• Journal of Korea Game Society
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• v.9 no.5
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• pp.43-52
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• 2009

This paper analyzes the four game physics engines in terms of real time techniques. Real time physics is the technology that simplifies the physics-based simulation to apply for the real time applications such as game. Our study includes two commercial physics engines, Havok's Physics SDK and NVIDIA's PhysX SDK, and two open source projects, Open Dynamics Engine and Bullet physics engine. As a result, most of them covers rigid body dynamics and some include either deformable body simulation or fluids simulation, or both. For real time simulation, they adopt the simplified numerical methods, the effective in collision detection/response, and also use the parallel processing hardwares, i.e., multi core CPU, Physics processing unit(PPU), or graphics processing unit(GPU).

• Journal of the Korea Computer Graphics Society
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• v.25 no.3
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• pp.133-142
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• 2019

In physics-based character animation, trajectory optimization has been widely adopted for automatic motion synthesis, through the prediction of an optimal sequence of future states of the character based on its system dynamics model. In general, the system dynamics model is neither in a closed form nor differentiable when it handles the contact dynamics between a character and the environment with rigid body collisions. Employing smoothed contact dynamics, researchers have suggested efficient trajectory optimization techniques based on numerical differentiation of the resulting system dynamics. However, the numerical derivative of the system dynamics model could be inaccurate unlike its analytical counterpart, which may affect the stability of trajectory optimization. In this paper, we propose a novel method to derive the closed-form derivative for the system dynamics by properly approximating the contact model. Based on the resulting derivatives of the system dynamics model, we also present a model predictive control (MPC)-based motion synthesis framework to robustly control the motion of a biped character according to on-line user input without any example motion data.

• 한국HCI학회:학술대회논문집
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• 2009.02a
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• pp.463-468
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• 2009

This paper proposes a method for extending simulating fluid on mobile device, which was only possible on desktop PC. Fluid simulation is done by solving Navier-Stokes equation numerically, and previous research were mainly focused on numerical stability [1], and realism [2]. However, such methods assume rich computational resources, which is not available on mobile devices. On the other hand, rigid-body solver is the mostly used physically-based technique [3], and only simple height field-based method is released for fluid simulation [4]. To overcome these problems, we proposes a modified incompressible fluid dynamics solver for the mobile device, and also we propose a technique for visualizing fluids on the mobile device.