Fast animation and control of nonrigid structures

Abstract

We describe a fast method for creating physically based animationof non-rigid objects. Rapid simulation of non- rigid behavior isbased on global deformations. Con- straints are used to connectnon-rigid pieces to each other, forming complex models. Constraintsalso provide mo- tion control, allowing model points to be movedaccurately along specified trajectories. The use of deformationsthat are linear in the state of the system causes the constraintmatrices to be constant. Pre-inverting these matrices there- foreyields an enormous benefit in performance, allowing reasonablycomplex models to be manipulated at interac- tive speed.