“Joint-aware manipulation of deformable models” by Xu, Wang, Yin, Zhou, Panne, et al. …

  • ©Weiwei Xu, Jun Wang, KangKang Yin, Kun Zhou, Michiel van de Panne, Falai Chen, and Baining Guo




    Joint-aware manipulation of deformable models



    Complex mesh models of man-made objects often consist of multiple components connected by various types of joints. We propose a joint-aware deformation framework that supports the direct manipulation of an arbitrary mix of rigid and deformable components. First we apply slippable motion analysis to automatically detect multiple types of joint constraints that are implicit in model geometry. For single-component geometry or models with disconnected components, we support user-defined virtual joints. Then we integrate manipulation handle constraints, multiple components, joint constraints, joint limits, and deformation energies into a single volumetric-cell-based space deformation problem. An iterative, parallelized Gauss-Newton solver is used to solve the resulting nonlinear optimization. Interactive deformable manipulation is demonstrated on a variety of geometric models while automatically respecting their multi-component nature and the natural behavior of their joints.


    1. Attene, M., Falcidieno, B., and Spagnuolo, M. 2006. Hierarchical mesh segmentation based on fitting primitives. The Visual Computer 22, 3, 181–193. Google ScholarDigital Library
    2. Au, O. K.-C., Tai, C.-L., Chu, H.-K., Cohen-Or, D., and Lee, T.-Y. 2008. Skeleton extraction by mesh contraction. ACM Trans. Graphics 27, 3, 1–10. Google ScholarDigital Library
    3. Baran, I., and Popović, J. 2007. Automatic rigging and animation of 3d characters. ACM Trans. Graphics 26, 3, 72. Google ScholarDigital Library
    4. Botsch, M., and Sorkine, O. 2008. On linear variational surface deformation methods. IEEE Transactions on Visualization and Computer Graphics 14, 1, 213–230. Google ScholarDigital Library
    5. Botsch, M., Pauly, M., Gross, M., and Kobbelt, L. 2006. Primo: coupled prisms for intuitive surface modeling. In SGP ’06: Proceedings of the fourth Eurographics symposium on Geometry processing, 11–20. Google ScholarDigital Library
    6. Botsch, M., Pauly, M., Wicke, M., and Gross, M. 2007. Adaptive space deformations based on rigid cells. Computer Graphics Forum 26, 3, 339–347.Google ScholarCross Ref
    7. Der, K. G., Sumner, R. W., and Popović, J. 2006. Inverse kinematics for reduced deformable models. ACM Trans. Graphics 25, 3, 1174–1179. Google ScholarDigital Library
    8. Faloutsos, P., van de Panne, M., and Terzopoulos, D. 1997. Dynamic animation synthesis with free-form deformations. IEEE Transactions on Visualization and Computer Graphics 3, 3, 201–214. Google ScholarDigital Library
    9. Fu, H., Cohen-Or, D., Dror, G., and Sheffer, A. 2008. Upright orientation of man-made objects. ACM Trans. Graphics 27, 3, 1–7. Google ScholarDigital Library
    10. Gain, J., and Bechmann, D. 2008. A survey of spatial deformation from a user-centered perspective. ACM Trans. Graphics 27, 4, 1–21. Google ScholarDigital Library
    11. Galoppo, N., Otaduy, M. A., Tekin, S., Gross, M., and Lin, M. C. 2007. Soft articulated characters with fast contact handling. Computer Graphics Forum 26, 3 (Sept.), 243–253.Google ScholarCross Ref
    12. Gelfand, N., and Guibas, L. J. 2004. Shape segmentation using local slippage analysis. In SGP ’04: Proceedings of the 2004 Eurographics/ACM SIGGRAPH symposium on Geometry processing, 214–223. Google ScholarDigital Library
    13. Harrison, J., Rensink, R. A., and van de Panne, M. 2004. Obscuring length changes during animated motion. ACM Trans. Graphics 23, 3, 569–573. Google ScholarDigital Library
    14. Huang, J., Shi, X., Liu, X., Zhou, K., Wei, L., Teng, S., Bao, H., Guo, B., and Shum, H.-Y. 2006. Subspace gradient domain mesh deformation. ACM Trans. Graphics 25, 3, 1126–1134. Google ScholarDigital Library
    15. James, D. L., and Twigg, C. D. 2005. Skinning mesh animations. ACM Trans. Graphics 24, 3, 399–407. Google ScholarDigital Library
    16. Katz, S., and Tal, A. 2003. Hierarchical mesh decomposition using fuzzy clustering and cuts. ACM Trans. Graphics 22, 3, 954–961. Google ScholarDigital Library
    17. Kaufmann, P., Martin, S., Botsch, M., and Gross, M. 2008. Flexible simulation of deformable models using discontinuous galerkin fem. In 2008 ACM SIGGRAPH / Eurographics Symposium on Computer Animation, 105–115. Google ScholarDigital Library
    18. Kobbelt, L., Campagna, S., Vorsatz, J., and Seidel, H.-P. 1998. Interactive multi-resolution modeling on arbitrary meshes. In SIGGRAPH Conference Proceedings, 105–114. Google ScholarDigital Library
    19. Kraevoy, V., Sheffer, A., Shamir, A., and Cohen-Or, D. 2008. Non-homogeneous resizing of complex models. In ACM SIGGRAPH Asia 2008, 1–9. Google ScholarDigital Library
    20. Lasseter, J. 1987. Principles of traditional animation applied to 3d computer animation. In SIGGRAPH Conference Proceedings, 35–44. Google ScholarDigital Library
    21. Lewis, J. P., Cordner, M., and Fong, N. 2000. Pose space deformation: a unified approach to shape interpolation and skeleton-driven deformation. In SIGGRAPH Conference Proceedings, 165–172. Google ScholarDigital Library
    22. Li, W., Agrawala, M., Curless, B., and Salesin, D. 2008. Automated generation of interactive 3d exploded view diagrams. ACM Trans. Graphics 27, 3, 1–7. Google ScholarDigital Library
    23. Lipman, Y., Sorkine, O., Levin, D., and Cohen-Or, D. 2005. Linear rotation-invariant coordinates for meshes. ACM Trans. Graphics 24, 3, 479–487. Google ScholarDigital Library
    24. Liu, R., Zhang, H., Shamir, A., and Cohen-Or, D. 2009. A part-aware surface metric for shape analysis. In Eurographics, vol. 28, to appear.Google Scholar
    25. Madsen, K., Nielsen, H., and Tingleff, O. 2004. Methods for nonlinear least squares problems. Tech. rep., Informatics and Mathematical Modelling, Technical University of Denmark.Google Scholar
    26. Magnenat-Thalmann, N., Laperriere, R., and Thalmann, D. 1988. Joint dependent local deformations for hand animation and object grasping. In Graphics Interface, 26–33. Google ScholarDigital Library
    27. Mitra, N. J., Guibas, L. J., and Pauly, M. 2007. Symmetrization. ACM Trans. Graphics 26, 3, 63. Google ScholarDigital Library
    28. Murray, R. M., Li, Z., and Sastry, S. S. 1994. A Mathematical Introduction to Robotic Manipulation. CRC Press. Google ScholarDigital Library
    29. Nocedal, J., and Wright, S. J. 1999. Numerical Optimization. Springer.Google Scholar
    30. Parent, R. 2008. Computer Animation: Algorithms and Techniques, second ed. Morgan Kaufmann. Google ScholarDigital Library
    31. Popa, T., Julius, D., and Sheffer, A. 2006. Material-aware mesh deformations. In Proceedings of the IEEE International Conference on Shape Modeling and Applications 2006, 22. Google ScholarDigital Library
    32. Sederberg, T. W., and Parry, S. R. 1986. Free-form deformation of solid geometric models. In SIGGRAPH Conference Proceedings, 151–160. Google ScholarDigital Library
    33. Shi, X., Zhou, K., Tong, Y., Desbrun, M., Bao, H., and Guo, B. 2007. Mesh puppetry: cascading optimization of mesh deformation with inverse kinematics. ACM Trans. Graphics 26, 3, 81. Google ScholarDigital Library
    34. Sorkine, O., Lipman, Y., Cohen-Or, D., Alexa, M., Rossl, C., and Seidel, H.-P. 2004. Laplacian surface editing. In Proceedings of the Eurographics/ACM SIGGRAPH Symposium on Geometry Processing, 179–188. Google ScholarDigital Library
    35. Sumner, R. W., Zwicker, M., Gotsman, C., and Popović, J. 2005. Mesh-based inverse kinematics. ACM Trans. Graphics 24, 3, 488–495. Google ScholarDigital Library
    36. Sumner, R. W., Schmid, J., and Pauly, M. 2007. Embedded deformation for shape manipulation. ACM Trans. Graphics 26, 3, 80. Google ScholarDigital Library
    37. Theobalt, C., Rössl, C., de Aguiar, E., and Seidel, H.-P. 2007. Animation collage. In Symposium on Computer Animation, 271–280. Google ScholarDigital Library
    38. Yu, Y., Zhou, K., Xu, D., Shi, X., Bao, H., Guo, B., and Shum, H.-Y. 2004. Mesh editing with poisson-based gradient field manipulation. ACM Trans. Graphics 23, 3, 644–651. Google ScholarDigital Library
    39. Zorin, D., Schröder, P., and Sweldens, W. 1997. Interactive multiresolution mesh editing. In SIGGRAPH Conference Proceedings, 259–268. Google ScholarDigital Library

ACM Digital Library Publication:

Overview Page: