Computer Games. CSCI-GA Spring Hubertus Franke. ( frankeh@cims.nyu.edu )
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1 Computer Games CSCI-GA Spring 01 Hubertus Franke ( frankeh@cims.nyu.edu )
2 Thanks Many thanks to: William H. Hsu Department of Computing and Information Sciences, KSU For allowing the reuse of his excellent course material that he created for the the Eberle book: Public mirror web site:
3 Acknowledgements Jim Foley Professor, College of Computing & Stephen Fleming Chair in Telecommunications Georgia Institute of Technology James D. Foley Georgia Tech Andy van Dam T. J. Watson University Professor of Technology and Education & Professor of Computer Science Brown University Steve Feiner Professor of Computer Science & Director, Computer Graphics and User Interfaces Laboratory Columbia University John F. Hughes Associate Professor of Computer Science Brown University Andries van Dam Brown University Steven K. Feiner Columbia University John F. Hughes Brown University
4 Animations: Outline 010 J. Lawrence, University of Virginia CS 4810: Introduction to Computer Graphics
5 Traditional Animation [1]: Lasseter s List of Principles (1987) Lasseter, J. (1987). Principles of traditional animation applied to 3D computer animation. Computer Graphics, 1(4), pp SIGGRAPH: ACM Portal: J. Lawrence, University of Virginia CS 4810: Introduction to Computer Graphics
6 Traditional Animation []: Squash & Stretch 010 J. Lawrence, University of Virginia CS 4810: Introduction to Computer Graphics
![Traditional Animation [3]: Timing 010 J.](/docs-images/24/3314446/images/7-0.png "Lawrence, University of Virginia CS 4810: Introduction to Computer")
7 Traditional Animation [3]: Timing 010 J. Lawrence, University of Virginia CS 4810: Introduction to Computer Graphics
![Traditional Animation [4]: Anticipation Luxo Jr.](/docs-images/24/3314446/images/8-0.jpg "1986 Pixar http://www.pixar.")
8 Traditional Animation [4]: Anticipation Luxo Jr Pixar J. Lawrence, University of Virginia CS 4810: Introduction to Computer Graphics
![Traditional Animation [5]: Staging Luxo Jr.](/docs-images/24/3314446/images/9-0.png "1986 Pixar http://www.pixar.")
9 Traditional Animation [5]: Staging Luxo Jr Pixar J. Lawrence, University of Virginia CS 4810: Introduction to Computer Graphics
![Traditional Animation [6]: Follow Through & Overlapping Action 010 J.](/docs-images/24/3314446/images/10-0.png "Lawrence, University of Virginia CS 4810: Introduction to Computer Graphics")
10 Traditional Animation [6]: Follow Through & Overlapping Action 010 J. Lawrence, University of Virginia CS 4810: Introduction to Computer Graphics
![Traditional Animation [7]: Straight-Ahead vs. Pose-to-Pose Action 010 J.](/docs-images/24/3314446/images/11-0.png "Lawrence, University of Virginia CS 4810: Introduction to Computer Graphics")
11 Traditional Animation [7]: Straight-Ahead vs. Pose-to-Pose Action 010 J. Lawrence, University of Virginia CS 4810: Introduction to Computer Graphics
12 Traditional Animation [8]: Slow In-And-Out 010 J. Lawrence, University of Virginia CS 4810: Introduction to Computer Graphics
13 Traditional Animation [9]: Arcs 010 J. Lawrence, University of Virginia CS 4810: Introduction to Computer Graphics
14 Traditional Animation [10]: Exaggeration 010 J. Lawrence, University of Virginia CS 4810: Introduction to Computer Graphics
![Traditional Animation [11]: Secondary Action Luxo Jr.](/docs-images/24/3314446/images/15-0.png "1986 Pixar http://www.pixar.com/shorts/ljr/ http://youtu.")
15 Traditional Animation [11]: Secondary Action Luxo Jr Pixar J. Lawrence, University of Virginia CS 4810: Introduction to Computer Graphics
16 Traditional Animation [1]: Appeal 010 J. Lawrence, University of Virginia CS 4810: Introduction to Computer Graphics
17 Outline 010 J. Lawrence, University of Virginia CS 4810: Introduction to Computer Graphics
18 Keyframe Animation [1]: Keyframes 010 J. Lawrence, University of Virginia CS 4810: Introduction to Computer Graphics
19 Keyframe Animation []: Interpolation (aka Inbetweening) 010 J. Lawrence, University of Virginia CS 4810: Introduction to Computer Graphics
20 Keyframe Animation [3]: Linear Interpolation aka Lerping 010 J. Lawrence, University of Virginia CS 4810: Introduction to Computer Graphics
21 Keyframe Animation [4]: Cubic Curve (Spline) Interpolation 010 J. Lawrence, University of Virginia CS 4810: Introduction to Computer Graphics
![Keyframe Animation [5]: Dynamics & Kinematics 010 J.](/docs-images/24/3314446/images/22-0.png "Lawrence, University of Virginia CS 4810: Introduction to Computer")
22 Keyframe Animation [5]: Dynamics & Kinematics 010 J. Lawrence, University of Virginia CS 4810: Introduction to Computer Graphics
23 Outline 010 J. Lawrence, University of Virginia CS 4810: Introduction to Computer Graphics
24 Articulated Figures [1]: Definition 010 J. Lawrence, University of Virginia CS 4810: Introduction to Computer Graphics
25 Articulated Figures []: Character Modeling 010 J. Lawrence, University of Virginia CS 4810: Introduction to Computer Graphics
26 Articulated Figures [3]: Angular Interpolation 010 J. Lawrence, University of Virginia CS 4810: Introduction to Computer Graphics
27 Articulated Figures [4]: Bones & Joints 010 J. Lawrence, University of Virginia CS 4810: Introduction to Computer Graphics
28 Articulated Figures [5]: Example Walk Cycle J. Lawrence, University of Virginia CS 4810: Introduction to Computer Graphics
29 Articulated Figures [6]: Example Walk Cycle 010 J. Lawrence, University of Virginia CS 4810: Introduction to Computer Graphics
30 Articulated Figures [7]: Example Walk Cycle J. Lawrence, University of Virginia CS 4810: Introduction to Computer Graphics
31 Articulated Figures [7]: Example Walk Cycle 4 00 D. M. Murillo J. Lawrence, University of Virginia CS 4810: Introduction to Computer Graphics
32
33 Resources [1]: Basic Maya Tutorials - Ross Maya Tutorial: Basics 011 A. F. Ross Playlist:
34 Resources []: Animation Tutorials - Lammers Maya 4 Fundamentals 001 J. Lammers & L. Gooding, Maya 4.5 Fundamentals 003 J. Lammers & L. Gooding, Maya 5 Fundamentals 006 G. Lewis & J. Lammers,
35 Resources [3]: Examples Online Maya Animation at Animation Arena G. Nakpil, Toronto, CANADA J. Wilson, Student art gallery for Maya 4 Fundamentals (
36 Unreal Wiki Rigging Tin Can Man, Unreal Wiki
37 Maya Tutorial Part 1: Modeling, Unreal Wiki Part A Modeling
38 Maya Tutorial Part : Rigging, Unreal Wiki Part B Rigging
39 Character Modeling in Maya [1]: Muscle Models & Deformations Adapted from material 003 L. Neuberger, Alfred State College, State University of New York
40 Character Modeling in Maya []: Deform Blend Shape Adapted from material 003 L. Neuberger, Alfred State College, State University of New York
41 Character Modeling in Maya [3]: Animate Set Driven Key Set Adapted from material 003 L. Neuberger, Alfred State College, State University of New York
42 Character Modeling in Maya [4]: Driver Adapted from material 003 L. Neuberger, Alfred State College, State University of New York
43 Character Modeling in Maya [5]: Blend Shape Deformation Setup Adapted from material 003 L. Neuberger, Alfred State College, State University of New York
44 Character Modeling in Maya [6]: Inverse Kinematics (IK) Adapted from material 003 L. Neuberger, Alfred State College, State University of New York
45 Character Modeling in Maya [7]: Controlling Deformation & Rotation Adapted from material 003 L. Neuberger, Alfred State College, State University of New York
46 PlanetSack Tutorials Cloth Modeling in Maya [1]: More Driven Keys & Blend Shape
47 PlanetSack Tutorials Cloth Modeling in Maya []: Output
48
49 Particle Systems [1]: Natural Effects Adapted from slide 008 H. P. H. Shum, RIKEN ( 理 研 ) Computer Animation,
50 Particle Systems []: Advantages Adapted from slide 008 H. P. H. Shum, RIKEN ( 理 研 ) Computer Animation,
51 Particle Systems [3]: Basic Model Adapted from slide 008 H. P. H. Shum, RIKEN ( 理 研 ) Computer Animation,
52 Uses of Particle Systems Explosions Large Fireworks Fire Vapor Clouds Dust Fog Smoke Contrails Water Waterfalls Streams Plants Command & Conquer 4: Tiberian Twilight 010 Electronic Arts, Inc. Wikipedia: Adapted from slides 008 R. Malhotra, CSU San Marcos CS 536 Intro to 3-D Game Graphics, Spring 008
53 History of Particle Systems Spacewar! 196 S. Russell et al. Wikipedia: Asteroids 1979 L. Rains & E. Logg Wikipedia: Star Trek II 1983 Paramount Wikipedia: Spacewar! (196) Used Pixel Clouds as Explosions Asteroids (1979) First Physically-Based PS/Collision Model in Games Star Trek II (1983) Particle Fountain: Hey, Hey, 16K 000 M. J. Hibbett, Video 004 R. Manuel Adapted from slides 008 R. Malhotra, CSU San Marcos CS 536 Intro to 3-D Game Graphics, Spring 008
54 Definition & Physically-Based Model Adapted from slides 008 R. Malhotra, CSU San Marcos CS 536 Intro to 3-D Game Graphics, Spring 008
55 Particle Generation Adapted from slide 008 H. P. H. Shum, RIKEN ( 理 研 ) Computer Animation,
56 Particles per Area Adapted from slide 008 H. P. H. Shum, RIKEN ( 理 研 ) Computer Animation,
57 Particle Emission Rate as a Function of Time Adapted from slide 008 H. P. H. Shum, RIKEN ( 理 研 ) Computer Animation,
58 Particle Attributes Adapted from slide 008 H. P. H. Shum, RIKEN ( 理 研 ) Computer Animation,
59 Dynamics & Kinematics Dynamics: Study of Motion & Changes in Motion Forward: model forces over time to find state, e.g., Given: initial position p 0, velocity v 0, gravitational constants Calculate: position p t at time t Inverse: given state and constraints, calculate forces, e.g., Given: desired position p t at time t, gravitational constants Calculate: position p 0, velocity v 0 needed Wikipedia: (see also: Analytical dynamics ) For non-particle objects: rigid-body dynamics ( Kinematics: Study of Motion without Regard to Causative Forces Modeling systems e.g., articulated figure Forward: from angles to position ( Inverse: finding angles given desired position ( Wikipedia: Forward Kinematics 009 Wikipedia
60 Particle Dynamics Adapted from slide 008 H. P. H. Shum, RIKEN ( 理 研 ) Computer Animation,
61 Particle Extinction Adapted from slide 008 H. P. H. Shum, RIKEN ( 理 研 ) Computer Animation,
62 Modeling Water Adapted from slide 008 H. P. H. Shum, RIKEN ( 理 研 ) Computer Animation,
63 Particle Systems []: Adapted from slide 008 H. P. H. Shum, RIKEN ( 理 研 ) Computer Animation,
64 Particle Systems for Multi-Body Systems Adapted from slide 008 H. P. H. Shum, RIKEN ( 理 研 ) Computer Animation,
65 Rigid Body Dynamics: How to Do It? Adapted from slide 008 H. P. H. Shum, RIKEN ( 理 研 ) Computer Animation,
66 Distance between Particles: Keep Constant Adapted from slide 008 H. P. H. Shum, RIKEN ( 理 研 ) Computer Animation,
67 Verlet Integration Adapted from slide 008 H. P. H. Shum, RIKEN ( 理 研 ) Computer Animation,
68 Modeling Joints Adapted from slide 008 H. P. H. Shum, RIKEN ( 理 研 ) Computer Animation,
69 Setting Joint Limits Adapted from slide 008 H. P. H. Shum, RIKEN ( 理 研 ) Computer Animation,
70 Collision Detection Redux Adapted from slide 008 H. P. H. Shum, RIKEN ( 理 研 ) Computer Animation,
71 Friction Force Adapted from slide 008 H. P. H. Shum, RIKEN ( 理 研 ) Computer Animation,
72 Summary Reading for Last Class: Chapter 7, 8.4, Eberly e Reading for Today: , 4., 5.0, 5.6, 9.1, Eberly e Reading for Next Class: 9.1, Particle System Handout Last Time: Picking OpenGL modes: rendering (default), feedback, selection Name stack Hit records Rendering in selection mode using selection buffer Color coding of pickable objects Today: Interaction Handling & Human Computer Interaction (HCI) Spectrum of interaction Kinds of interaction User input: selection, control Stimuli: much more when we cover visualization, color Next: Particle Systems, Collision Response
73
74 Inverse Kinematics Control & Ragdoll Physics William H. Hsu Department of Computing and Information Sciences, KSU KSOL course pages: / Public mirror web site: Instructor home page: Readings: Last class: Particle System Handout Today: 5.3, Eberly e see CGA Handout Next class: Chapter 14, Eberly e Reference: Wikipedia, Inverse Kinematics, Reference: Wikipedia, Ragdoll Physics,
75 Kinematics Adapted from slides D. Brogan, University of Virginia CS 551, Advanced CG & Animation
76 Degrees of Freedom (DOFs) [1]: Translational & Rotational Adapted from slides D. Brogan, University of Virginia CS 551, Advanced CG & Animation
77 Degrees of Freedom (DOFs) []: Robot Arm Adapted from slides D. Brogan, University of Virginia CS 551, Advanced CG & Animation
78 Configuration Space Adapted from slides D. Brogan, University of Virginia CS 551, Advanced CG & Animation
79 Work Space vs. Configuration Space Adapted from slides D. Brogan, University of Virginia CS 551, Advanced CG & Animation
80 More Examples Adapted from slides D. Brogan, University of Virginia CS 551, Advanced CG & Animation
81 Controlled DOFs Adapted from slides D. Brogan, University of Virginia CS 551, Advanced CG & Animation
82 Hierarchical Kinetic Modeling Adapted from slides D. Brogan, University of Virginia CS 551, Advanced CG & Animation
83 Robot Parts & Terms Adapted from slides D. Brogan, University of Virginia CS 551, Advanced CG & Animation
84 Example: Puma 560 Robot Wikipedia, Programmable Universal Machine for Assembly (PUMA): Adapted from slides 00 R. Melamud, Stanford University Mirrored at CMU Introduction to Robotics,
85 Joint Types: Revolute, Prismatic, Spherical Adapted from slides 00 R. Melamud, Stanford University Mirrored at CMU Introduction to Robotics,
86 More Complex Joints Adapted from slides D. Brogan, University of Virginia CS 551, Advanced CG & Animation
87 Hierarchical Representation Adapted from slides D. Brogan, University of Virginia CS 551, Advanced CG & Animation
88 Forward vs. Inverse Kinematics Adapted from slides D. Brogan, University of Virginia CS 551, Advanced CG & Animation
![Forward Kinematics [1]: Definition & General Approach Adapted from slides 000 005 D.](/docs-images/24/3314446/images/89-0.png "Brogan, University of Virginia CS 551, Advanced CG & Animation http://bit.ly/huxrqd")
89 Forward Kinematics [1]: Definition & General Approach Adapted from slides D. Brogan, University of Virginia CS 551, Advanced CG & Animation
90 Forward Kinematics []: Illustration? θ 1 θ θ 3 End Effector Base r = Choi x r f(θ) e= f ( Φ) Rotenberg Adapted from slides 00 K. J. Choi, Seoul National University Graphics and Media Lab ( mirrored at:
![Forward Kinematics [3]: Joint Angles to Bone Coordinates Adapted from slides 004](/docs-images/24/3314446/images/91-0.png "005 S. Rotenberg, UCSD CSE169: Computer Animation, Winter 005 http://bit.")
91 Forward Kinematics [3]: Joint Angles to Bone Coordinates Adapted from slides S. Rotenberg, UCSD CSE169: Computer Animation, Winter 005
92 Inverse Kinematics [1]: Definition & General Approach Adapted from slides D. Brogan, University of Virginia CS 551, Advanced CG & Animation
93 Inverse Kinematics []: Illustration For more on characters & IK, see: Advanced Topics in CG Lecture 05 θ 1? θ θ 3? End Effector Base r θ = r f 1 ( x) Φ = f 1 ( e) Choi Rotenberg Adapted from slides 00 K. J. Choi, Seoul National University Graphics and Media Lab ( mirrored at:
94 Inverse Kinematics [3]: Demos 008 M. Kinzelman A. Brown T. Komura, H. S. Lim, & R. W. H. Lau K. Iyer
95 Inverse Kinematics [4]: Analytic Solution for -Link Case θ θ 1 a 1 a O O 1 O 0 x 1 x 0 x y 1 y y 0 φ ψ (x,y) θ ( ) ( ) ( ) ( ) ( ) ( ) ( ) ( ) tan cos 1 cos 1 tan for greater accuracy cos ) cos( a a y x y x a a a a y x y x a a a a y x aa a a y x aa aa a a y x aa a a y x =± = = + = + = + = + θ θ θ θ θ θ π Two solutions: elbow up & elbow down Adapted from slides D. Brogan, University of Virginia CS 551, Advanced CG & Animation
![Inverse Kinematics [5]: Iterative IK Solutions Adapted from slides 000 005 D.](/docs-images/24/3314446/images/96-0.png "Brogan, University of Virginia CS 551, Advanced CG & Animation http://bit.")
96 Inverse Kinematics [5]: Iterative IK Solutions Adapted from slides D. Brogan, University of Virginia CS 551, Advanced CG & Animation
![Jacobian [1]: 6x6 DOF Case Adapted from slides 000 005 D.](/docs-images/24/3314446/images/97-0.png "Brogan, University of Virginia CS 551, Advanced CG & Animation")
97 Jacobian [1]: 6x6 DOF Case Adapted from slides D. Brogan, University of Virginia CS 551, Advanced CG & Animation
![Jacobian []: Solution Adapted from slides 000 005 D.](/docs-images/24/3314446/images/98-0.png "Brogan, University of Virginia CS 551, Advanced CG & Animation")
98 Jacobian []: Solution Adapted from slides D. Brogan, University of Virginia CS 551, Advanced CG & Animation
99 Another IK Problem: Revolute & Prismatic Joints Combined (x, y) Finding : y θ=arctan( x ) Y More Specifically: y θ=arctan ( ) x arctan() specifies that it s in the first quadrant S 1 Finding S: X S= (x + y ) Adapted from slides 00 R. Melamud, Stanford University Mirrored at CMU Introduction to Robotics,
100 Type of Procedural Animation Ragdoll Physics [1]: Definition Automatically generates CGA directives (rotations) Based on simulation Rigid-body dynamics Articulated Figure Gravity No autonomous movement Used for inert body Usually: character death (car impact, falling body, etc.) Less often: unconscious, paralyzed character Collisions with Multiple Bodies Inter-character Character-object Falling Bodies Animats
101 Ragdoll Physics []: Demos 007 N. Picouet P. Pelt See also: M. E. Cerquoni M. Heinzen (Arkaein) /
102 Physically-Based Modeling (PBM) [1]: Looking Back Particle Dynamics Emitters 0-D (points), 1-D (lines), -D (planes, discs, cross-sections) e.g., fireworks (0-D); fountains (0/1/-D); smokestacks, jets (-D) Simulation: birth-death process, functions of particle age/trajectory Rigid-Body Dynamics Constrained systems of connected parts Examples: falling rocks, colliding vehicles, rag dolls Articulated Figures More References ACM, Intro to Physically-Based Modeling: Wikipedia, Physics Engine: Wikipedia, N-Body Problem: Rocks fall Everyone dies
103 Physically-Based Modeling (PBM) []: Applications in Movies & Games Star Wars Episode I: The Phantom Menace 1999 Lucasfilm, Inc.
104 Summary Reading for Today: 5.3, Eberly e ; CGA Handout Reading for Next Class: Chapter 14, Eberly e Last Class: Lab on Particle Systems; Dissection of Working Program Today: Computer-Generated Animation Concluded CGA of autonomous agents (robots, swarms) vs. animation by hand Degrees of freedom (DOFs) and kinds of joints Forward kinematics (FK) Forward problem illustrated Control problem Inverse kinematics (IK) IK (finding angles) vs. mechanical problem of finding forces Analytical models Iterative models (Jacobian-based) Ragdoll physics Next Class: Ray Tracing, Part 1 of
105 Terminology Emitter Point, Line, Plane or Region from which Particles Originate Particle Fountain Particle System with Directional Emitter Sprite (Wikipedia: Definition: -D image or animation made part of larger scene Point sprite (Saar & Rotzler, 008): Joints: Parts of Robot / Articulated Figure That Turn, Slide Revolute: able to turn (rotate), forming angle between bones Prismatic (aka slider): bone slides through Spherical (aka ball joint): bone rotates around socket Cylindrical (aka hinge): flaps wrap around joint, joined to surfaces Effectors: Parts of Robot / Articulated Figure That Act (e.g., Hand, Foot) Bones: Effectors, Other Parts That Rotate about, Slide through Joints Procedural Animation: Automatic Generation of Motion via Simulation Ragdoll physics: procedural animation for inert characters Other types: particle systems, N-body dynamics
CIS 536/636 Introduction to Computer Graphics. Kansas State University. CIS 536/636 Introduction to Computer Graphics
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