Transcription of Geometric, Variational Integrators for Computer Animation
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Geometric, Variational Integrators for Computer Animation
Eurographics/ACM SIGGRAPH Symposium on Computer Animation (2006) Cani, J. O Brien (Editors) geometric , Variational Integrators for Computer AnimationL. Kharevych Weiwei Y. Tong E. Kanso J. E. Marsden P. Schr der M. DesbrunCaltech - USCA bstractWe present a general-purpose numerical scheme for time integration of Lagrangian dynamical systems an im-portant computational tool at the core of most physics-based Animation techniques. Several features make thisparticular time integrator highly desirable for Computer Animation : it numerically preserves important invariants,such as linear and angular momenta; the symplectic nature of the integrator also guarantees a correct energybehavior, even when dissipation and external forces are added; holonomic constraints can also be enforced quitesimply; finally, our simple methodology allows for the design of high-order accurate schemes if needed.
Kharevych et al. / Geometric, Variational Integrators for Computer Animation tional formulation of mechanics we mentioned above, pro-viding a solution for most ordinary and partial differential
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