Animation

GraphicsLab@KoreaUniversity GraphicsLab@KoreaUniversity
cgvr.korea.ac.kr
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Computer Animation

CGVR
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Computer Animation
What is Animation?
Make objects change over time
according to scripted actions

What is Simulation?
Predict how objects change over
time according to physical laws

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Outline
Principles of Animation
Keyframe Animation
Articulated Figures

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Principle of Traditional
Animation Disney
Squash and Stretch
Slow In and Out
Anticipation
Exaggeration
Follow Through and Overlapping Action
Timing
Staging
Straight Ahead Action and Pose-to-Pose Action
Arcs
Secondary Action
Appeal
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Squash and Stretch
Squash
Stretch
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Slow In and Out
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Anticipation
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Computer Animation
Animation Pipeline
3D modeling
Motion specification
Motion simulation
Shading, lighting, & rendering
Postprocessing

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Outline
Keyframe Animation
Articulated Figures

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Keyframe Animation
Define Character Poses at Specific Time
Steps Called Keyframes

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Keyframe Animation
Interpolate Variables Describing Keyframes
to Determine Poses for Character in between

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Inbetweening
Linear Interpolation
Usually not enough continuity
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Inbetweening
Spline Interpolation
Maybe good enough
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Inbetweening
Maybe good enough
May not follow physical laws

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Inbetweening
Maybe good enough
May not follow physical laws

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Inbetweening
Inverse Kinematics or Dynamics

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Outline
Keyframe Animation
Articulated Figures

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Articulated Figures
Character Poses Described by Set of Rigid
Bodies Connected by Joints

Base
Arm
Hand
Scene Graph
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Articulated Figures
Well-Suited for Humanoid Characters
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Articulated Figures
Joints Provide Handles for Moving
Articulated Figure

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Inbetweening
Compute Joint Angles between Keyframes
consider the length constancy

Right Wrong
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Example: Walk Cycle
Articulated Figure:

Hip
Knee
Foot
Upper Leg
Ankle
Lower Leg
Hip Rotate
Hip Rotate + Knee Rotate
Upper Leg (Hip Rotate)
Foot (Ankle Rotate)
Lower Leg (Knee Rotate)
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Example: Walk Cycle
Hip Joint Orientation:

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Example: Walk Cycle
Knee Joint Orientation:

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Example: Walk Cycle
Ankle Joint Orientation:

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Challenge of Animation
Temporal Aliasing
Motion blur

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Temporal Ailasing
Artifacts due to Limited Temporal Resolution
Strobing
Flickering
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Temporal Ailasing
Strobing
Flickering

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Temporal Ailasing
Strobing
Flickering

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Temporal Ailasing
Strobing
Flickering

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Motion Blur
Composite Weighted Images of Adjacent
Frames
Remove parts of signal under-sampled in time

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Summary
Animation Requires ...
Modeling
Scripting
Inbetweening
Lighting, shading
Rendering
Image processing

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Kinematics &
Dynamics

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Overview
Kinematics
Consider only motion
Determined by positions, velocities, accelerations

Dynamics
Consider underlying forces
Compute motion from initial conditions and physics
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Example: 2-Link Structure
Two Links Connected by Rotational Joints

End-Effector
X=(x, y)
(0, 0)
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Forward Kinematics
Animator Specifies Joint Angles: O
1
and O
2
Computer Finds Positions of End-Effector: X

X=(x, y)
(0, 0)
X=(l
1
cosO
1
+ l
2
cos(O
1
+O
2
), l
1
sinO
1
+ l
2
sin(O
1
+O
2
))
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Forward Kinematics
Joint Motions can be Specified by Spline
Curves

X=(x, y)
(0, 0)
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Forward Kinematics
Joint Motions can be Specified by Initial
Conditions and Velocities

X=(x, y)
(0, 0) ( ) ( )
1 . 0 2 . 1
250 0 60 0
2 1
2 1
=
O
=
O
= O = O
dt
d
dt
d
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Example: 2-Link Structure
What If Animator Knows Position of End-
Effector

End-Effector
X=(x, y)
(0, 0)
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Inverse Kinematics
Animator Specifies End-Effector Positions: X
Computer Finds Joint Angles: O
1
and O
2

X=(x, y)
(0, 0)
( ) ( )
( ) ( )x l l y l
y l l x l
l l
l l y x
2 2 1 2 2
2 2 1 2 2
1
2 1
2
2
2
1
2 2
1
2
cos sin
cos sin
2
cos
O + + O
O + + O
= O
|
|
.
|
\
|
+
= O

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Inverse Kinematics
End-Effector Postions can be Specified by
Spline Curves

X=(x, y)
(0, 0)
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Inverse Kinematics
Problem for More Complex Structures
System of equations is usually under-defined
Multiple solutions

X=(x, y)
(0, 0)
Three unknowns: O
1
, O
2
,

O
3

Two equations: x, y
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Inverse Kinematics
Solution for More Complex Structures
Find best solution (e.g., minimize energy in motion)
Non-linear optimization

X=(x, y)
(0, 0)
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Summary
Forward Kinematics
Specify conditions (joint angles)
Compute positions of end-effectors

Inverse Kinematics
Goal-directed motion
Specify goal positions of end effectors
Compute conditions required to achieve goals

Inverse kinematics provides easier
specification for many animation tasks,
but it is computationally more difficult
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Overview
Kinematics
Consider only motion
Determined by positions, velocities, accelerations

Dynamics
Consider underlying forces
Compute motion from initial conditions and physics
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Dynamics
Simulation of Physics Insures Realism of
Motion

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Space Time Constraints
Animator Specifies Constraints
What the characters physical structure is
e.g., articulated figure
What the character has to do
e.g., jump from here to there within time t
What other physical structures are present
e.g., floor to push off and land
How the motion should be performed
e.g., minimize energy

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Computer Finds the Best Physical Motion
Satisfying constraints
Example: Particle with Jet Propulsion
x(t) is position of particle at time t
f(t) is force of jet propulsion at time t
Particles equation of motion is:

Suppose we want to move from a to b within t
0
to t
1
with minimum jet fuel:
0 =
' '
mg f x m
( ) ( ) ( ) b t x a t x dt t f
t
t
= =
}
1 0
2
and subject to Minimize
1
0
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Discretize Time Steps
b x a x f h
mg f
h
x x x
x m
h
x x x
x
h
x x
x
i
i
i
i i i
i i i
i i
= =
=
|
.
|
\
|
+
=
' '
+
=
' '
=
'
+
+
1 0
2
2
1 1
2
1 1
1
and subject to Minimize
0
2
2
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Solve with Iterative Optimization Methods

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Advantages
Free animator from having to specify details of
physically realistic motion with spline curves
Easy to vary motions due to new parameters and/or
new constraints

Challenges
Specifying constraints and objective functions
Avoiding local minima during optimization

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Adapting Motion

Original Jump
Heavier Base
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Adapting Motion

Hurdle
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Adapting Motion

Ski Jump
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Editing Motion

Original Adapted
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Morphing Motion
The female character morphs into a
smaller character during her spine
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Advantages
Free animator from having to specify details of
physically realistic motion with spline curves
Easy to vary motions due to new parameters and/or
new constraints

Challenges
Specifying constraints and objective functions
Avoiding local minima during optimization

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Dynamics
Other Physical Simulations
Rigid bodies
Soft bodies
Cloth
Liquids
Gases
etc.

Cloth
Hot Gases
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Summary
Kinematics
Forward kinematics
Animator specifies joints (hard)
Compute end-effectors (easy)
Inverse kinematics
Animator specifies end-effectors (easier)
Solve for joints (harder)
Dynamics
Space-time constraints
Animator specifies structures & constraints (easiest)
Solve for motion (hardest)
Also other physical simulations

Animation

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