VIRTUAL ENVIRONMENT

1. VIRTUAL ENVIRONMENT

2. VIRTUAL ENVIRONMENT • The Dynamics of Numbers • Numerical Interpolation • Linear Interpolation • Non-Linear Interpolation • The Animation of Objects • Linear Translation • Non-Linear Translation • Shapes and Objects in between

3. The Dynamics of Numbers Virtual Environment – A Complex Numerical DB It changes one number to another Important: Numerical Envelope of the change Example: In animating the bouncing of a ball, it’s centroid is used to guide its motion Realistic motions are simulated by numerical interpolation Numerical Interpolation – Linear and Non-Linear

4. Numerical Interpolation Interpolation produces a function that matches the given data exactly. The function then can be utilized to approximate the data values at intermediate points It is also used to produce a function for which values are known only at discrete points, either from measurements or calculations.

5. Numerical Interpolation • Given data points • Obtain a function, P(x) • P(x) goes through the data points • Use P(x) • To estimate values at intermediate points • For example, given data points: • At x0 = 2, y0 = 3 and at x1 = 5, y1 = 8 • Find the following: • At x = 4, y = ?

6. Numerical Interpolation

7. Linear Interpolation • Linear Interpolation - Simplest interpolation method • Apply LI(a sequence of points)  A polygonal line where each straight line segment connects two consecutive points of the sequence • Therefore, for every segment (P,Q) • P(x) = (1 - x)P + xQ where x ϵ [0,1] • By varying x from 0 to 1, we get all the intermediate points between P and Q • P(x) = P for x = 0 and P(x) = Q for x = 1. • We get points on the line defined by P, Q, when 0 ≤ x ≤ 1

8. Non-Linear Interpolation A linear interpolation ensures that equal steps in the parameter x give rise to equal steps in the interpolated values It is often required that equal steps in x give rise to unequal steps in the interpolated values We can achieve this using a variety of mathematical techniques For example, we could use trigonometric functions or polynomials to achieve this

9. Trigonometric interpolation • sin2(x) + cos2(x) = 1 • If x varies between 0 and π/2 • cos2(x) varies between 1 and 0, sin2(x) varies between 0 and 1 which can be used to modify the two interpolated values n1 and n2 as follows n=n1cos2(t)+n2sin2(t) for 0 ≤ t ≤ π/2

10. Trigonometric interpolation

11. Trigonometric interpolation Let n1 = 1 and n2 = 3

12. Cubic interpolation

13. Cubic interpolation

14. Cubic interpolation

15. The Animation of Objects Newton’s Laws of Motion provide a useful framework to predict an object’s behavior under dynamic conditions This scenario can be simulated within a Virtual Environment It can be achieved through a simple linear translation of objects

16. Uses of Translation • Modeling transformations • build complex models by positioning simple components • transform from object coordinates to world coordinates • Viewing transformations • placing the virtual camera in the world • i.e. specifying transformation from world coordinates to camera coordinates • Animation • vary transformations over time to create motion

17. Linear Translation Consider an object located at VE’s origin and assigned a speed S0 across the XY plane To simulate its sliding movement, the x & z coordinates of the object must be modified (tnow – tprev)V0 The object’s new velocity can be computed after it is bouncing off the boundary.

18. Linear Translation

19. Non-Linear Translation Consider an object moving along the x-axis in 1s, pause momentarily and then returns to its original position in 2s The non-linear movement of the object can be simulated by computing the x-translation as a function of time At time t1, the translation begins. At time t2, i.e.,(t1+1) it pauses momentarily and at time t3, i.e., (t1+3), it comes to rest t = T – t1 while t1 ≤ T ≤ t2 T – Current time t = (T – t1 – 1)/2 while t2 ≤ T ≤ t3 t- Control parameter

20. Euler Angles • Orientation of an object in computer graphics is often described using Euler Angles • Orientation of an object in computer graphics is often described using Euler Angles • RxRyRz • Any axis order will work and could be used. • Yaw, Pitch & Roll

21. Problem with Euler Angles • Rotations not uniquely defined • Ex: (z, x, y) [roll, yaw, pitch] = (90, 45, 45) = (45, 0, -45)takes positive x-axis to (1, 1, 1) • Cartesian coordinates are independent of one another, but Euler angles are not • Remember, the axes stay in the same place during rotations • Gimbal Lock • Term derived from mechanical problem that arises in gimbal mechanism that supports a compass or a gyro • Second and third rotations have effect of transforming earlier rotations, we lose a degree of freedom • ex: Rot x, Rot y, Rot z • If Rot y = 90 degrees, Rot z is equivalent to -Rot x • With Euler Angles, knowing the transformations for the entire rotation does not help us with the intermediate rotations. Each is a unique set of three rotations about the x,y and z axes

22. Quaternions Invented by Sir William Hamilton (1843) Do not suffer from Gimbal Lock Provide a natural way to interpolate intermediate steps in a rotation about an arbitrary axis Are used in many position tracking systems and VR software support systems

23. Quaternions • You can think of quaternions as an extension of complex numbers where there are three different square roots of -1. • q = w + i x + j y + k z where • i = (-1), j = (-1), k = (-1) • i*j = k, j*k = i, k*i = j • j*i = -k, k*j = -i, i*k = -j • You could also think of q as a value in four-dimensional space, q = [w, x, y, z] • Sometimes written as q = [w, v] where w is a scalar and v is a vector in 3-space

24. Shape and Object Inbetweening • Shape Inbetweening • It is a technique in the cartoon industry to speed up the process of creating art works • The ‘inbetween’ objects are derived from two key images drawn by a skilled animator • The images are called as Key Frames • The key frames shows an object in two different positions • The number and position of inbetweenig images determines the dynamics of final animation

25. Shape Inbetweening

26. Object Inbetweening By inbetweening the z-coordinate, the above technique can be applied to 3D contours We cannot expect to interpolate between two different complex objects and geometrically consistent Given suitable geometric definitions, it is possible to transform one object into another and create subtle animation