【正文】 g MOTION PLANNING IN REAL AND VIRTUAL ENVIRONMENTS FALL 2022 How to use blending ? Interpolate similar motions 187。 Search to meet constraints ? An example: Motion Synthesis from Examples ?? Given a path ?? Find a motion that minimizes distance ?? Combinatorial optimization MOTION PLANNING IN REAL AND VIRTUAL ENVIRONMENTS FALL 2022 Why is this good? ? Search the graphs for motions ? Look ahead avoids getting stuck ? Cleanup motions as generated ? Plan “around” missing transitions ? Optimization gets close as possible Motion Synthesis from Examples Not OK for Interactive Apps! Need different tradeoffs 。 Over a short period of time 187。 Dense samples (at frames) Motion Representation MOTION PLANNING IN REAL AND VIRTUAL ENVIRONMENTS FALL 2022 Preliminaries ? A motion maps times to configurations 187。 Hands ? How to describe moving target – “Character” ? How to describe movement mathematically Motion Representation MOTION PLANNING IN REAL AND VIRTUAL ENVIRONMENTS FALL 2022 Human Model ? Humans are plex! Motion Representation Human motion can be understood at a very fine level of detail! MOTION PLANNING IN REAL AND VIRTUAL ENVIRONMENTS FALL 2022 Abstractions Representation of plex human structure with varying degrees of simplification 206 bones, muscles, fat, ans, clothing, … Motion Representation 206 bones, plex joints 53 bones Kinematic joints MOTION PLANNING IN REAL AND VIRTUAL ENVIRONMENTS FALL 2022 Standard simplified models of humans ? Small numbers of degrees of freedom for gross motion ? Articulated figures 187。 capture base motions and transitions 187。 Mortal Kombat 4 (Midway) ViconPeak ? m/ ? Films 187。 passive reflective markers 187。 mechanical systems Mocap Overview MOTION PLANNING IN REAL AND VIRTUAL ENVIRONMENTS FALL 2022 implementation of a motion capture system ? prosthetic ? acoustic ? magic ? optical Liverman, The Animator?s Motion Capture Guide Mocap Overview MOTION PLANNING IN REAL AND VIRTUAL ENVIRONMENTS FALL 2022 mechanical/prosthetic capture ? InsideIn ? external structure attached to performer ? structure detects changes 187。 optical systems ? InsideOut 187。 no occlusion ? disadvantages 187。 King Kong 187。 cabling can interfere with movement (improvements?) 187。 markers are handles on the actor 187。 Every value has one rotation ? Singularity free 187。 F : (R, Rn) Rn Motion Signal Processing MOTION PLANNING IN REAL AND VIRTUAL ENVIRONMENTS FALL 2022 Motion blending ? “Add” two motions together ? Really interpolate 187。 Cleanup footskate artifacts 187。 m(t) = a(t) m0(t) + (1a(t)) m1(t) Motion Signal Processing MOTION PLANNING IN REAL AND VIRTUAL ENVIRONMENTS FALL 2022 Blending for transition motion ? Okan et al. Siggraph ?02 Motion Signal Processing MOTION PLANNING IN REAL AND VIRTUAL ENVIRONMENTS FALL 2022 Time warping ? Dynamic Time Warping (DTW): Nonlinear signal matching procedure originating in field of speech recognition ? Finding the optimal sample correspondences between the two signals by puting the global minimum value of warping cost function Motion Signal Processing MOTION PLANNING IN REAL AND VIRTUAL ENVIRONMENTS FALL 2022 Time warping + interpolation Motion Signal Processing MOTION PLANNING IN REAL AND VIRTUAL ENVIRONMENTS FALL 2022 Displacement map ? Motion Warping Motion Signal Processing MOTION PLANNING IN REAL AND VIRTUAL ENVIRONMENTS FALL 2022 Displacement map ? Motion Warping ? Changing the shape of a signal locally through a displacement map while maintaining continuity and preserving the global shape of the signal. Motion Signal Processing MOTION PLANNING IN REAL AND VIRTUAL ENVIRONMENTS FALL 2022 Displacement map (td.) ? Mapping procedure Motion Signal Processing MOTION PLANNING IN REAL AND VIRTUAL