Real-time control of physically based simulations using gentle forces
Name
real-time control.pdf
Size
2.66 MB
Format
Adobe PDF
Checksum (MD5)
15d996dacada4c1bd56d2d35db3d54ab
Author(s)
Barbic, Jernej
Popovic, Jovan
Date Issued
December 2008
Journal
ACM Transactions on Graphics
Publisher
Association for Computing Machinery (ACM)
Citation
Jernej Barbic and Jovan Popovic. 2008. Real-time control of physically based simulations using gentle forces. ACM Trans. Graph. 27, 5, Article 163 (December 2008), 10 pages.
Version
Author's final manuscript
Abstract
Recent advances have brought real-time physically based simulation within reach, but simulations are still difficult to control in real time. We present interactive simulations of passive systems such as deformable solids or fluids that are not only fast, but also directable: they follow given input trajectories while simultaneously reacting to user input and other unexpected disturbances. We achieve such directability using a real-time controller that runs in tandem with a real-time physically based simulation. To avoid stiff and over-controlled systems where the natural dynamics are overpowered, the injection of control forces has to be minimized. This search for gentle forces can be made tractable in real-time by linearizing the system dynamics around the input trajectory, and then using a time-varying linear quadratic regulator to build the controller. We show examples of controlled complex deformable solids and fluids, demonstrating that our approach generates a requested fixed outcome for reasonable user inputs, while simultaneously providing runtime motion variety.
MIT Department
Massachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory
Terms of Use
Article is made available in accordance with the publisher's policy and may be subject to US copyright law. Please refer to the publisher's site for terms of use.
Persistent DSpace Link
DOI of Published Version
https://doi.org/10.1145/1409060.1409116
