Character Motion Synthesis by Topology Coordinates

In this paper, we propose a new method to efficiently synthesize character motions that involve close contacts such as wearing a T‐shirt, passing the arms through the strings of a knapsack, or piggy‐back carrying an injured person. We introduce the concept of topology coordinates, in which the topological relationships of the segments are embedded into the attributes. As a result, the computation for collision avoidance can be greatly reduced for complex motions that require tangling the segments of the body. Our method can be combinedly used with other prevalent frame‐based optimization techniques such as inverse kinematics.