Scotty3D extensions for inverse kinematics, cloth simulation, and fluid simulation.

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While taking CMU 15-464 (technical animation) during the spring semester of 2021, I used the course projects to add various animation features to Scotty3D.

Inverse Kinematics

I implemented and compared a variety of inverse kinematics strategies:

• Cyclic coordinate descent with bouncing
• Numerical jacobian transpose
• Analytic jacobian transpose
• Jacobian pseudo-inverse
• Jacobian pseudo-inverse with damped least squares

Mass-Spring Cloth Simulation

I implemented the following cloth simulation features:

• Mass-spring cloth structure
• Verlet integration with damping
• Spring damping
• Spring length constraints
• Cloth-mesh collisions
• Naive cloth self avoidance

Position Based Fluid Simulation & Screen Space Fluid Rendering

I implemented the following particle-based fluid simulation features:

• Position based fluids
• Viscosity & vorticity confinement
• Fluid-mesh collisions
• Rendering with path tracing
• Real-time rendering with screen-space fluid rendering

Paper Presentation

Additionally, I gave a presentation on the paper Detailed Rigid Body Simulation with Extended Position Based Dynamics.