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UCSD CSE 169 - Skin

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SkinComputer LabProject 1Extra Credit (Project 1)Recommended ReadingMatrix ReviewABCD VectorsExample: Target ‘Lock On’Slide 9Slide 10OrthonormalitySlide 12DeterminantsSlide 14Matrix TransformationsCamera MatrixExample: Camera ‘Look At’Slide 18Example: Camera ‘Look At’ Method 1: Measure Angles & RotateExample: Camera ‘Look At’ Method 2: Build Matrix DirectlySlide 21Slide 22Slide 23Rendering ReviewRenderingLightingGouraud & Phong ShadingMaterialsSlide 29TranslucencySmooth Skin AlgorithmRigid PartsSimple SkinSmooth SkinSlide 35Binding MatricesNormalsSlide 38Algorithm OverviewMuscles & Other EffectsLimitations of Smooth SkinSlide 42Bone LinksShape InterpolationRigging ProcessSkin BindingContainment BindingPoint-to-Line MappingDelaunay TetrahedralizationSkin AdjustmentHardware SkinningFree-Form DeformationGlobal DeformationsFree-Form DeformationsLattice FFDsSlide 56Slide 57Slide 58Arbitrary Topology FFDsAxial Deformations & WIRESSurface Oriented FFDsSlide 62Using FFDsPose-Space DeformationSlide 65Body ScanningSlide 67Slide 68Slide 69Slide 70Anatomical ModelingSlide 72Skin & Muscle SimulationSimple Anatomical ModelsSlide 75Slide 76Slide 77Detailed Anatomical ModelsSlide 79Project 2: SkinAssignment:Skin FileSuggestionsSkinCSE169: Computer AnimationInstructor: Steve RotenbergUCSD, Winter 2004Computer LabLab: AP&M 2444Combo: 0562340Turning in:Place all files in a .zip file with your name:example: ‘steve_rotenberg_project1’Include all necessary files (.cpp, .h, .dsp & .dsw on Windows, makefile on Linux…)Include ‘readme.txt’ with any other relevant information (problems, additional features, keyboard controls…)Use ‘turnin’Project 1Please make the program take an optional .skel file name as a command line parameter. If no file name is specified, it should default to test.skelFeel free to pass argc, argv to Tester::Tester() and to simplify Token::Open() to take just an entire file nameGrading: 15 pointsExtra Credit (Project 1)Make your own .skel file with 10 or more joints and pose it. Use DOF limits, various box sizes, offsets, and a non-trivial tree (no snakes!). 1 point.Add an interactive interface to the skeleton program. Allow the user to select a DOF with the mouse (either by picking or from a list) and adjust the value interactively. Display the selected DOF name and value on the screen. 2 points.Recommended Reading“3-D Computer Graphics: A Mathematical Introduction with OpenGL” (Buss)Appendix A: VectorsChapter 2: Transformations and ViewingChapter 12: Animation and Kinematics“Pose-Space Deformation: A Unified Approach to Shape Interpolation and Skeleton Driven Deformation” (Lewis, Cordner, Fong)“Skinning Characters Using Surface Oriented Free Form Deformations” (Singh, Kokkevis)Matrix ReviewABCD Vectors1000zyxzyxzyxzyxdddcccbbbaaaMxyzabcdExample: Target ‘Lock On’For an airplane to get a missile locked on, the target must be within a 10 degree cone in front of the plane. If the plane’s matrix is M and the target position is t, find an expression that determines if the plane can get a lock on.abcd• tExample: Target ‘Lock On’We want to check the angle between the heading vector (-c) and the vector from d to t:We can speed that up by comparing the cosine instead ( cos(10°)=.985 ) 10cos1tdctdif 985.0tdctdifExample: Target ‘Lock On’We can even speed that up further by removing the division and the square root in the magnitude computation:  22*970.0 tdctd ifOrthonormalityIf all row vectors and all column vectors of a matrix are unit length, that matrix is said to be orthonormalThis also implies that all vectors are perpendicular to each otherOrthonormal matrices have some useful mathematical properties, such as:M-1 = MTOrthonormalityIf a 4x4 matrix represents a rigid transformation, then the upper 3x3 portion will be orthonormalbacacbcbacba 1DeterminantsThe determinant of a 4x4 matrix with no projection is equal to the determinant of the upper 3x3 portion cba zyxzyxzyxzyxzyxzyxzyxcccbbbaaadddcccbbbaaa1000DeterminantsThe determinant is a scalar value that represents the volume change that the transformation will causeAn orthonormal matrix will have a determinant of 1, but non-orthonormal volume preserving matrices will have a determinant of 1 alsoA flattened or degenerate matrix has a determinant of 0A matrix that has been mirrored will have a negative determinantMatrix TransformationsWe usually transform vertices from some local space where they are defined into a world spacev’ = v·WOnce in world space, we can perform operations that require everything to be in the same space (collision detection, high quality lighting…)Then, they are transformed into a camera’s space, and then projected into 2Dv’’ = v’·C-1·PIn simple situations, we can do this all in one step:v’’ = v·W·C-1·PCamera MatrixThink of the camera just like any other object. Just as a chair model has a matrix W that transforms it into world space, the camera matrix C would transform a camera model into world space.We don’t want to transform the camera into world space. Instead, we want to transform the world into the camera’s space, so we use the inverse of C.Example: Camera ‘Look At’Our eye is located at position e and we want to look at a target at position t. Generate an appropriate camera matrix M.Example: Camera ‘Look At’Our eye is located at position e and we want to look at a target at position t. Generate an appropriate camera matrix M.Two possible approaches include:Measure angles and rotate matrix into placeConstruct a,b,c, & d vectors of M directlyExample: Camera ‘Look At’Method 1: Measure Angles & RotateMeasure Angles:Tilt angleHeading anglePositionConstruct matrixExample: Camera ‘Look At’Method 2: Build Matrix DirectlyThe d vector is just the position of the camera, which is e:The c vector is a unit length vector that points directly behind the viewer:teteced Example: Camera ‘Look At’Method 2: Build Matrix DirectlyThe a vector is a unit length vector that points to the right of the viewer. It is perpendicular to the c axis. To keep the camera from rolling, we also want the


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UCSD CSE 169 - Skin

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