A software architecture for integrating modeling with kinematic and dynamic animation

A software architecture integrating the data structures for 3 D modeling and animation is presented. The benefits are the ability to describe time-based models capable of changing their geometric shapes for animation, efficiency gained by exploiting temporal coherence, and the ability to create a unified interface for modeling and animation. The system is based on an extensible kernel implemented in C++; it allows new modeling primitives and motion-control experiments to be added easily into a powerful, integrated environment. The kernel has also been extended to include dynamic primitives. Both kinematic and dynamic models are constructed using geometric transformations. In a dynamic model, the user specifies explicitly which degrees of freedom vary dynamically. The differential equations of motion are derived automatically from the dynamic model descriptions. A versatile graphics language for scene and animation description,Charli, accompanies the kernel.

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