Keyframe Motion Optimization By Relaxing Speed and Timing

While physically based approaches have been shown to be effective for creating graceful and realistic motions, keyframing systems are still the predominant tool for animation. This is due primarily to the control provided to the animator, as well as to the simple fast computation of in-between frames. In contrast, physical simulation systems automate the creation of realistic motion sequences, but remove most of the control from the animator. Recent work with spacetime constraints and optimal control has focused on balancing control and automation. However, either the algorithmic and computational complexity or the continuing lack of control have made it difficult to integrate these developments into real animation systems.