Download - Week06 Lecture
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Topic 5.
Some extra effects
Sampling, Aliasing , Anti-aliasing Al
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Manifestations of Aliasing
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Supersampling
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No Antialiasing
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Antialiasing with 16 samples per pixel
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Topic 6.
Computer Animation Keyframe animation
Forward kinematics
Inverse kinematics Motion capture
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Keyframe Animation
Basic Idea: Define model parameter at key frames
and interpolate (often using cubic splines)
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Designing Plausible Motions
It is quite easy to end up with a physically impossible
motion
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Designing Plausible Motions
It is quite easy to end up with a physically impossible
motion =>
add a sufficient # of keyframes to constrain the motion
sufficiently
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Keyframe Animation
Pros: Very expressive
Animator has full control of animation
Cons:
Very labor intensive
Difficult to create convincing physical realism
Used for practically anything except complex
physical simulations (smoke, water, etc.)
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Topic 6.
Computer Animation Keyframe animation
Forward kinematics
Inverse kinematics Motion capture
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Specifying & Interpolating Keyframes
Instead of painstakingly specifying every little
motion, specify very few keyframes (or just initial &
goal)
Interpolations are done automatically
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Animating Articulated Structures
Forward Kinematics: Specify how joints should move
Inverse Kinematics:
Specify where character should go, then
deduce joint motion
Motion capture: Record motions of real people/objects, then
transfer to digital characters
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Forward Kinematics
Goals: Determine space of possible motions
Parameterize it
Establish a mapping from joint angles to positions
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Forward Kinematics
Goals: Determine space of possible motions
Parameterize it
Establish a mapping from joint angles to positions
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End-Effector Space (aka Configuration
Space)
What is the set of points that are reachable by this
2-axis structure?
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End-Effector Space (aka Configuration
Space)
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End-Effector Space (aka Configuration
Space)
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End-Effector Space (aka Configuration
Space)
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Motion in Joint Space vs. Configuration
Space
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Motion in Joint Space vs. Configuration
Space
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Key-Framing with Forward Kinematics
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Key-Framing with Forward Kinematics
Pros: Very easy to specify & implement
Cons:
Often we care more about where the charactershould go, not how to get there
Very hard to know how to move joints of a
complicated figure in order to get the desired pose(esp. in presence of obstacles)
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Key-Framing with Forward Kinematics
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Topic 6.
Computer Animation
Keyframe animation
Forward kinematics
Inverse kinematics Motion capture
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Key-Framing with Inverse Kinematics
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Inverse Kinematics: Difficulties
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Inverse Kinematics: Difficulties
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Inverse Kinematics: Difficulties
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Numerical Inverse Kinematics
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Numerical Inverse Kinematics
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Inverse Kinematics & the Jacobian
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Inverse Kinematics & the Jacobian
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Inverse Kinematics Using the Jacobian
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Inverse Kinematics Using the Jacobian
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Topic 6.
Computer Animation
Keyframe animation
Forward kinematics
Inverse kinematics Motion capture
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Marker Based Motion Capture
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