Daniel Haehn PRO
Hi, I am a biomedical imaging and visualization researcher who investigates how the study of brain connectivity and machine perception can help advance the understanding of biologically inspired artificial intelligence.
Meet with me
in November
10 minutes
Remote Guest Lecture
Friday 10 / 30
Wednesday 11 / 04 / 2020
Assignment 6
Due 11 / 02
Head
Upper Arm
Lower Arm
Hand
q
q (0, 0, 0, 1)
Identity
X
Head
Upper Arm
q
q (0, 0, 0, 1)
Identity
X
q2 (Math.sin(T/2),
0,
0,
Math.cos(T/2))
Rotate 180° in X
T = Math.PI
q
q2
Arm down
Arm up
Time
Frames
Keyframe 2
Keyframe 1
slerp Interpolation
60 FPS
60 Hz
60 1/s
Modern computer screens
Skinning
Skeleton -> Mesh
Rigging
Mesh -> Skeleton
Blender, 3D Studio Max, Maya
Kinematics
Forward Kinematics
Inverse Kinematics
Move down the scene graph
Move up in the scene graph
q
Upper Arm
Hand
q
Upper Arm
Hand
q
Upper Arm
Hand
Multiple Solutions!
Head
Upper Leg
1
2
3
Robot.prototype.onAnimate = function() {
if (this.movement == 'raise left arm') {
var T = -Math.PI;
this.left_upperarm.quaternion.slerp( new THREE.Quaternion(Math.sin(T/2), // x
0, // y
0, // z
Math.cos(T/2)), // w
0.1 );
} else if (this.movement == 'kick') {
// check if slerp reached almost the end
if (this.right_upperleg.quaternion.w < 0.72) {
// signal that the kick is done and the leg should move back
this.movement = 'kick done';
} else {
var T = -Math.PI/2;
this.right_upperleg.quaternion.slerp( new THREE.Quaternion( Math.sin( T / 2 ), // x
0, // y
0, // z
Math.cos( T / 2 ) ), // w
0.1 );
}
} else if (this.movement == 'kick done') {
// reset leg back to identity
this.right_upperleg.quaternion.slerp( new THREE.Quaternion(0,0,0,1), 0.1 );
}
};
w
during slerp "w" goes from 1 to 0.7
w
Lecture 21
By Daniel Haehn
Lecture 21
Slides for CS460 Computer Graphics at UMass Boston. See https://cs460.org!
