.

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