ANIMATION 3 :

CINEMATIQUE INVERSE

Rémi Ronfard, Animation, M2R IICAO

Plan du cours

Cours 1: Armatures (squelettes) et attachement a la surface du corps (skinning).

TP : programmation d’un rig dans Blender

Cours 2: Animation par keyframes + techniques d’interpolation

TP : animation par keyframes dans Blender

Cours 3: Cinématique inverse

TP : animation d’une marche dans Blender

Cours 4: Animation physique

TP: animation d’un ragdoll dans Blender

Cinématique inverse dans Blender

Cinématique directe dans Blender

Armatures

Actions

Cinématique inverse dans Blender

Contraintes, cibles (targets)

Controleurs

Structures de données

Calculs récursifs

Cinématique directe

Cinématique directe (suite)

Cinématique inverse

Cinématique inverse (suite)

Problématiques en cinématique inverse

Linéarisation des équations

Contraintes

Jacobiens

Relations et orientations

Transformations 3D

Exemples

Exemples (suite)

Méthode de la pseudo inverse

Objectifs secondaires

Application : cycles de marches

Application : cycles de marches (2)

Application : cycles de marches (3)

Application to motion capture (MOCAP)

With markers : each marker a 3D target Markers are reconstructed from multiple images

Correspondence and visibility problems

Solve for actor pose with IK under linear constraints

Without markers : use image features Point feature correspondences (3D)

Line feature correspondences (2D)

Solve for actor pose with IK under projective constraints

Application : cycles de marches (4)

Image targets and mocap from movies

3D Kinematics

2D Kinematics : Scaled Prismatic Models

Morris & Rehg: Singularity Analysis for

Articulated Object Tracking, CVPR 1998.

Résumé du cours

Pour aller plus loin…Learning to Move Autonomously in a Hostile World, Leslie Ikemoto, University of California at Berkeley.

http://www.animate-me.com/~leslie/papers/moveAutonomous.pdf

Quick Transitions with Cached Multi-way Blends, Leslie Ikemoto, University of California at Berkeley. http://www.animate-me.com/~leslie/papers/i3d2007.pdf

Ken Perlin’s Experiments on Procedural Animation, http://www.mrl.nyu.edu/~perlin/

Inverse Kinematics by Hugo Elias, http://freespace.virgin.net/hugo.elias/models/m_ik.htm

Inverse Kinematics – Improved Meathods by Hugo Elias, http://freespace.virgin.net/hugo.elias/models/m_ik2.htm

The Matrix and Quaternion FAQ, http://web.archive.org/web/20041029003853/http:/www.j3d.org/matrix_faq/matrfaq_latest.html#Q47

Physics Based Animation by Erleben, Sporring, Henriksen, Dohlmann.

Inverse Kinematics Using Jacobians, http://diegopark.googlepages.com/computergraphics

Motion Graphs by Lucas Kovar, University of Wisconsin Maddison. http://www.cs.wisc.edu/graphics/Papers/Gleicher/Mocap/mograph.pdf

Ressources et références

Inverse Kinematics for Humanoid Skeleton Tutorial by Jonathan Kreuzer.

http://www.3dkingdoms.com/ik.htm#ikappen

Planting Spores of Procedural Animation? by Dave Mark.

http://aigamedev.com/discussion/planting-the-spores-of-procedural-animation

The Crysis of Integrating Next-Gen Animations and AI, by Alex J. Champandard.

http://aigamedev.com/reviews/crysis-animation-integration

9 Tips for Creating Rich Behaviors on a Low Animation Budget, by Alex J. Champandard.

http://aigamedev.com/animation/budget-rich-behaviors

The Backbone of AI Behaviors: Movement and Animation, by Alex J. Champandard.

http://aigamedev.com/tutorials/backbone-behaviors-movement-animation

Behavior Trees for Next-Gen AI, by Alex J. Champandard (3 parts). http://aigamedev.com/videos/behavior-trees-part1

http://guerrillacg.org/home/3d-rigging/the-rotation-problem

http://www.guerrillacg.org/home/3d-rigging/euler-rotations-explained