Computational Motion

CS 6650: Computational Motion (Spring 2011)

Professor:     Doug James
                      5146 Upson Hall
                      Office Hours: after class, or by appointment
                      djames 'at' cs.cornell.edu

Logistics: Mon/Wed @ 2:55--4:10pm in (Room Change: Thurston 205)
First Class: Wednesday, Jan 26 (please attend for more information)

Course Description: Covers computational aspects of motion, broadly construed. Topics include the computer representation, modeling, analysis, and simulation of motion, and its relationship to various areas, including computational geometry, mesh generation, physical simulation, computer animation, robotics, biology, computer vision, acoustics, and spatio-temporal databases. Students implement several of the algorithms covered in the course and complete a final project. This Spring 2011 offering will also explore the special role of motion processing in physically based sound rendering.

Prerequisites: Undergraduate-level understanding of algorithms, and some scientific computing.

Grade options: Letter or S/U

Credit hours: 4

Offered: Fall only

Cross-Listing: None

Grading Rubric:
    30%   Paper presentations, and submitted questions.
    30%   Written homeworks
    05%   Project: Written proposal
    05%   Project: Mid-course show-and-tell
    05%   Project: Final public presentation
    25%   Project: Final written report

Discussion Group: http://groups.google.com/group/cornellcs6650spring2011 (restricted access to students in course)

Class Schedule: (link to fall 2008 schedule)

DATE	TOPICS	MATERIALS
Wed Jan 26	Introduction to Computational Motion	Slides: PDF Read for next class: Agarwal, P. K., Guibas, L. J., Edelsbrunner, H., Erickson, J., Isard, M., Har-Peled, S., Hershberger, J., Jensen, C., Kavraki, L., Koehl, P., Lin, M., Manocha, D., Metaxas, D., Mirtich, B., Mount, D., Muthukrishnan, S., Pai, D., Sacks, E., Snoeyink, J., Suri, S., and Wolefson, O. 2002. Algorithmic issues in modeling motion. ACM Comput. Surv. 34, 4 (Dec. 2002), 550-572.
MonJan31 WedFeb2	Euler-Lagrange Equations of Motion, and Computational Complexity	Discussion: Algorithmic issues in modeling motion [Agarwal et al. 2002]. References for Lagrangian dynamics: V.I. Arnold, Mathematical Methods of Classical Mechanics, Springer, 2nd edition, 1989. (more mathematical text) H. Goldstein et al., Classical Mechanics, Addison Wesley, 3rd edition, 2001. (standard ugrad physics text) S.T. Thornton and J.B. Marion, Classical Dynamics of Particles and Systems, Brooks Cole, 5th edition, 2003. (easier ugrad physics text) Topics discussed: N-body problems (all-pairs complexity) Reduced-coordinate deformable bodies (spatial/integration complexity) 2D serial manipulator (recursive complexity) Read for MonFeb7 class: [Baraff & Witkin 1998] Post discussion comments on group before class. Assignment #1 for Wed Feb 9 (homework due in class): Regarding the simplified N-body planar serial manipulator from class: Given joint angles and velocities, what is the complexity of naive evaluation of joint accelerations from the expanded Euler-Lagrange equations? Provide evidence to support your claim using the equations.
MonFeb7	Deformable Models: Cloth Motion	Topics discussed: Modeling cloth with energy terms Implicit integration Tensor calculus recap: Discussed differentiating the following quantities with respect to particle position vectors, p_i: constant, c position, p_j vectors, (p_j-p_k) distances, \|\|p_j-p_k\|\| distance powers, \|\|p_j-p_k\|\|^n dot products, (p_1-p_0)^T (p_3-p_2) cross products ... References: Baraff, D. and Witkin, A. 1998. Large steps in cloth simulation. In Proceedings of the 25th Annual Conference on Computer Graphics and interactive Techniques SIGGRAPH '98. ACM, New York, NY, 43-54. Jonathan Richard Shewchuk, An Introduction to the Conjugate Gradient Method Without the Agonizing Pain, August 1994. PDF (516k, 58 pages) Discussion group posts Assignment #2 for Mon Feb 21 class (homework due in class): Derive forces/Jacobians for [Baraff & Witkin 1998] (assignment (PDF)).
WedFeb9 MonFeb14	Rigid Body Dynamics	Topics discussed: Rotational and rigid motion; kinematics and dynamics SO(3), Special Orthogonal group in 3D SE(3), Special Euclidean group in 3D Rigid-body motion Spatial velocity vectors (contravariant twists); se(3); transformation Kinetic energy; inertia, principal axes Spatial forces (covariant wrenches); se*(3); transformation Velocity of contact points, and relation to twists Forces at contact points, and relation to wrenches Newton-Euler equations of motion Integrating rigid-body dynamics Deformable bodies; mode matrix, U; extensions to framework References: David Baraff and Andrew Witkin, Physically Based Modeling, Online SIGGRAPH 2001 Course Notes, 2001. Rigid Body Simulation (slides) Murray, R. M., Sastry, S. S., and Zexiang, Li, A Mathematical Introduction to Robotic Manipulation. 1st. CRC Press, Inc., 1994. See summary in appendix of: Danny M. Kaufman, Timothy Edmunds and Dinesh K. Pai, Fast Frictional Dynamics for Rigid Bodies, ACM Transactions on Graphics (SIGGRAPH 2005), 24(3), August 2005. Ball's screw theory Ahmed A. Shabana, Dynamics of Multibody Systems, Cambridge, 3rd ed, 2005.
	Discussion: Parallel Rigid-Body Dynamics	Reference: Takahiro Harada, Real-Time Rigid Body Simulation on GPUs, GPU Gems 3, 2007. A simple parallel method for RB dynamics with penalty contact.
MonFeb14 WedFeb16	Robot Dynamics Algorithms	Topics discussed: Algorithms overview Forward and inverse kinematics Inverse dynamics (control) Forward dynamics (simulation) Notation Recurrence relations Recursive Newton-Euler Algorithm (RNEA) O(N) inverse dynamics Composite-Rigid-Body Algorithm (CRBA) O(n^2) mass matrix Usage in O(N^3) forward dynamics (CRBA + RNEA + dense solve) Articulated-Body Algorithm (ABA) a.k.a. "Featherstone's algorithm" O(N) forward dynamics Closed-loop systems Constraints and fast solution methods Global analysis techniques Fast robot algorithms as sparse matrix methods References: Roy Featherstone and David Orin, Robot Dynamics: Equations and Algorithms, Proc. IEEE Int. Conf. Robotics & Automation, San Francisco, CA, 2000, pp. 826–834. (an excellent review) Roy Featherstone, Robot Dynamics Algorithms, Kluwer Academic Publishers, 1987. (classic book--highly readable) Roy Featherstone, A Divide-and-Conquer Articulated-Body Algorithm for Parallel O(log(n)) Calculation of Rigid-Body Dynamics. Part 1: Basic Algorithm, The International Journal of Robotics Research, Vol. 18, No. 9, 867-875, 1999. (has good appendix on spatial notation) Roy Featherstone, Rigid Body Dynamics Algorithms, Boston: Springer, 2007. E. Kokkevis, Practical Physics for Articulated Characters, Proc. of Game Developers Conference (GDC), 2004. (good overview of system integration issues for ABA, e.g., handling contact and constraints) David Baraff, Linear-Time Dynamics using Lagrange Multipliers, Proceedings of SIGGRAPH 96, Computer Graphics Proceedings, Annual Conference Series, August 1996, pp. 137-146. Robot dynamics, Scholarpedia page. D.K. Pai, STRANDS: Interactive Simulation of Thin Solids using Cosserat Models, Computer Graphics Forum, 21(3), pp. 347-352, 2002.
MonFeb21	Discussion: Articulated Body Algorithm (ABA)	Reference: E. Kokkevis, Practical Physics for Articulated Characters, Proc. of Game Developers Conference (GDC), 2004. (good overview of system integration issues for ABA, e.g., handling contact and constraints)
MonFeb21	Constrained Dynamics and Differential-Algebraic Equations (DAEs)	References for Differential-Algebraic Equations (DAEs): U.M. Ascher and L.R. Petzold, Computer Methods for Ordinary Differential Equations and Differential-Algebraic Equations, SIAM. E. Hairer and G. Wanner, Solving Ordinary Differential Equations II: Stiff and Differential-Algebraic Problems, 2nd edition, Springer, 1996. See Chapter VII.(1-2) Differential-Algebraic Equations of Higher Index Topics discussed: Constrained Lagrangian dynamics (CLD) Holonomic constraints Constraint-augmented Lagrangian Examples, e.g., pendulum DAE systems Differentiation index Structure of index-1, -2, and -3 DAE systems Index reduction by differentiation Drift-off phenomena
WedFeb23	Integrating Constrained Dynamics	Topics discussed: Constrained Lagrangian dynamics in index-1, -2, -3 and GGL DAE forms Solving for Lagrange multiplier from index-1 form. Constraint stabilization: Baumgarte's method; modified Lagrange multiplier Projection (position, velocity) Implicit integration of DAEs (for stiff problems) General DAEs, and semi-explicit index-1 DAEs Backwards Euler BDF and multistep methods Half-explicit Runge-Kutta methods Methods for ODEs on manifolds Poststabilization Coordinate projection (c.f. coordinate resetting) Hamiltonian dynamics; energy conservation Symplectic integrators w/ constraints (SHAKE & RATTLE) Additional CLD reference: David Baraff and Andrew Witkin, Physically Based Modeling, Online SIGGRAPH 2001 Course Notes, 2001.
WedFeb23	Discussion (Andrew Spielberg)	Reference: Hayley N. Iben, James F. O'Brien, and Erik D. Demaine. "Refolding Planar Polygons". Discrete and Computational Geometry, 41(3):444–460, April 2009.
MonFeb28	Frictional Contact	Topics discussed: Impact models; restitution coefficient Nonpenetration constraints Linear complementarity problems (LCP); QP formulations; Dantzig's algorithm Friction Painleve's paradox; frictional indeterminacy; frictional inconsistency; the importance of impulses Velocity-level contact formulation The myth of "contact points"; distributed friction forces; planar sliding; center of friction Contacting multibody systems Nonpenetration constraints; Signorini-Fichera condition Maximal dissipation principle "Staggered Projections" contact algorithm Iterative solvers; projected Gauss-Seidel methods References: D.E. Stewart, Rigid-Body Dynamics with Friction and Impact, SIAM Review, 42(1), pp. 3-39, 2000. D. Baraff, Fast contact force computation for nonpenetrating rigid bodies, Computer Graphics Proceedings, Annual Conference Series: 23-34, 1994. (cover's Dantzig's algorithm) D. Baraff, Coping with friction for non-penetrating rigid body simulation, Computer Graphics 25(4): 31-40, 1991. (cover's frictional indeterminacy & inconsistency) Danny M. Kaufman, Shinjiro Sueda, Doug L. James and Dinesh K. Pai, Staggered Projections for Frictional Contact in Multibody Systems, ACM Trans. Graph.(Proc. SIGGRAPH Asia), 27, 2008. Brian Mirtich, Impulse-based Dynamic Simulation of Rigid Body Systems, Ph.D. thesis, UC Berkeley, 1996. Eran Guendelman , Robert Bridson , Ronald Fedkiw, Nonconvex rigid bodies with stacking, ACM Transactions on Graphics (TOG), v.22 n.3, July 2003 [doi>10.1145/882262.882358] (good example of a velocity-level iterative contact solver) Kenny Erleben, Velocity-based shock propagation for multibody dynamics animation, ACM Transactions on Graphics, 26(2), June 2007, pp. 12:1-12:20. (good summary of a velocity-level projected Gauss-Seidel contact solver) Christopher D. Twigg, Doug L. James, Backward Steps in Rigid Body Simulation, ACM Transactions on Graphics, 27(3), August 2008, pp. 25:1-25:10. (see for summary of velocity-level contact problem)
MonFeb28	Discussion (Chuck Moyes)	Reference: James F. O'Brien , Chen Shen , Christine M. Gatchalian, Synthesizing sounds from rigid-body simulations, Proceedings of the 2002 ACM SIGGRAPH/Eurographics symposium on Computer animation, July 21-22, 2002, San Antonio, Texas
WedMar2	Frictional Contact (cont'd)
WedMar2	Discussion (Jeffrey Ames)	Reference: Molino, N., Bao, Z. and Fedkiw, R., "A Virtual Node Algorithm for Changing Mesh Topology During Simulation", SIGGRAPH 2004, ACM TOG 23, 385-392 (2004).
MonMar7	No class (PhD Visit Day) --> Project planning day	Work on project proposals: Hand in proposal in Wednesday Feb 9 class. Get feedback then get cracking.
WedMar9	Course Project Discussion	Agenda: Discussion of [Parker and O'Brien 2009] Submit project proposals Informal discussion of proposed course projects; revisions BOOM Showcase at 4pm
WedMar9	Discussion (Himanshu Bhatia & Jonathan Hirschberg)	Reference: Eric G. Parker and James F. O'Brien. "Real-Time Deformation and Fracture in a Game Environment". In Proceedings of the ACM SIGGRAPH/Eurographics Symposium on Computer Animation, pages 156–166, August 2009.
MonMar14	Friction Contact (cont'd): Staggered Projections
WedMar16 MonMar28 WedMar30	Incompressible Flow	Topics discussed: Advection; upwind differencing; ENO schemes Incompressibility constraint Navier-Stokes equation MAC grid discretization; interpolation and averaging; upwinding Time-stepping schemes (Eulerian, and semi-Lagrangian) Projection to divergence-free velocity Poisson equation; discretization; compatibility condition; PCG solution DAE view of incompressible flow Higher-order semi-Lagrangian schemes; monotone interpolation; BFECC; CIP and USCIP Reference: S. Osher and R. Fedkiw, Level Set Methods and Dynamic Implicit Surfaces, Applied Mathematical Sciences, volume 153, Springer-Verlag, 2003. U.M. Ascher and L.R. Petzold, Computer Methods for Ordinary Differential Equations and Differential-Algebraic Equations, SIAM. Jos Stam, Stable Fluids, Proceedings of SIGGRAPH 99, Computer Graphics Proceedings, Annual Conference Series, August 1999, pp. 121-128. Slides and notes Ronald Fedkiw, Jos Stam, Henrik Wann Jensen, Visual Simulation of Smoke, Proceedings of ACM SIGGRAPH 2001, Computer Graphics Proceedings, Annual Conference Series, August 2001, pp. 15-22. (introduces vorticity confinement forces) Bridson, R., Fedkiw, R., and Muller-Fischer, M. 2006. Fluid simulation: SIGGRAPH 2006 course notes, In ACM SIGGRAPH 2006 Courses (Boston, Massachusetts, July 30 - August 03, 2006). SIGGRAPH '06. ACM Press, New York, NY, 1-87. [Slides] Foster, N. and Fedkiw, R., Practical Animation of Liquids, SIGGRAPH 2001, 15-22 (2001). Enright, D., Marschner, S. and Fedkiw, R., Animation and Rendering of Complex Water Surfaces, SIGGRAPH 2002, ACM TOG 21, 736-744 (2002). Yongning Zhu , Robert Bridson, Animating sand as a fluid, ACM Transactions on Graphics (TOG), v.24 n.3, July 2005. (Discusses PIC and FLIP hybrid particle/grid methods) Higher-order advection schemes: BFECC and MacCormack methods: Byungmoon Kim, Yingjie Liu, Ignacio Llamas, Jarek Rossignac, Advections with Significantly Reduced Dissipation and Diffusion, IEEE Transactions on Visualization and Computer Graphics, Volume 13, Issue 1, Pages 135-144, 2007. video(DivX) Selle, A., Fedkiw, R., Kim, B., Liu, Y., and Rossignac, J. 2008. An Unconditionally Stable MacCormack Method. J. Sci. Comput. 35, 2-3 (Jun. 2008), 350-371. Methods with small stencils (constrained interpolation profile (CIP)): Doyub Kim, Oh-young Song, Hyeong-Seok Ko, A Semi-Lagrangian CIP Fluid Solver without Dimensional Splitting, Computer Graphics Forum, 27(2), April 2008, pp. 467-475. (project page with videos) A projection method to approximate complex boundaries: Jeroen Molemaker, Jonathan M. Cohen, Sanjit Patel, Jun-yong Noh. Low Viscosity Flow Simulations for Animation. Symposium on Computer Animation 2008. [video (mpeg4)] Multigrid Poisson solver A. McAdams, E. Sifakis, J. Teran, A Parallel Multigrid Poisson Solver for Fluids Simulation on Large Grids, ACM SIGGRAPH/Eurographics Symposium on Computer Animation (SCA) edited by M. Otaduy and Z. Popovic, pp.1-10, 2010. [PDF] [Video+Code] A coarse-grid Poisson solver Lentine, M., Zheng, W., and Fedkiw, R., A Novel Algorithm for Incompressible Flow Using Only A Coarse Grid Projection, SIGGRAPH 2010, ACM TOG 29, 4 (2010). [Video]
MonMar21 WedMar23	Spring Break (No classes)
MonMar28	Discussion (Ivaylo Boyadzhiev)	Hadrien Courtecuisse, Hoeryong Jung, Jérémie Allard, Christian Duriez, Doo Yong Lee, Stéphane Cotin, GPU-based Real-Time Soft Tissue Deformation with Cutting and Haptic Feedback, Progress in Biophysics and Molecular Biology 103, 2-3, pages 159–168 - December 2010, doi:10.1016/j.pbiomolbio.2010.09.016, Special Issue on Soft Tissue Modelling PDF: GPU-based Real-Time Soft Tissue Deformation with Cutting and Haptic Feedback
WedMar30	Discussion (Yunfeng Bai)	Lentine, M., Zheng, W., and Fedkiw, R., A Novel Algorithm for Incompressible Flow Using Only A Coarse Grid Projection, SIGGRAPH 2010, ACM TOG 29, 4 (2010). [Video]
Mon4Apr	Project Updates	Description: Each project group will give a short 5-minute presentation on their project topic, current results/progress, and goals for the remaining month.
Wed6Apr Mon11Apr	Gradient-Domain Shape and Deformable Motion Modeling	References: Robert W. Sumner, Jovan Popović, Deformation transfer for triangle meshes, ACM Transactions on Graphics, 23(3), August 2004, pp. 399-405. Robert W. Sumner, Matthias Zwicker, Craig Gotsman, Jovan Popović, Mesh-based Inverse Kinematics, ACM Transactions on Graphics, 24(3), August 2005, pp. 488-495.
Wed6Apr	Discussion (Jiexun Xu)	Geometric, Variational Integrators for Computer Animation L. Kharevych, Weiwei, Y. Tong, E. Kanso, J. E. Marsden, P. Schröder, and Mathieu Desbrun ACM/EG Symposium on Computer Animation 2006, pp. 43-51
Mon11Apr	Subspace Deformation (Pixar style)	References: Mark Meyer, John Anderson, Key Point Subspace Acceleration and Soft Caching, ACM Transactions on Graphics, 26(3), July 2007, pp. 74:1-74:8. Pushkar Joshi, Mark Meyer, Tony DeRose, Brian Green, Tom Sanocki, Harmonic Coordinates for Character Articulation, ACM Transactions on Graphics, 26(3), July 2007, pp. 71:1-71:9.
Wed13Apr Mon18Apr	Collision Detection, and Subspace Deformation Bounds	Topics discussed: Bounding volumes (spheres, boxes, k-DOPs, etc) Separating axis theorem Space-time bounds Bounding moving points Bounding subspace deformations; Bounded Deformation Trees O(r) and O(1) updates Spheres, boxes, k-DOPs Translational and affine/rotational models References: Philip M. Hubbard. 1996. Approximating polyhedra with spheres for time-critical collision detection. ACM Trans. Graph. 15, 3 (July 1996), 179-210. DOI=10.1145/231731.231732 http://doi.acm.org/10.1145/231731.231732 B. Gaertner, Fast and Robust Smallest Enclosing Balls, Lecture Notes in Computer Science, Springer, pp. 325-338, 1999. Miniball software, Smallest Enclosing Balls of Points - Fast and Robust in C++. Doug L. James, Dinesh K. Pai, BD-Tree: Output-sensitive collision detection for reduced deformable models, ACM Transactions on Graphics, 23(3), August 2004, pp. 393-398. [SIGGRAPH Talk] M. Teschner et al., Collision Detection for Deformable Objects, Eurographics State-of-the-Art Report (EG-STAR), Eurographics Association, pages 119-139, 2004. Jernej Barbič and Doug L. James, Six-DoF haptic rendering of contact between geometrically complex reduced deformable models, IEEE Transactions on Haptics, 1(1):39–52, 2008. [Project page] Assignment for Mon May 9: Building on the affine motion model (described for spheres in class), propose a tight 6-DOP deformation bound that supports large rotations (is affine invariant) and has an O(r) update cost for r displacement modes.
Wed13Apr	Discussion (Kevin Matzen)	M. Müller, R. Keiser, A. Nealen, M. Pauly, M. Gross, M. Alexa, Point Based Animation of Elastic, Plastic and Melting Objects, SCA 2004. http://graphics.ethz.ch/disclaimer.php?dlurl=/Downloads/Publications/Papers/2004/Mue04c/Mue04c.pdf Videos: http://graphics.ethz.ch/Downloads/Publications/PaperVideos/2004/Mue04c%20Matthias_Mueller%20-%20PBA_Elatsic_Plastic_Melting%20-%20SCA04.avi http://graphics.ethz.ch/Downloads/Publications/PaperVideos/2004/Mue04c%20Matthias_Mueller%20-%20PBA_Elatsic_Plastic_Melting2%20-%20SCA04.avi
Mon18Apr	Discussion (Nathan Lloyd & Greg Sadowski)	Oktar Ozgen, Marcelo Kallmann, Lynnette Es Ramirez, Carlos Fm Coimbra, Underwater cloth simulation with fractional derivatives, ACM Transactions on Graphics, 29(3), June 2010, pp. 23:1-23:9.
Wed20Apr	Subspace Dynamics; Physics-Based Sound Rendering	Topics discussed: Dimensional model reduction linear & nonlinear dynamics linear integration; IIR digital filter generalized eigenvalue problem; mass normalization Newmark integration full vs subspace explicit & implicit Reduced-order deformation force models exact reductions (linear, StVK) approximations (cubature) Reduced-order fluids Sound rendering rigid bodies nonlinear thin shells; mode coupling References: S. R. Idelsohn and A. Cardona, A Reduction Method for Nonlinear Structural Dynamic Analysis, Computer Methods in Applied Mechanics and Engineering 49, 253-279, 1985. A. A. Shabana, Theory of Vibration (Volume II: Discrete and Continuous Systems), Springer-Verlag, New York, NY, 1990. P. Krysl, S. Lall, and J.E. Marsden, Dimensional model reduction in non-linear finite element dynamics of solids and structures, Int. J. for Numerical Methods in Engineering, 51, 479-504, 2001. Doug L. James, Dinesh K. Pai, DyRT: Dynamic Response Textures for Real Time Deformation Simulation With Graphics Hardware, ACM Transactions on Graphics, 21(3), July 2002, pp. 582-585. Jernej Barbič and Doug L. James, Real-Time Subspace Integration of St.Venant-Kirchhoff Deformable Models, ACM Transactions on Graphics (ACM SIGGRAPH 2005), 24(3), pp. 982-990, August 2005, pp. 982-990. Adrien Treuille, Andrew Lewis, Zoran Popović, Model reduction for real-time fluids, ACM Transactions on Graphics, 25(3), July 2006, pp. 826-834. Steven An, Theodore Kim and Doug L. James, Optimizing Cubature for Efficient Integration of Subspace Deformations, ACM Transactions on Graphics (SIGGRAPH ASIA Conference Proceedings), 27(5), December 2008, pp. 165:1-165:10. Theodore Kim and Doug L. James, Skipping Steps in Deformable Simulation with Online Model Reduction, ACM Transactions on Graphics (SIGGRAPH ASIA Conference Proceedings), 28(5), December 2009, pp. 123:1-123:9. Jeffrey Chadwick, Steven An, and Doug L. James, Harmonic Shells: A Practical Nonlinear Sound Model for Near-Rigid Thin Shells, ACM Transactions on Graphics (SIGGRAPH ASIA Conference Proceedings), 28(5), December 2009, pp. 119:1-119:10.
Wed20Apr	Discussion (Ian Lenz)	Ozden, K.E.; Schindler, K.; Van Gool, L.; Multibody Structure-from-Motion in Practice, Pattern Analysis and Machine Intelligence, IEEE Transactions on, vol.32, no.6, pp.1134-1141, June 2010.
Mon25Apr	Physics-Based Sound Rendering	Topics Discussed: Sound rendering problems Acoustic radiation problems Sound waves Derivation of wave equation Approximation Application to solids and fluids Case study: Harmonic Fluids References: K. van den Doel and D. K. Pai, The Sounds of Physical Shapes, Presence: Teleoperators and Virtual Environments, 7:4, The MIT Press, 1998. pp. 382--395. Kees van den Doel, Paul G. Kry, Dinesh K. Pai, FoleyAutomatic: Physically-Based Sound Effects for Interactive Simulation and Animation, Proceedings of ACM SIGGRAPH 2001, Computer Graphics Proceedings, Annual Conference Series, August 2001, pp. 537-544. [Video] Dinesh K. Pai, Kees van den Doel, Doug L. James, Jochen Lang, John E. Lloyd, Joshua L. Richmond, Som H. Yau, Scanning Physical Interaction Behavior of 3D Objects, Proceedings of ACM SIGGRAPH 2001, Computer Graphics Proceedings, Annual Conference Series, August 2001, pp. 87-96. [Video] James F. O'Brien, Perry R. Cook, Georg Essl, Synthesizing Sounds From Physically Based Motion, Proceedings of ACM SIGGRAPH 2001, Computer Graphics Proceedings, Annual Conference Series, August 2001, pp. 529-536. Perry R. Cook, Sound Production and Modeling, IEEE Computer Graphics & Applications, 22(4), July-August 2002, pp. 23-27. Yoshinori Dobashi, Tsuyoshi Yamamoto, Tomoyuki Nishita, Real-Time Rendering of Aerodynamic Sound Using Sound Textures Based on Computational Fluid Dynamics, ACM Transactions on Graphics, 22(3), July 2003, pp. 732-740. [project page] Doug L. James, Jernej Barbić and Dinesh K. Pai, Precomputed Acoustic Transfer: Output-sensitive, accurate sound generation for geometrically complex vibration sources, ACM Transactions on Graphics, 25(3), pp. 987-995, July 2006, pp. 987-995. Changxi Zheng and Doug L. James, Harmonic Fluids, ACM Transaction on Graphics (SIGGRAPH 2009), 28(3), August 2009, pp. 37:1-37:12. Jeffrey Chadwick, Steven An, and Doug L. James, Harmonic Shells: A Practical Nonlinear Sound Model for Near-Rigid Thin Shells, ACM Transactions on Graphics (SIGGRAPH ASIA Conference Proceedings), 28(5), December 2009, pp. 119:1-119:10. Changxi Zheng and Doug L. James, Rigid-Body Fracture Sound with Precomputed Soundbanks, ACM Transactions on Graphics (SIGGRAPH 2010), 29(3), July 2010, pp. 69:1-69:13. Changxi Zheng and Doug L. James, Toward High-Quality Modal Contact Sound, SIGGRAPH 2011 (to appear)
Mon25Apr	Discussion (Albert Liu)	Huamin Wang, Gavin Miller and Greg Turk. 2007. "Solving General Shallow Wave Equations on Surfaces". In Proceedings of ACM SIGGRAPH/Eurographics Symposium on Computer Animation (SCA) 2007, pp. 229 -- 238, San Diego, USA. [PDF 2.3MB], [AVI in DivX 46MB] [BibTex]
Wed27Apr	Computational Motion Project Presentations (Part I)	Presentations: Kevin & Ivo Greg & Nathan Albert Chuck & Mark Himanshu & Jonathan
Mon2May	Computational Motion Project Presentations (Part II)	Presentations: Jeff Andy Ian Yunfeng Jiexun
Wed4May	No class
Wed18May Due Date	Complete Projects & Reports	Submit (via CMS) by Wed May 18.
	End of classes!