Center for Human Modeling and Simulation

Document Type

Conference Paper

Date of this Version

March 1993


Copyright Massachusetts Institute of Technology. Reprinted from Proceedings of the 2nd International Conference on Discrete Element Methods, March 1993, pages 455-458.


This paper develops a general approach for the efficient modeling of dynamic point-to-point constraints in deformable multibody objects for the purposes of computer animation and motion estimation. Based on a stabilized Lagrange multiplier technique we devise an algorithm for the efficient computation of constraint forces necessary for the modeling of hard point-to-point constraints. Through our algorithm we compute the constraint forces by solving a usually smaller linear system of the order of the number of constraints in the deformable multibody object. We construct multi-body deformable objects from a new family of physics-based modeling primitives that we have developed. These primitives can undergo free motions as well as parameterized and free-form deformations. We demonstrate the performance of our algorithm in a serious of computer vision and computer graphic applications.



Date Posted: 15 August 2007

This document has been peer reviewed.