CLASS
DATE

TOPICS

MATERIAL
(Supplements whiteboard)

Mon
Jan22
Wed Jan24

Introduction

Readings:
 David Baraff and Andrew Witkin, Physically
Based Modeling, Online
SIGGRAPH 2001 Course Notes, 2001.
 Differential Equation Basics
 Particle Dynamics
 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.
[Interesting historical perspective]

Mon
Jan29
Wed Jan31

Particle
Systems



ASSIGNMENT
#1
MassSpring Particle Systems


Mon
Feb5

Constrained
Dynamics

 Blackboard
 See BW course notes (Constrained
Dynamics)
 References on
stabilization of DAEs (Baumgarte
stabilization; poststep stabilization; coordinate
projection)
 J. Baumgarte, Stabilization of constraints and integrals
of motion in dynamical systems, Comp. Methods Appl. Mech. 1 (1972) 1–16.
 M. B. Cline and D. K. Pai, PostStabilization for Rigid Body
Simulation with Contact and Constraints, in proceedings of
the IEEE Intl. Conf. on Robotics and Autom., 2003. [Describe both
Baumgarte stabilization, and poststep stabilization]
 Uri M. Ascher, Stabilization
of invariants of discretized differential systems, Numerical Algorithms, Springer
Netherlands, Volume 14, Numbers 13, April, 1997, pages 124. [A more
complete mathematical description of stabilization]

Wed
Feb7

Implict
Integration
of Stiff Dynamical Systems


Mon
Feb13

Conjugate
Gradient Method



ASSIGNMENT
#2
Implicit Integration of Stiff Dynamical Systems


Mon
Feb19

Assignment
2 and cloth in graphics

 Wrapup conjugate gradient
 Discussion of Assignment #2
 Highlevel survey of cloth in graphics (slides)

Wed
Feb21

Wed Mar7

Collision
Detection:
Narrow and Broad Phases

 Blackboard:
 Collision detection overview
 Static/dynamic overlap tests (edgeedge, spheresphere,
spherepolygon, ellipsoidellipsoid)
 Dynamic 3Dcloth and 2Dhair interval tests
 Convex bounds
 Separating hyperplane theorem & tests
 Bounding volume hierarchies
 Broad phase collision detection (spatial subdivisions,
hashing, trees, sweep and prune, etc.)
 Class
slides (supplement
blackboard)
 References:
 RealTime Rendering, by Tomas
AkenineMöller and Eric Haines, ~880 pages, from A.K. Peters Ltd.,
2nd edition, ISBN 1568811829.
 RealTime Collision Detection
(The Morgan Kaufmann Series in Interactive 3D Technology) (The Morgan
Kaufmann Series in Interactive 3D Technology), Christer Ericson, 593
pages, 2004. (NOTE: This book has a lot of implementation details.)
 Surveys by [Lin and
Gottschalk 1998] and [Jiménez
et al. 2000].
 Wikipedia
 AABB Trees are described in:
 Sphere trees are described in many places, e..g,

Mon
Mar12

ASSIGNMENT
#3
Rigidbody Collision Detection


Wed
Mar14

Rigid
Body Control

 Additional Readings:
 A. Nealen, M. Müller, R. Keiser, E. Boxerman, M.
Carlson, Physically
Based Deformable Models in Computer Graphics, Computer Graphics
Forum, Vol. 25, issue 4, pages 809836, previously appeared as EG STAR
2005.
 Charbel Fares, Yskandar Hamam, Collision
Detection for Rigid Bodies: A State of the Art Review, Computer
Graphics and Applications (GraphiCon'2005), Fifteenth International
Conference, June 20  24, 2005. (see previous surveys too).
 Rigid Body Control:
 Jovan Popovic,
Steven M. Seitz, Michael Erdmann, Zoran Popovic, Andrew P. Witkin, Interactive Manipulation of Rigid Body
Simulations, Proceedings of ACM SIGGRAPH 2000, Computer
Graphics Proceedings, Annual Conference Series, July 2000, pp. 209218.
 Stephen Chenney, D. A. Forsyth, Sampling
Plausible Solutions to MultiBody Constraint Problems, Proceedings
of ACM SIGGRAPH 2000, Computer Graphics Proceedings, Annual Conference
Series, July 2000, pp. 219228.
 ... ;)

Mon
Mar26

Mon Apr2

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]
 Fun:

Wed
Apr4

Water
Surfaces

 Additional Materials:
 Foster, N. and Fedkiw, R., Practical Animation of Liquids,
SIGGRAPH 2001, 1522 (2001).
 Enright, D., Marschner, S. and Fedkiw, R., Animation and Rendering of Complex Water
Surfaces,
SIGGRAPH 2002, ACM TOG 21, 736744 (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)

Mon
Apr9

Wed Apr11

Fluid
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

Mon
Apr16

ASSIGNMENT
#4
Interactive Smoke Control!


Mon
Apr16

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]

Wed
Apr18

Mon Apr23

More
Fluids

 Improving simulation quality:
 Back and Forth Error Compensation and Correction (BFECC)
for stable integration with secondorder accuracy in space and time:
 Octree fluids:
 Related phenomena:
 Tolga G. Goktekin, Adam W. Bargteil, James F. O'Brien, A method for animating viscoelastic fluids,
ACM Transactions on Graphics, 23(3), August 2004, pp. 463468. [ACM
Digital Library]
 Frank
Losasso, Tamar Shinar, Andrew Selle, Ronald Fedkiw, Multiple Interacting Liquids,
ACM Transactions on Graphics, 25(3), July 2006, pp. 812819. [ACM Digital Library]

Mon
Apr23

Wed Apr25

More
Deformable Models

 Corotational linear elements (for simple large deformations with
small local strain):
 M. Müller, M. Gross, Interactive
Virtual Materials, in Proceedings of Graphics Interface (GI
2004), pp 239246, London, Ontario, Canada, May 1719, 2004. [video] (Paper describes rotated elements, and
demonstrates realtime elastoplastic deformations and fracture.)
 Handling inverted elements:
 Dimensional model reduction:
 Deformable shape matching:
 M. Mueller, B. Heidelberger, M. Teschner, M. Gross, Meshless
Deformations Based on Shape Matching, Proceedings
of SIGGRAPH'05, Los Angeles, USA, July 31  August 4, 2005. [project page]
 Alec R. Rivers and Doug L. James, FastLSM: Fast Lattice Shape Matching for
Robust Realtime Deformation, Proc. ACM SIGGRAPH 2007 (to
appear).

Mon
Apr30

Physically
Based Sound

 General reference:
 Thomas Funkhouser, Nicolas Tsingos, and JeanMarc Jot, Computational
Sound for Graphics, Virtual Reality,
and Interactive Systems, Course
Notes #45, SIGGRAPH 2002, San Antonio, Texas,
July, 2002.
 Sound propagation and room
acoustics:
 Nicolas Tsingos , Emmanuel Gallo , George Drettakis, Perceptual
audio rendering of complex virtual environments, ACM Transactions
on Graphics (TOG), v.23 n.3, August 2004. [video]
[project]
 Nicolas Tsingos, Thomas Funkhouser, Addy Ngan, Ingrid
Carlbom, Modeling
Acoustics in Virtual Environments Using the Uniform Theory of
Diffraction, Proceedings of ACM SIGGRAPH 2001, Computer Graphics
Proceedings, Annual Conference Series, August 2001, pp. 545552. [project]
 Thomas A. Funkhouser, Patrick Min, Ingrid Carlbom, RealTime Acoustic Modeling for Distributed
Virtual Environments, Proceedings of SIGGRAPH 99, Computer
Graphics Proceedings, Annual Conference Series, August 1999, pp.
365374.
 Thomas Funkhouser, Ingrid Carlbom, Gary Elko, Gopal
Pingali, Mohan Sondhi, Jim West, A Beam Tracing Approach to Acoustic
Modeling for Interactive Virtual Environments, Proceedings
of SIGGRAPH 98, Computer Graphics Proceedings, Annual Conference
Series, July 1998, pp. 2132.
 Sound generation:
 James F. O'Brien , Perry R. Cook , Georg Essl, Synthesizing sounds from physically based
motion, Proceedings of the 28th annual conference on
Computer graphics and interactive techniques, p.529536, August 2001. [project
page]
 Kees van den Doel, Paul G. Kry, Dinesh K. Pai, FoleyAutomatic: PhysicallyBased Sound
Effects for Interactive Simulation and Animation,
Proceedings of ACM SIGGRAPH 2001, Computer Graphics Proceedings, Annual
Conference Series, August 2001, pp. 537544. [video]
 James F. O'Brien , Chen Shen , Christine M. Gatchalian, Synthesizing sounds from rigidbody
simulations,
Proceedings of the 2002 ACM SIGGRAPH/Eurographics symposium on Computer
animation, July 2122, 2002, San Antonio, Texas.
 Yoshinori Dobashi, Tsuyoshi Yamamoto, Tomoyuki Nishita, Realtime
rendering of aerodynamic sound using sound textures based on
computational fluid dynamics, ACM Transactions on Graphics (TOG),
v.22 n.3, July 2003. [project
page]
 Doug L. James , Jernej Barbič , Dinesh K. Pai, Precomputed Acoustic
Transfer: Outputsensitive, accurate sound generation for geometrically
complex vibration sources, ACM Transactions on Graphics (TOG), v.25
n.3, July 2006.

Wed
May2

Character
Skinning

 Materials:
 J. E. Chadwick, D. R. Haumann, R. E. Parent, Layered
construction for
deformable animated characters, ACM SIGGRAPH Computer Graphics,
v.23
n.3, p.243252, July 1989.
 N. MagnenatThalmann , R. Laperrière , D.
Thalmann, Jointdependent
local deformations for hand animation and object grasping,
Proceedings
on Graphics interface '88, p.2633, December 1989, Edmonton, Alberta,
Canada.
 Ferdi Scheepers, Richard E. Parent, Wayne E. Carlson,
Stephen F.
May, Anatomybased
modeling of the human musculature, Proceedings of
the 24th annual conference on Computer graphics and interactive
techniques, p.163172, August 1997.
 Tony DeRose, Michael Kass, Tien Truong, Subdivision
surfaces in
character animation, Proceedings of the 25th annual conference on
Computer graphics and interactive techniques, p.8594, July 1998.
 J. P. Lewis, Matt Cordner and Nickson Fong, Pose Space Deformations: A Unified Approach
to Shape Interpolation and SkeletonDriven Deformation, Proceedings
of ACM SIGGRAPH 2000. pp. 165172, 2000. [An excellent
related work section]
 PeterPike J. Sloan, Charles F. Rose III and
Michael F. Cohen, Shape
by Example, 2001 ACM
Symposium on Interactive 3D Graphics. pp. 135144, 2001.
 Xiaohuan Corina Wang and Cary Phillips, MultiWeight
Enveloping: LeastSquares
Approximation Techniques for Skin Animation, ACM SIGGRAPH
Symposium on Computer Animation. pp. 129138, 2002.
 Doug L. James, Dinesh K. Pai, DyRT:
dynamic response textures for real
time deformation simulation with graphics hardware, ACM
Transactions on
Graphics (TOG), v.21 n.3, July 2002.
 Paul G. Kry, Doug L. James and Dinesh K. Pai, EigenSkin: Real Time
Large Deformation
Character Skinning in Hardware, ACM SIGGRAPH Symposium on
Computer Animation. pp. 153160, 2002.
 Steve Capell, Seth Green, Brian Curless, Tom Duchamp,
Zoran Popović, Interactive
skeletondriven dynamic deformations, ACM Transactions on Graphics
(TOG), v.21 n.3, July 2002.
 Brett Allen, Brian Curless, Zoran Popović, The
space of human body
shapes: reconstruction and parameterization from range scans, ACM
Transactions on Graphics (TOG), v.22 n.3, July 2003.
 Alex Mohr and Michael Gleicher, Building
Efficient, Accurate Character
Skins From Examples, ACM Transactions on Graphics. 22(3),
pp.
562568, 2003.
 Ladislav Kavan, Jiří Žára, Spherical
blend skinning: a realtime
deformation of articulated models, Proceedings of the 2005
symposium on
Interactive 3D graphics and games, April 0306, 2005, Washington,
District of Columbia.
 Doug L. James, Christopher D. Twigg, Skinning
mesh animations, ACM Transactions on Graphics (TOG), v.24 n.3, July
2005.
 Sang Il Park, Jessica K. Hodgins, Capturing
and animating skin
deformation in human motion, ACM Transactions on Graphics (TOG),
v.25
n.3, July 2006
 Joseph Teran, Eftychios Sifakis, Geoffrey Irving, Ronald
Fedkiw, Robust
quasistatic finite elements and flesh simulation, Proceedings of
the 2005 ACM SIGGRAPH/Eurographics symposium on Computer animation,
July 2931, 2005, Los Angeles, California.
