Department of Computer Science
College of Computer, Mathematical, and Natural Sciences
The University of Maryland at College Park
CMSC 828X (Fall 2019): Physically-Based Modeling, Simulation and Animation
CMSC 828X (Fall 2019): Physically-Based Modeling, Simulation and Animation
- Time and Place: Tues/Thur 3:30pm - 4:45pm, CSIC 1121
- Office Hours: Tues/Thur After Class
- Prerequisites: Scientific Computing AND
Introductory Computer Graphics OR
Instructor's approval
- Textbook: Course Notes and In-Class Handouts
COURSE OVERVIEW:
Physically-based modeling and simulation attempts to map a natural
phenomena to a computer simulation program. There are two basic processes
in this mapping: mathematical modeling and
numerical solution. The goal of
this introductory course is to understand both of them. The mathematical
modeling
concerns the description of natural phenomena by
mathematical equations. Differential equations that govern dynamics
and geometric representation of objects are typical
ingredients of the mathematical model.
The numerical solution involves computing an efficient and accurate
solution of the mathematical equations. Finite precision of numbers,
limited computational power and memory forces us to approximate the
mathematical model with simple procedures.
In this course, we will study various techniques to simulate the physical
and mechanical behavior of objects in a graphical simulation or a virtual
environment. Students will learn about implementation of basic simulation
programs that produce interesting results and verify its correctness. The
course will cover three basic components in physically-based modeling and
simulation:
The goal of this class is to get students an appreciation of
computational methods for modeling of motions in the physical and
virtual world. We will discuss various considerations and tradeoffs
used in designing simulation methodologies (e.g. time, space, robustness,
and generality). This will include data structures, algorithms,
computational methods and simulation techniques, their complexity
and implementation. The lectures will also cover some applications of
physically-based modeling and simulation to the following areas:
Computer Animation
Virtual Environments
Medical Simulation and Analysis
Special Effects Generation
Computer Game Dynamics
Rapid Prototyping for Design
Haptic Rendering/Interfaces
Robotics and Automation
Bio-informatics
Depending on the interests of the students, we may also cover
geometric-based simulation techniques, such as constraint-based
systems, inverse dynamics, kinematics of motions, motion
planning, synethesis and generation of autonomous agents.
LECTURES AND APPROXIMATE SCHEDULE
Here is a list of TENTATIVE lecture topics (subject to
changes). Schedule and information on each topic (e.g. readings, web
pointers) will be added during the semester before each class.
Overview (Tues, Aug 27, 2019)
Basics of Motion Generations for Animation
(Thur, Aug 29, 2019)
Principles of Animation and Inverse Kinematics
(Tues, Sept 3, 2019) with Supplementary Video
ODE Basics: Initial Value Problem &
Solutions to Spring-Mass System
(Thur, Sept 5, 2019)
Intro to Particle Dynamics &
Particle Systems
(Tues, Sept 10, 2019)
Implicit Methods
(Thur, Sept 12, 2019)
Constrained Dynamics
(Tues, Sept 17, 2019)
Review on Comp Geom
(Thur, Sept. 19, 2019)
Review on Comp Geom &
Collision Detection: Convex Polyhedra & Many Bodies
(Tues, Sept 24, 2019)
Collision Detection: Convex Polyhedra & Many Bodies
(Thur, Sept 26, 2019)
Collision Detection: BVHs & Spatial Partitioning
(Tues, Oct 1, 2019)
Collision Detection: BVHs & Spatial Partitioning
(Thur, Oct 3, 2019)
Project Proposal
(Tues/Thur, Oct 8-10, 2019)
Collision Detection for Deformable Bodies
and Other CD Techiques
(Tues, Oct 15, 2019)
Rigid Body Dynamics
(Notes on Quaternion
and Particle to Rigid Body Dynamics)
(Thur, Oct 17, 2019)
Position-based Dynamics
and Modeling of Deformable Models: Introduction
(Tues, Oct 22, 2019)
Modeling of Deformable Models: Introduction
and Introduction to Audio
(Thurs, Oct 24, 2019)
Introduction to Fluid Simulation (Tues, Oct 29, 2019)
No Class (Thur, Oct 31, 2019; Make-up on Nov. 5)
Lagrangian Particle Methods for Simulating Conservative Liquid Redistribution
and Simulation of Bubble Movement
(Tues, Nov 5, 2019)
Physically-based Sound Simulation
and Rigid-body Sound Simulation
(Tues, Nov 5, 2019; Make-up Lecture for Oct 31)
Geometric-based Sound Propagation and
Robot Navigation with Collision Avoidance v
(Thur, Nov 7, 2019)
Decentralized Monte-Carlo Tree Search for multi-robot planning
and Traffic Simulation
(Tues, Nov 12, 2019)
Decentralized Collision Avoidance for Multi-Agent Systems
and Learning-based Collision Avoidance
(Tues, Nov 12, 2019; Make-up Lecture for Nov. 21)
Course Project Progress Report
(Thur, Nov 14, 2019)
Human Motion Synthesis and Simulation
and Techniques for Animating Human Athletes
(Tues, Nov 19, 2019)
No Class (Thur, Nov 21, 2019; Make-up Lecture on Nov 12)
Haptics
and Modeling and Simulatino of Fur and Hairs
(Tues, Nov 26, 2019)
THANKSGIVING BREAK (Nov 27-30, 2019)
Data-driven Methods to Accelerate Cloth Simulation and GPU-based Differentiable Cloth Simulation
(Tues, Dec 3, 2019)
Simulation of Relativistic Effects
and Fogs & Environmental Effects
(Thur, Dec 5, 2019)
COURSE READING MATERIALS
Reference Papers Used in Lectures:
SIGGRAPH
Course Notes on Physically-Based Modeling
Supplementary Materials and
Reading List for the Class
(updated throughout the semester)
Additional Notes on Rigid Body Dynamics:
Constraint-based Dynamics,
and Impulse-based Dynamics
ASSIGNMENTS AND PROJECTS
The class grade of each student is determined by
Homework (30%)
Class Presentation (20%)
Final Project (50%)
POINTERS TO WEBSITES ON PHYSICALLY-BASED MODELING & ANIMATION:
SELECTED INDUSTRY
Boston Dynamics Inc.
Chris Hecker's Corner (Definition Six, Inc.)
Dreamworks Animation
GamaNetwork
Havok
IBM Smarter Planet
Immersion Corporation
Legion Limited
Massive Software
MAYA
(Alias|Wavefront)
MSC.Working Knowledge
NVIDIA PHYSX
Pixar Animation Studios
Rhythm & Hues Studios
SensAble Technology
Walt Disney Animation Studio
Weta Digital
SELECTED RESEARCH GROUPS:
UNC Research Group
on Geometric Algorithms for Modeling, Motion and Animation
UNC Interactive
Collision Detection and Proximity Queries Packages
Simlab:
Computer Tools for Analysis and Simulation (Cornell)
iMAGIS
(GRAVIR / IMAG research lab / INRIA)
Center for Human Modeling and
Simulation(UPENN)
MIRALab (University of Geneva)
Rutgers Computational Biomedicine
Imaging and Modeling (Rutgers)
National Advanced Driving Simulator
University
of Aukland, Bioengineering Research Group
SELECTED RESEARCHERS
Norman Badler
David Baraff (now at Pixar)
Ronan Boulic
David Breen
Chris Bregler
Robert Bridson
Marie-Paule Cani
Stephen Chenney
Mathieu Desbrun
Petros Faloutsos
Ron Fedkiw
Eugene Fiume
Doug James
Jessica Hodgins
Michael Gleicher
Hyeong-Seok Ko
Dimitris Metaxas
Brian
Mirtich (now at Cognex)
James O'Brien
Carol O'Sullivan
Richard Parent
Dinesh Pai
Nancy Pollard
Jovan Popovic
Zoran Popovic
Jos Stam
Peter Schroder
Karan Singh
Daniel Thalmann
Nadia Magnenat-Thalmann
Demetri Terzopoulos
Yizhou Yu
Michiel van de Panne
Andy
Witkin's Gallery (now at Pixar)
GEOMETRIC ALGORITHMS AND SOFTWARES AVAILABLE ON THE WEB:
Here are just some possible locations to find geometric software/libraries
and algorithmic toolkits you may need:
Internet
Finite Element Resources
A comprehensive
collection of geometric software
CGAL: Computational
Geometry Algorithms Library (in C++)
LEDA:
Library of Efficient Datatypes and Algorithms (in C++)
The Stony
Brook Algorithm Repository: Implementation in C, C++, Pascal and Fortran
CMU's Computer Vision Homepage
Finite element
mesh generation and
More
Machine learning resources
ADDITIONAL REFERENCE MATERIALS
Other Reference Books in Computer Animation:
Making Them Move: Mechanics, Control and Animation of Articulated
Figures, by Badler, Barsky and Zelter, Morgan Kaufmann Publishers, 1991.
Advanced Animation and Rendering Techniques: Theory and Practice,
by A. Watt and M. Watt, 1992.
Computer Animation: Algorithms and Techniques, by Rick Parent, 1999.
Other Reference Books in Mechanics:
Concepts and Applications of Finite Element Analysis,
by R. D. Cook, D. S. Malkus and M. E. Plesha, John Wiley & Sons, 1989.
Finite Element Procedures, by K.-J. Bathe, Prentice Hall, 1996.
First Course in Continuum Mechanics, by Y.C. Fung,
Prentice Hall, 1993.
Other Reference Books in Numerical Methods:
Numerical Recipes,
by Press, Flanner, Teukolsky and Vetterling, Cambridge University Press.
Handbook
of Numerical Analysis, edited by Ciarlet and Lions, Vol. I - VI,
North-Holland, 1994.
Other Reference Books in Robotics:
Robot Motion Planning, by Latombe,
Kluwer Academic Publishers, 1991.
Planning Algorithms, by LaValle,
Cambridge University Press, 2006.
Robot Manipulators: Mathematics, Programming, and Control,
by R. P. Paul, MIT Press, 1981.
Other Reference Books in Geometry:
Computational Geometry (Algorithms and Applications), by de Berg,
van Kreveld, Overmars and Schwarzkofp, Springer-Verlag, 1997.
Computational Geometry In C (Second Edition), by
O'Rourke, Cambridge University Press, 1998.
Handbook on Discrete and Computational Geometry, by Goodman and
O'Rourke (eds), CRC Press LLC, 1997.
Applied Computational Geometry: Toward Geometric Engineering,
by Lin and Manocha (eds), Springer-Verlag, 1996.
Algorithms in Combinatorial Geometry, by Edelsbrunner,
Springer-Verlag, 1987.
Computational Geometry (An Introduction), by Preparata and Shamos,
Springer-Verlag, 1985.
For more information, contact
Ming C. Lin,
lin@cs.umd.edu.
Copyright 1999-2019.
Personal use of this material is permitted. However, permission to
reprint/republish this material for advertising or promotional purposes
or for creating new collective works for resale or redistribution to servers or
lists, or to reuse any copyrighted component of this work in other works
must be obtained from the author.
This material is presented to ensure timely dissemination of scholarly
and technical work. Copyright and all rights therein are retained by authors or
by other copyright holders. All persons copying this information are
expected to adhere to the terms and constraints invoked by each author's
copyright. In most cases, these works may not be reposted without the
explicit permission of the copyright holder.