DATE

TOPICS

SUPPLEMENTAL
MATERIALS

Jan22 
Introduction

Readings:
 An interesting historical
perspective:
 Terzopoulos, D., Pltt, J., Barr, A., Zeltzer, D.,
Witkin, A., and Blinn, J. 1989. Physically
based modeling: past, present, and future. In
ACM SIGGRAPH 89
Panel Proceedings (Boston, Massachusetts,
United States, July 31  August 04, 1989). SIGGRAPH
'89. ACM Press, New York, NY, 191209.

Jan24 
Review: Tensor Calculus

Discuss Particle
System Dynamics
Discussed
differentiating the following quantities with respect to
particle position vectors, p_i:
 constant, c
 position, p_j
 vectors, (p_jp_k)
 distances, p_jp_k
 distance powers, p_jp_k^n
 dot products, (p_1p_0)^T (p_3p_2)
 cross products
 Example: hair bending energy derivative, E =
k*sin^2(theta/2) [handout]

Jan29

Particle Systems

Material:

Jan31

Basic Integrators

Material:

Feb5

Assignment #1
Particle Systems

Assignment #1
Homepage

Feb7
Feb12


No
classes (Professor James is away)

Feb5
Feb14

ParticleBased Fluids

Material:
 Particle interaction force models
 Smoothed Particle Hydrodynamics (SPH)
 Matthias Müller, David Charypar,
Markus Gross, Particlebased
fluid simulation for interactive applications,
2003
ACM SIGGRAPH / Eurographics Symposium on Computer
Animation (SCA 2003), August
2003, pp. 154159. [Video]
 Wikipedia
 Takahiro Harada, Seiichi Koshizuka, Yoichiro
Kawaguchi, Smoothed Particle
Hydrodynamics on GPUs, Computer Graphics
International, pp. 6370, 2007.
 B. Solenthaler, R. Pajarola, PredictiveCorrective
Incompressible
SPH, ACM Transactions on Graphics,
28(3), July 2009,
pp. 40:140:6. [PDF]
[YouTube
Video]
 Granular materials:
 Nathan Bell, Yizhou Yu,
and Peter
J. Mucha, ParticleBased Simulation of
Granular Materials, ACM SIGGRAPH/
Eurographics Symposium on Computer Animation 2005,
[PDF]
[Video]
 Coupling SPH and rigidbody simulations (advanced):
 N. Akinci, M. Ihmsen, G. Akinci, B. Solenthaler, M.
Teschner, Versatile
RigidFluid Coupling for Incompressible SPH,
ACM Trans. Graph. (SIGGRAPH Proc.), 2012. [PDF]
[AVI]
 Particle advection
 Isosurface extraction
 Rendering

Feb19

Implicit Integration;
IMEX and other schemes

Material:
 Blackboard
 David Baraff and Andrew Witkin, Physically
Based
Modeling, Online
SIGGRAPH
2001 Course Notes, 2001.
 Implicit Methods (Baraff)
 David Baraff, Andrew P. Witkin, Large
Steps
in
Cloth Simulation, Proceedings of SIGGRAPH
98, Computer Graphics Proceedings, Annual Conference
Series, July 1998, pp. 4354.
 ImplicitExplicit
(IMEX) integration schemes:
 Ascher, Ruuth, Wetton, ImplicitExplicit
Methods for TimeDependent Partial Differential
Equations, SIAM J. Num. Anal. 32, pp.
797823, 1995.
 Bernhard Eberhardt, Olaf Etzmuß, Michael
Hauth, ImplicitExplicit
Schemes for Fast Animation with Particle Systems,
Computer Animation and Simulation 2000, Proceedings
of the EG Workshop in Interlaken, 2122 August,
2000.
 Example: "Going implicit on damping"

Feb21
Feb26
Feb28

Robust Collision Processing

Material:
 Velocitylevel collision resolution
 Continuous collision detection
 2D (pointedge, spheresphere), and 3D (pointface,
edgeedge) tests
 Impulse resolution
 Supporting pin/trajectory constraints
 Inversemassmatrix filtering
 Penalty forces
 Rigid cloth zones
References:
 Cloth related:
 Robert Bridson, Ronald P. Fedkiw, John Anderson, Robust Treatment of
Collisions, Contact, and Friction for Cloth
Animation, ACM Transactions on Graphics, 21(3),
July 2002, pp. 594603
 A. Selle, J. Su, G. Irving, and R. Fedkiw, Robust HighResolution
Cloth Using Parallelism, HistoryBased Collisions
and Accurate Friction, IEEE Transactions on
Visualization and Graphics (TVCG), 15(2),
339350.
 Robust Treatment of Simultaneous Collisions,
David Harmon, Etienne Vouga, Rasmus Tamstorf, Eitan
Grinspun, ACM Transactions on Graphics, 27(3),
August 2008, pp. 23:123:4. (equalityconstraint
alternative to rigid cloth zones)
 X. Provot, Collision and selfcollision handling in
cloth model dedicated to design garment. Graphics
Interface, 177–89, 1997. (first introduction
of rigid cloth zones)
 General collision
detection:
 M.
Lin and S. Gottschalk, Collision
detection between geometric models: A
survey, Proc. of IMA Conference
on Mathematics of Surfaces, volume 1, pp.
602608, 1998.
 P.
Jimenez, F. Thomas, and C. Torras, 3D collision
detection: A survey, Computers
& Graphics, Elsevier, 25(2), pp. 269285,
2001.
 Gino
Van Den Bergen, Efficient collision detection of
complex deformable models using AABB trees,
Journal of Graphics Tools, 1998


Assignment #2
Robust Collision Processing
(a.k.a. "The Spaghetti Factory")

Assignment
#2 Homepage
 Video highlights (from previous years):

Mar5 
Rigid Body Simulation

Material:
 Rigid body dynamics
 Position, orientation, linear/angular velocity,
momentum, inertia, equations of motion, etc.
 Euler's
equations of angular rigidbody dynamics (in
body coordinates)
 Contact impulses
 Example: rigid zones for cloth
 Frictionless contacts:
 Nonpenetration constraints
 Velocitylevel constraints (see Baraff course notes
for acclerationlevel constraints)
 Linear Complementarity Problem (LCP)
References:
 David Baraff and Andrew Witkin, Physically
Based
Modeling, Online
SIGGRAPH
2001 Course Notes, 2001.
 (see cloth references for rigid cloth zones)

Mar7
Mar12

Constrained Dynamics

Material:
 Holonomic constraints, C(p)=0.
 Example: Bead on a wire
 Differentiating constraints w.r.t. time.
 Constraint Jacobian, J
 Lagrange multipliers, lambda, and constraint forces,
J^T lambda
 Solving for Lagrange multipliers
 Implicit constraint (and halfexplicit) DAE
integration schemes
References:
 David Baraff and Andrew Witkin, Physically
Based
Modeling, Online
SIGGRAPH
2001 Course Notes, 2001.
 Examples from Cloth
Simulation:
 Rony Goldenthal, David Harmon, Raanan Fattal, Michel
Bercovier, Eitan Grinspun, Efficient Simulation of
Inextensible Cloth, ACM Transactions on
Graphics, 26(3), July 2007, pp.
49:149:7. [ACM Digital Library link]
 Jonathan
M. Kaldor, Doug L. James, Steve Marschner, Simulating Knitted
Cloth at the Yarn Level, ACM Transactions on
Graphics, 27(3), August 2008, pp. 65:165:9.

Mar12
Mar14

Solving Sparse Linear Systems

Material:
 Poisson's equation model problem
 Overview of space/time complexity results for
Poisson's equation
 Iterative methods for sparse linear systems
 Matrix splitting & iterative solution
 Basic Methods:
 GaussSeidel
 Successive overrelaxation (SOR)
 Krylov Subspace Methods
 Basic idea
 Conjugate Gradient Method
 Reference:

Mar19
Mar21

March Break

No
classes

Mar26
Mar28

Rigid Body Contact;
Projected GaussSeidel
Solver

Material:
 SIAM Review of rigidbody
contact:
 Projected GaussSeidel
solver (material for
assignment):
 K. Erleben, Stable,
robust,
and
versatile multibody dynamics animation. Ph.D.
thesis, Department of Computer Science, University of
Copenhagen, Denmark, 2005. [avi movie]
 K. Erleben, Velocitybased shock
propagation for multibody dynamics animation,
ACM Trans. Graph. 26, 2, Jun. 2007. (most similar to Mar17
lecture)

 Other
impulsebased
simulation
papers:
 Brian
Mirtich, John Canny, Impulsebased
Simulation of Rigid Bodies, 1995
Symposium on Interactive 3D Graphics, April 1995,
pp. 181188.
 Eran Guendelman, Robert
Bridson, Ronald P. Fedkiw, Nonconvex Rigid Bodies
With Stacking, ACM Transactions on
Graphics, 22(3), July 2003, pp. 871878. [another
iterative impulsebased solver]


Assignment #3
Rigid Body Contact
(a.k.a. "The Jelly Bean Factory")

Material:
 Starter code available from CMS

Apr2
Apr4

Fluid Animation

Materials:
 Jos Stam,
Stable Fluids,
Proceedings of SIGGRAPH 99, Computer Graphics
Proceedings, Annual Conference Series, August 1999, pp.
121128. [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. 1522. (introduces vorticity confinement
forces)
 Bridson, R., Fedkiw, R., and MullerFischer, 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,
187. [Slides,
Notes]

Apr4

Final Project

Webpage
 Project proposal (PDF
format) [DUE: Thursday April 4]

Apr16

Smoke Control

Materials:
 Adrien Treuille, Antoine McNamara,
Zoran Popović, Jos Stam, Keyframe Control of Smoke Simulations,
ACM Transactions on
Graphics, 22(3), July 2003,
pp. 716723. [paper]
[project]
[video]
Graphbib
page
 Antoine McNamara, Adrien Treuille,
Zoran Popović, Jos Stam, Fluid control using the
adjoint method, ACM Transactions on Graphics,
23(3), August
2004, pp. 449456.
[paper]
[project]
Graphbib
page
 Raanan Fattal, Dani Lischinski, Targetdriven
smoke animation, ACM
Transactions on Graphics, 23(3),
August 2004, pp. 441448.
[paper]
[project]
Graphbib
page

Apr25

FluidSolid Coupling

Materials:
 Mark Carlson, Peter J. Mucha, Greg Turk, Rigid Fluid: Animating
the Interplay Between Rigid Bodies and Fluid,
ACM Transactions on Graphics, 23(3), August 2004, pp.
377384. [paper]
[project]
[graphbib]
[ACM
Digital
Library] (a
really simple way to add rigid bodies to a fluid
simulation)
 William V. Baxter III, Ming C. Lin, Haptic
Interaction
with
Fluid Media, Graphics Interface 2004, May 2004,
pp. 8188.
 Eran Guendelman, Andrew Selle, Frank Losasso, Ronald
Fedkiw, Coupling water and smoke
to thin deformable and rigid shells, ACM
SIGGRAPH 2005 Papers, July 31August 04, 2005, Los
Angeles, California. [project]
 Nuttapong Chentanez, Tolga G. Goktekin, Bryan E.
Feldman, James F. O'Brien, Simultaneous coupling of
fluids and deformable bodies, Proceedings
of the 2006 ACM SIGGRAPH/Eurographics symposium on
Computer animation, September 0204, 2006, Vienna,
Austria. [project]
 Jeroen Molemaker, Jonathan M. Cohen, Sanjit Patel,
Junyong Noh, Low Viscosity Flow Simulations for
Animation, Symposium on Computer Animation
2008. [paper]
[video
(mpeg4)] [youtube]
 RobinsonMosher, A., Shinar, T., Gretarsson, J., Su,
J. and Fedkiw, R., Twoway Coupling of
Fluids to Rigid and Deformable Solids and Shells,
SIGGRAPH 2008, ACM TOG 27, 46.146.9 (2008). [Videos: 1,
2,
3]

Apr23

Shape Matching Methods

Material:
 Matthias Müller, Bruno Heidelberger, Matthias
Teschner, Markus Gross, Meshless deformations based on shape matching,
ACM Transactions on Graphics, 24(3), August 2005, pp.
471478. [ACM]
[PDF] [AVI]
 Alec R. Rivers, Doug L. James, FastLSM: Fast Lattice
Shape Matching for Robust RealTime Deformation,
ACM Transactions on Graphics, 26(3), July 2007, pp.
82:182:6. [ACM] [PDF]
 Denis Steinemann, Miguel A. Otaduy, Markus Gross, Fast Adaptive Shape
Matching Deformations, ACM
SIGGRAPH/Eurographics Symposium on Computer Animation,
Dublin, July 79, 2008. [PDF] [AVI]
 Matthias Müller and Nuttapong Chentanez. Solid
simulation with oriented particles. ACM Trans.
Graph. 30, 4, Article 92 (July 2011), 10 pages, 2011. [PDF]
[MOVIE]

Apr30

Position Based Fluids
+ Project Discussion

Material:

Thurs
May2

Project
Presentations

