Stanford University, 2025/26 Winter

CS 348C: Computer Graphics: Animation and Simulation

Instructor: Prof. Doug James

Balloon Bear (don't be fooled by it's playful look!)

Description: Core mathematics and methods for computer animation and motion simulation. Traditional animation techniques. Physics-based simulation methods for modeling shape and motion: particle systems, constraints, rigid bodies, deformable models, collisions and contact, fluids, and fracture. Animating natural phenomena. Methods for animating virtual characters and crowds. Additional topics selected from data-driven animation methods, realism and perception, animation systems, motion control, real-time and interactive methods, and multi-sensory feedback.

Location		Hybrid Format: In-person (Gates B3), and virtual (live-streamed and recorded) The 2025/26 Winter version of CS348C will be hybrid format using a mix of in-person and virtual activities. Please see Canvas for details. Lectures will be in-person and live-streamed, and recorded for offline viewing on Canvas/Panopto. Hybrid in-person/virtual participation is required for Show-&-Tell presentations.
Time		TuTh 4:30PM - 5:50PM (01/05/2026 - 03/13/2026)
Office Hours (Prof)		Wed 3-5pm (Zoom link in Canvas)
TA		Zhehao Li (CS PhD student, zhehaoli@stanford.edu)
Prerequisites		Recommended: CS148 or CS248B. Prerequisite: linear algebra (or permission of instructor)
Textbook		None; lecture notes and research papers assigned as readings will be posted here.
Communication		Ed (link on Canvas sidebar)
Canvas		https://canvas.stanford.edu/courses/218411
Requirements		Students are expected to attend lectures, participate in class discussions and presentations, and read the supplemental materials.
Assignments		There will be self-directed programming assignments, and a final project based on a student-selected topic.
Late Policy		We allow 3 late days, with 10%/day deduction thereafter.
Exams		None
ExploreCourses		Link

ASSIGNMENTS (2025/26) - Tentative

Hello Houdini [1 week, 10%, ]
Procedural Modeling [1 week, 10%, ]
Dynamics [2 weeks, 20%, or ]
Character & Audio FX [2 weeks, 20%, or ] -- Tentative
Project Proposal [1 week, 10%, or ]
Final Project [3 weeks, 30%, or ]

Student Results (CS348C 2025 Winter)

HW #1: Hello Houdini	HW #2: Procedural Modeling
HW #3: Dynamics	HW #4: Character & Audio FX
Final Project

Student Results (CS348C 2024 Winter)

HW #1: Hello Houdini	HW #2: Procedural Modeling
HW #3: Dynamics	HW #4: Character & Audio FX
Final Project

Student Results (CS348C 2023 Winter)

HW #1: Hello Houdini	HW #2: Procedural Modeling
HW #3: Dynamics	HW #4: Character & Audio FX
Final Project

Student Results (CS348C 2022 Winter)

HW #1: Hello Houdini	HW #2: Procedural Modeling
HW #3: Dynamics	HW #4: Character FX
Final Project

SCHEDULE: (TENTATIVE -- WILL CHANGE)

DATE	TOPIC	SUPPLEMENTAL MATERIALS
TuJan06	Introduction	Slides: Slides (PDF) Homework Activities: Download and install SideFX Houdini Apprentice (registration required) Start Houdini readings and tutorials in Homework #1
Due WeJan14	Homework #1: Hello Houdini	Assignment Link Goal: Install Houdini Apprentice, create something simple, and submit a video or still. Submit by Wednesday, Jan 14. Show & Tell on Thursday, Jan 15.
ThJan08	Introduction to Houdini	Material: Slides (PDF) Houdini project file (hipnc) Houdini learning curve (now with server ;)
TuJan13 ThJan15 TuJan20 ThJan22	Procedural Modeling	Material: Slides (PDF) Houdini project file (hipnc)
Due WeJan21	Homework #2: Procedural Modeling	Assignment Link Image Credit: "Planet Alpha," Adrian Lazar
TuJan27	Particle Systems	Material: Slides (PDF) Particle system dynamics (read Witkin course notes, slides) Numerical integration Particle collisions Energy-based modeling of forces Houdini example: particles.hipnc Particles bouncing on a plane Particles inside a convex domain Particles inside an SDF domain Particles attached to an SDF surface using damped springs <oh, my> Custom Solvers, POP Networks, etc. References: David Baraff and Andrew Witkin, Physically Based Modeling, Online SIGGRAPH 2001 Course Notes, 2001. Differential Equation Basics Particle System Dynamics (slides) Cloth and Fur Energy Functions (preview of energy function usage) Videos: Particle Dreams by Karl Sims, 1988.
Due WeFeb04	Homework #3: Dynamics	Assignment Link Image Credit: [Baraff and Witkin 1998]
ThJan29 TuFeb03	Houdini Dynamics	Material: Slides (PDF) See video recording for live examples
TuFeb10 ThFeb12	Constrained Dynamics	Slides (PDF) Material: Holonomic constraints, C(p)=0. Example: Bead on a wire Differentiating constraints w.r.t. time. Constraint Jacobian, J Lagrange multipliers, lambda, and constraint forces, J^T lambda Solving for Lagrange multipliers (Implicit constraint (and half-explicit) DAE integration schemes) Post-step projection schemes Position- vs velocity-based corrections Applications: Mechanical linkages, inextensibility constraints, incompressible flow, contact constraints Houdini Example: Surface constraints References: David Baraff and Andrew Witkin, Physically Based Modeling, Online SIGGRAPH 2001 Course Notes, 2001. Constrained Dynamics (slides) Examples from Cloth Simulation: Rony Goldenthal, David Harmon, Raanan Fattal, Michel Bercovier, Eitan Grinspun, Efficient Simulation of Inextensible Cloth, ACM Transactions on Graphics, 26(3), July 2007, pp. 49:1-49:7. [ACM Digital Library link] Jonathan M. Kaldor, Doug L. James, Steve Marschner, Simulating Knitted Cloth at the Yarn Level, ACM Transactions on Graphics, 27(3), August 2008, pp. 65:1-65:9. [Advanced] References for Differential-Algebraic Equations (DAEs): U.M. Ascher and L.R. Petzold, Computer Methods for Ordinary Differential Equations and Differential-Algebraic Equations, SIAM. E. Hairer and G. Wanner, Solving Ordinary Differential Equations II: Stiff and Differential-Algebraic Problems, 2nd edition, Springer, 1996. (See Chapter VII.(1-2) Differential-Algebraic Equations of Higher Index)
	Homework #4: Character & Audio FX	Assignment Link Submit your video artifact for weeklies
ThFeb12	Rigid-Body Motion	Slides/Notes (PDF) References: David Baraff and Andrew Witkin, Physically Based Modeling, Online SIGGRAPH 2001 Course Notes, 2001. Rigid Body Simulation (notes, slides) Two-body impulse calculation: See Baraff course notes. Euler's equations for dynamics of a single rigid body in body coords (wiki) Houdini example of body-coordinate integration (eulerRBMotion.hipnc) Excellent recent review: Jan Bender, Kenny Erleben and Jeff Trinkle, Interactive Simulation of Rigid Body Dynamics in Computer Graphics, Computer Graphics Forum, Volume 33, Issue 1, pages 246–270, February 2014, DOI: 10.1111/cgf.12272. Related topics: Rigid damping (see "Position Based Dynamics" [Mueller et al. 2006]) Rigid cloth zones (see [Bridson et al. 2002]) Twist frame evaluation on elastic rods (see "Discrete Elastic Rods" [Bergou et al. 2008])
TuFeb17	Position-Based Dynamics	Slides (PDF) References: Jan. Bender, Matthias. Müller, Miles. Macklin, Position-Based Simulation Methods in Computer Graphics, EUROGRAPHICS Tutorial Notes, 2015, Zürich, May 4-8. (Course Notes) (Slides) M. Müller, B. Heidelberger, M. Hennix, J. Ratcliff, Position Based Dynamics, Proceedings of Virtual Reality Interactions and Physical Simulations (VRIPhys), pp 71-80, Madrid, November 6-7 2006, Best Paper Award, PDF, (video), (slides) Miles Macklin, Matthias Müller, Nuttapong Chentanez: XPBD: Position-Based Simulation of Compliant Constrained Dynamics in Proceedings of ACM Motion in Games, San Francisco, October 2016. [PDF] [Slides] [Video] [Youtube] (An improved PBD approach; related to Houdini's Vellum implementation) Other Reading: Jos Stam, Nucleus: Towards a Unified Dynamics Solver for Computer Graphics, 2009 Conference Proceedings: IEEE International Conference on Computer-Aided Design and Computer Graphics, pp. 1-11, 2009. (related talk) T. Jakobsen, Advanced Character Physics, Game Developer Conference, 2001. Miles Macklin, Matthias Müller, Nuttapong Chentanez, and Tae-Yong Kim. 2014. Unified particle physics for real-time applications. ACM Trans. Graph. 33, 4, Article 153 (July 2014), 12 pages. [ACM link] Sofien Bouaziz, Sebastian Martin, Tiantian Liu, Ladislav Kavan, and Mark Pauly. 2014. Projective dynamics: fusing constraint projections for fast simulation. ACM Trans. Graph. 33, 4, Article 154 (July 2014), 11 pages. [ACM link] Rahul Narain, Matthew Overby, George E. Brown, ADMM ⊇ Projective Dynamics: Fast Simulation of General Constitutive Models, ACM SIGGRAPH / Eurographics Symposium on Computer Animation (SCA), 2016.
TuFeb17	Shape Matching Methods	Discussed: General ideas: Projecting particle motion to be rigid motion Deformation gradient & Polar decomposition Rigid-body shape matching Fast Lattice Shape Matching (FastLSM) Other methods (adaptive FastLSM; Oriented particles) Material: Matthias Müller, Bruno Heidelberger, Matthias Teschner, Markus Gross, Meshless deformations based on shape matching, ACM Transactions on Graphics, 24(3), August 2005, pp. 471-478. [ACM] [PDF] [AVI] Alec R. Rivers, Doug L. James, FastLSM: Fast Lattice Shape Matching for Robust Real-Time Deformation, ACM Transactions on Graphics, 26(3), July 2007, pp. 82:1-82:6. [ACM] [PDF] Denis Steinemann, Miguel A. Otaduy, Markus Gross, Fast Adaptive Shape Matching Deformations, ACM SIGGRAPH/Eurographics Symposium on Computer Animation, Dublin, July 7-9, 2008. [PDF] [AVI] Matthias Müller and Nuttapong Chentanez. Solid simulation with oriented particles. ACM Trans. Graph. 30, 4, Article 92 (July 2011), 10 pages, 2011. [ACM] [PDF] [MOVIE]
ThFeb19	Show & Tell: HW4 Char/Motion FX
ThFeb19	Final Project Discussion	Slides Slide Deck on Ed
TuFeb24	Fracture Animation	Selected Material: Demetri Terzopoulos, Kurt Fleischer, Modeling Inelastic Deformation: Viscoelasticity, Plasticity, Fracture, Computer Graphics (Proceedings of SIGGRAPH 88), August 1988, pp. 269-278. James F. O'Brien, Jessica K. Hodgins, Graphical Modeling and Animation of Brittle Fracture, Proceedings of SIGGRAPH 99, Computer Graphics Proceedings, Annual Conference Series, August 1999, pp. 137-146. J Smith, AP Witkin, D Baraff, Fast and controllable simulation of the shattering of brittle objects, Comput Graph Forum 2001; 20(2):81–90. James F. O'Brien, Adam W. Bargteil, Jessica K. Hodgins, Graphical Modeling and Animation of Ductile Fracture, ACM Transactions on Graphics, 21(3), July 2002, pp. 291-294. Neil Molino, Zhaosheng Bao, Ron Fedkiw, A virtual node algorithm for changing mesh topology during simulation, ACM Transactions on Graphics, 23(3), August 2004, pp. 385-392. M. Müller, M. Gross, Interactive Virtual Materials, in Proceedings of Graphics Interface (GI 2004), pp 239-246, London, Ontario, Canada, May 17-19, 2004. (Video) Mark Pauly, Richard Keiser, Bart Adams, Philip Dutré, Markus Gross, Leonidas J. Guibas, Meshless animation of fracturing solids, ACM Transactions on Graphics, 24(3), August 2005, pp. 957-964. [ACM] (Video) [PDF] Hayley N. Iben, James F. O'Brien, Generating Surface Crack Patterns, 2006 ACM SIGGRAPH / Eurographics Symposium on Computer Animation, September 2006, pp. 177-186. Denis Steinemann, Miguel A. Otaduy, Markus Gross, Fast Arbitrary Splitting of Deforming Objects, 2006 ACM SIGGRAPH / Eurographics Symposium on Computer Animation, September 2006, pp. 63-72. (Video) Bao, Z., Hong, J.-M., Teran, J. and Fedkiw, R., Fracturing Rigid Materials, IEEE TVCG 13, 370-378 (2007). Eftychios Sifakis, Kevin G. Der, Ronald Fedkiw, Arbitrary Cutting of Deformable Tetrahedralized Objects, 2007 ACM SIGGRAPH / Eurographics Symposium on Computer Animation, August 2007, pp. 73-80. Eric G. Parker and James F. O'Brien, Real-Time Deformation and Fracture in a Game Environment, In Proceedings of the ACM SIGGRAPH/Eurographics Symposium on Computer Animation, pages 156–166, August 2009. Su, J., Schroeder, C. and Fedkiw, R., Energy Stability and Fracture for Frame Rate Rigid Body Simulations, ACM SIGGRAPH/Eurographics Symposium on Computer Animation (SCA), edited by Eitan Grinspun and Jessica Hodgins, pp. 155-164 (2009). Changxi Zheng, Doug L. James, Rigid-Body Fracture Sound with Precomputed Soundbanks, ACM Transactions on Graphics, 29(4), July 2010, pp. 69:1-69:13. M Müller, N Chentanez, TY Kim, Real time dynamic fracture with volumetric approximate convex decompositions, ACM Transactions on Graphics (TOG), 2013. [Video] Oleksiy Busaryev, Tamal K. Dey, and Huamin Wang. 2013. Adaptive fracture simulation of multi-layered thin plates. ACM Trans. Graph. 32, 4, Article 52 (July 2013). [Video] Zhili Chen, Miaojun Yao, Renguo Feng, and Huamin Wang. 2014. Physics-inspired adaptive fracture refinement. ACM Trans. Graph. 33, 4, Article 113 (July 2014). [ACM] Yufeng Zhu, Robert Bridson, and Chen Greif, Simulating Rigid Body Fracture with Surface Meshes, Transactions on Graphics (Proc. ACM SIGGRAPH 2015). David Hahn and Chris Wojtan, High-Resolution Brittle Fracture Simulation with Boundary Elements, ACM Trans. Graph. 34, 4, Article 151 (July 2015). David Hahn and Chris Wojtan, Fast approximations for boundary element based brittle fracture simulation, ACM Trans. Graph. 35, 4, 104 (SIGGRAPH 2016). A recent review of fracture in graphics: L Muguercia, C Bosch, G Patow, Fracture modeling in computer graphics, Computers & Graphics, 2014.
ThFeb26	Final Project Proposals	Students pitch their final project ideas. Google Slide deck link on Ed
TuMar03	Guest Lecture: Fernando de Goes (Pixar)	Speaker: Fernando de Goes (Pixar) Title: Abstract: References: See https://fdegoes.github.io
ThMar05	Fluids I (Particles)	Material: Smoothed Particle Hydrodynamics (SPH) Matthias Müller, David Charypar, Markus Gross, Particle-based fluid simulation for interactive applications, 2003 ACM SIGGRAPH / Eurographics Symposium on Computer Animation (SCA 2003), August 2003, pp. 154-159. [Video] Miles Macklin and Matthias Müller. Position Based Fluids. ACM Trans. Graph. 32, 4, Article 104 (July 2013), 12 pages. [PDF] [Slides] [Video] [Project Page] (other videos) Liu, G. Gui-Rong, and M. B. Liu. Smoothed particle hydrodynamics: a meshfree particle method. World Scientific, 2003. Wikipedia Takahiro Harada, Seiichi Koshizuka, Yoichiro Kawaguchi, Smoothed Particle Hydrodynamics on GPUs, Computer Graphics International, pp. 63-70, 2007. B. Solenthaler, R. Pajarola, Predictive-Corrective Incompressible SPH, ACM Transactions on Graphics, 28(3), July 2009, pp. 40:1-40:6. [PDF] [YouTube Video] SIGGRAPH fluids course: [SPH pages (pp. 83-86)] Bridson, R., Fedkiw, R., and Muller-Fischer, M. 2006. Fluid simulation: SIGGRAPH 2006 course notes, In ACM SIGGRAPH 2006 Courses (Boston, Massachusetts, July 30 - August 03, 2006). SIGGRAPH '06. ACM Press, New York, NY, 1-87. [Slides, Notes] Robert Bridson, Fluid Simulation for Computer Graphics, A K Peters, 2008. [Book format] Coupling SPH and rigid-body simulations (advanced): N. Akinci, M. Ihmsen, G. Akinci, B. Solenthaler, M. Teschner, Versatile Rigid-Fluid Coupling for Incompressible SPH, ACM Trans. Graph. (SIGGRAPH Proc.), 2012. [PDF] [AVI] Unified particle physics: Miles Macklin, Matthias Müller, Nuttapong Chentanez, Tae-Yong Kim, Unified Particle Physics for Real-Time Applications, ACM Transactions on Graphics (SIGGRAPH 2014), 33(4) [Slides] [PDF] [Video] [Project Page] Isosurface extraction + rendering OpenVDB Ken Museth, A Flexible Image Processing Approach to the Surfacing of Particle-Based Fluid Animation, MEIS2013 Abstract (a good high-level summary of particle-based fluids surfacing)
ThMar05	Fluids II (Grids)	Topics: Navier-Stokes equations; Euler equations for inviscid fluids Advection; semi-Lagrangian methods Splitting schemes Incompressibility constraint & divergence-free flow Helmholtz-Hodge decompositions; pressure projection PIC/FLIP methods [Zhu & Bridson 2005] APIC method [Jiang et al. 2015] Slides Material: Bridson, R. and Muller-Fischer, M. 2007. Fluid Simulation for Computer Animation: SIGGRAPH 2007 Course Notes, In ACM SIGGRAPH 2007 Courses. [Slides, Notes] (main reference for class) Robert Bridson, Fluid Simulation for Computer Graphics, A K Peters, 2008. Jos Stam, Stable Fluids, Proceedings of SIGGRAPH 99, Computer Graphics Proceedings, Annual Conference Series, August 1999, pp. 121-128. [Slides and notes] Ronald Fedkiw, Jos Stam, Henrik Wann Jensen, Visual Simulation of Smoke, Proceedings of ACM SIGGRAPH 2001, Computer Graphics Proceedings, Annual Conference Series, August 2001, pp. 15-22. (introduces vorticity confinement forces) C. Jiang, C. Schroeder, A. Selle, J. Teran, A. Stomakhin, *An Affine Particle-In-Cell Method, ACM Transactions on Graphics (SIGGRAPH 2015), 34(4), pp. 51:1-51:10, 2015. [PDF] [Project] [YouTube] Y. Zhu and R. Bridson, Animating sand as a fluid, ACM SIGGRAPH 2005. [PDF] [MOV] (introduced PIC/FLIP to graphics)*
	Material Point Method (MPM), and Snow Simulation	Discussed: Material Point Method (MPM) overview Application to snow simulation Deformation gradient Elastic strain energy, forces, and gradients Multiplicative plasticity methodology; application to snow Grid force and gradient calculations Semi-implicit integration of velocities Deformation gradient update Grid and particle collision handling Slides (courtesy Craig Schroeder & Joseph Teran) Practical tips for making a minimum viable snow simulator Material: Alexey Stomakhin, Craig Schroeder, Lawrence Chai, Joseph Teran, Andrew Selle, *A Material Point Method for Snow Simulation, ACM Transactions on Graphics (SIGGRAPH 2013), 32(4), pp. 102:1-102:10, 2013. [PDF] [YouTube Video] Related Technical Document [PDF] (on derivatives) Craig Schroeder, "Practical notes on implementing derivatives", with [CODE]. Chenfanfu Jiang, Craig Schroeder, Joseph Teran, Alexey Stomakhin, Andrew Selle, The Material Point Method for Simulating Continuum Materials, SIGGRAPH Course 2016. [PDF] Disney's Matterhorn* simulator
TuMar10 ThMar12	Final Project Presentations	See Ed for instructions (slide deck, Canvas submission)
	SUPPLEMENTAL MATERIAL (below here)
	Discrete Elastic Rods	Reference: Miklós Bergou, Max Wardetzky, Stephen Robinson, Basile Audoly, and Eitan Grinspun. 2008. Discrete Elastic Rods. In ACM SIGGRAPH 2008 papers (SIGGRAPH '08). Association for Computing Machinery, New York, NY, USA, Article 63, 1–12. https://doi.org/10.1145/1399504.1360662
	Yarn-level Cloth	References: Jonathan M. Kaldor, Doug L. James, Steve Marschner, Simulating Knitted Cloth at the Yarn Level, ACM Transactions on Graphics, 27(3), August 2008, pp. 65:1-65:9. Jonathan M. Kaldor, Doug L. James, and Steve Marschner. 2010. Efficient yarn-based cloth with adaptive contact linearization. In ACM SIGGRAPH 2010 papers (SIGGRAPH '10). Association for Computing Machinery, New York, NY, USA, Article 105, 1–10. https://doi.org/10.1145/1833349.1778842 Cem Yuksel, Jonathan M. Kaldor, Doug L. James, and Steve Marschner. 2012. Stitch meshes for modeling knitted clothing with yarn-level detail. ACM Trans. Graph. 31, 4, Article 37 (July 2012), 12 pages. https://doi.org/10.1145/2185520.2185533 Jonathan Leaf, Rundong Wu, Eston Schweickart, Doug L. James, and Steve Marschner. 2018. Interactive design of periodic yarn-level cloth patterns. ACM Trans. Graph. 37, 6, Article 202 (December 2018), 15 pages. https://doi.org/10.1145/3272127.3275105 Kui Wu, Xifeng Gao, Zachary Ferguson, Daniele Panozzo, and Cem Yuksel. 2018. Stitch meshing. ACM Trans. Graph. 37, 4, Article 130 (August 2018), 14 pages. https://doi.org/10.1145/3197517.3201360 Kui Wu, Hannah Swan, and Cem Yuksel. 2019. Knittable Stitch Meshes. ACM Trans. Graph. 38, 1, Article 10 (February 2019), 13 pages. https://doi.org/10.1145/3292481 [Interactive knitting demo] Vidya Narayanan, Kui Wu, Cem Yuksel, and James McCann. 2019. Visual knitting machine programming. ACM Trans. Graph. 38, 4, Article 63 (July 2019), 13 pages. DOI: https://doi.org/10.1145/3306346.3322995 Rundong Wu, Joy Xiaoji Zhang, Jonathan Leaf, Xinru Hua, Ante Qu, Claire Harvey, Emily Holtzman, Joy Ko, Brooks Hagan, Doug James, François Guimbretière, and Steve Marschner. 2020. Weavecraft: an interactive design and simulation tool for 3D weaving. ACM Trans. Graph. 39, 6, Article 210 (December 2020), 16 pages. https://doi.org/10.1145/3414685.3417865
	Kelvinlets	Material: Fernando De Goes and Doug L. James. 2017. Regularized Kelvinlets: Sculpting brushes based on fundamental solutions of elasticity. ACM Trans. Graph. 36, 4, Article 40 (July 2017), 11 pages. Fernando De Goes and Doug L. James. 2018. Dynamic Kelvinlets: Secondary motions based on fundamental solutions of elastodynamics. ACM Trans. Graph. 37, 4, Article 81 (July 2018), 10 pages. Fernando de Goes and Doug L. James. 2019. Sharp Kelvinlets: Elastic deformations with cusps and localized falloffs. In Proceedings of the 2019 Digital Production Symposium (DigiPro '19). Association for Computing Machinery, New York, NY, USA, Article 2, 1–8.

	Rigid-body Contact: Impulse- and Constraint-based Methods:	Material: General discussion of rigid-body contact principles (contact constraints & impulses, restitution, Coulomb friction, maximal dissipation principle, Signorini-Fichera condition, connection with constrained optimization & KKT conditions, etc.), and methods such as impulse-based [Guendelman et al. 2003] and constraint-based [Erleben et al. 2007; Kaufman et al. 2008] solvers. Impulse-based contact solvers: Brian Mirtich, John Canny, Impulse-based Simulation of Rigid Bodies, 1995 Symposium on Interactive 3D Graphics, April 1995, pp. 181-188. Eran Guendelman, Robert Bridson, Ronald P. Fedkiw, Nonconvex Rigid Bodies With Stacking, ACM Transactions on Graphics, 22(3), July 2003, pp. 871-878. [an iterative impulse-based solver] Projected Gauss-Seidel solver: K. Erleben, Stable, robust, and versatile multibody dynamics animation. Ph.D. thesis, Department of Computer Science, University of Copenhagen, Denmark, 2005. [avi movie] K. Erleben, Velocity-based shock propagation for multibody dynamics animation, ACM Trans. Graph. 26, 2, Jun. 2007. Projected Jacobi solver: Richard Tonge, Feodor Benevolenski, Andrey Voroshilov, Mass Splitting for Jitter-Free Parallel Rigid Body Simulation, ACM Trans. Graphics (SIGGRAPH 2012), 31(4), 2012. SIAM Review of rigid-body contact: D.E. Stewart, Rigid-body dynamics with friction and impact, SIAM Review, volume 42, 2000. Excellent recent review: Jan Bender, Kenny Erleben and Jeff Trinkle, Interactive Simulation of Rigid Body Dynamics in Computer Graphics, Computer Graphics Forum, Volume 33, Issue 1, pages 246–270, February 2014, DOI: 10.1111/cgf.12272. "Staggered Projections" method: Danny M. Kaufman, Shinjiro Sueda, Doug L. James, Dinesh K. Pai, Staggered Projections for Frictional Contact in Multibody Systems, ACM Transactions on Graphics, 27(5), December 2008, pp. 164:1-164:11. A good reference on convex optimization: Stephen Boyd and Lieven Vandenberghe, Convex Optimization, Cambridge University Press, 2004. Stanford lecture notes/book [PDF]
	Animation Sound	Material: K. van den Doel and D. K. Pai, The Sounds of Physical Shapes, Presence: Teleoperators and Virtual Environments, 7:4, The MIT Press, 1998. pp. 382--395. Kees van den Doel, Paul G. Kry, Dinesh K. Pai, FoleyAutomatic: Physically-Based Sound Effects for Interactive Simulation and Animation, Proceedings of ACM SIGGRAPH 2001, Computer Graphics Proceedings, Annual Conference Series, August 2001, pp. 537-544. [Video] Dinesh K. Pai, Kees van den Doel, Doug L. James, Jochen Lang, John E. Lloyd, Joshua L. Richmond, Som H. Yau, Scanning Physical Interaction Behavior of 3D Objects, Proceedings of ACM SIGGRAPH 2001, Computer Graphics Proceedings, Annual Conference Series, August 2001, pp. 87-96. [Video] James F. O'Brien, Perry R. Cook, Georg Essl, Synthesizing Sounds From Physically Based Motion, Proceedings of ACM SIGGRAPH 2001, Computer Graphics Proceedings, Annual Conference Series, August 2001, pp. 529-536. Perry R. Cook, Sound Production and Modeling, IEEE Computer Graphics & Applications, 22(4), July-August 2002, pp. 23-27. James F. O'Brien, Chen Shen, and Christine M. Gatchalian. Synthesizing sounds from rigid-body simulations. In The ACM SIGGRAPH 2002 Symposium on Computer Animation, pages 175–181. ACM Press, July 2002. Yoshinori Dobashi, Tsuyoshi Yamamoto, Tomoyuki Nishita, Real-Time Rendering of Aerodynamic Sound Using Sound Textures Based on Computational Fluid Dynamics, ACM Transactions on Graphics, 22(3), July 2003, pp. 732-740. [project page] Doug L. James, Jernej Barbič and Dinesh K. Pai, Precomputed Acoustic Transfer: Output-sensitive, accurate sound generation for geometrically complex vibration sources, ACM Transactions on Graphics, 25(3), pp. 987-995, July 2006, pp. 987-995. Changxi Zheng and Doug L. James, Harmonic Fluids, ACM Transaction on Graphics (SIGGRAPH 2009), 28(3), August 2009, pp. 37:1-37:12. Jeffrey Chadwick, Steven An, and Doug L. James, Harmonic Shells: A Practical Nonlinear Sound Model for Near-Rigid Thin Shells, ACM Transactions on Graphics (SIGGRAPH ASIA Conference Proceedings), 28(5), December 2009, pp. 119:1-119:10. Changxi Zheng and Doug L. James, Rigid-Body Fracture Sound with Precomputed Soundbanks, ACM Transactions on Graphics (SIGGRAPH 2010), 29(3), July 2010, pp. 69:1-69:13. Jeffrey Chadwick and Doug L. James, Animating Fire with Sound, ACM Transactions on Graphics, 30(4), August 2011. Jeffrey N. Chadwick, Changxi Zheng and Doug L. James, Precomputed Acceleration Noise for Improved Rigid-Body Sound, ACM Transactions on Graphics, August 2012. Steven S. An, Doug L. James, and Steve Marschner, Motion-driven Concatenative Synthesis of Cloth Sounds, ACM Transactions on Graphics, August 2012. Timothy R. Langlois and Doug L. James, Inverse-Foley Animation: Synchronizing rigid-body motions to sound, ACM Transactions on Graphics (SIGGRAPH 2014), 33(4), August 2014.

Student Results (CS348C 2021 Winter)

HW #1: Hello Houdini	HW #2: Procedural Modeling
HW #3: Dynamics	HW #4: Character FX
Final Project

Student Results (CS348C 2020 Winter)

HW1: Hello Houdini	HW2: Procedural Modeling
HW3: Collision Processing	HW4: Character FX
HW5: Particle-based Fluids

Student Results (CS348C 2019 Winter)

HW1: Hello Houdini	HW2: Procedural Modeling
HW3: Collision Processing (Spaghetti Factory)	HW4: Character Animation FX
HW5: Fluids	Final Projects

Related prior course offerings:

Older material:

DATE	TOPIC	SUPPLEMENTAL MATERIALS
	Assignment #1: Position-Based Fluids	PA1 webpage Canvas link (starter code + submission)
	Implicit Integration & Cloth Simulation	Material: Blackboard Backward Euler method Stability analysis of forward & backward Euler schemes on test problem U.M. Ascher and L.R. Petzold, Computer Methods for Ordinary Differential Equations and Differential-Algebraic Equations, SIAM. Backward Euler for particle systems Application to cloth simulation [BW98] David Baraff and Andrew Witkin, Physically Based Modeling, Online SIGGRAPH 2001 Course Notes, 2001. Implicit Methods (Baraff) Slides Lecture Notes David Baraff, Andrew P. Witkin, Large Steps in Cloth Simulation, Proceedings of SIGGRAPH 98, Computer Graphics Proceedings, Annual Conference Series, July 1998, pp. 43-54. Implicit-Explicit (IMEX) integration schemes: Ascher, Ruuth, Wetton, Implicit-Explicit Methods for Time-Dependent Partial Differential Equations, SIAM J. Num. Anal. 32, pp. 797-823, 1995. Bernhard Eberhardt, Olaf Etzmuß, Michael Hauth, Implicit-Explicit Schemes for Fast Animation with Particle Systems, Computer Animation and Simulation 2000, Proceedings of the EG Workshop in Interlaken, 21-22 August, 2000. Example: "Going implicit on damping"
	Lightning, Ice Growth, and Diffusion Limited Aggregation (DLA)	Material: Theodore Kim and Ming Lin, Physically based animation and rendering of lightning, Pacific Graphics 2004. Theodore Kim, Michael Henson, Ming Lin, A hybrid algorithm for modeling ice formation, Symposium on Computer Animation (SCA) 2004. Diffusion-Limited Aggregation (DLA) (Wikipedia) DLA blog post by Softology; 3D DLA
	Prog. Assignment #2: Position-Based Dynamics	PA2 webpage Canvas link (starter code + submission)
		Material: Power Particles: An incompressible fluid solver based on power diagrams de Goes, Wallez, Huang, Pavlov, Desbrun SIGGRAPH / ACM Transactions on Graphics (2015) (preprint) (video I) (video II) (dl.acm)
	Assignment #2: Constrained Dynamics	Starter Code: Use your code from Assignment #1. Relevant 2016 written assignment on inextensibility constraints (handout, solution)
	Noise & Turbulence Modeling	Materials: Ken Perlin and Eric Hoffert, Hypertexture, 1989 Computer Graphics (proceedings of ACM SIGGRAPH Conference), Vol. 22, No. 3. (Ken's write-up) Jos Stam and Eugene Fiume. 1993. Turbulent wind fields for gaseous phenomena. In Proceedings of the 20th annual conference on Computer graphics and interactive techniques (SIGGRAPH '93). ACM, New York, NY, USA, 369-376. Ronald Fedkiw, Jos Stam, Henrik Wann Jensen, Visual Simulation of Smoke, Proceedings of ACM SIGGRAPH 2001, Computer Graphics Proceedings, Annual Conference Series, August 2001, pp. 15-22. (introduces vorticity confinement forces) Jerry Tessendorf, Simulating Ocean Water, SIGGRAPH course notes, 2002. [Slides 2004] Frequency-domain methods commonly used for water wave simulation, e.g., NVIDIA WaveWorks. F. Neyret, Advected textures, In Proc. ACM SIGGRAPH/Eurographics Symp. Comp. Anim. (2003), pp. 147–153. Andrew Selle, Nick Rasmussen, Ronald Fedkiw, A vortex particle method for smoke, water and explosions, ACM SIGGRAPH 2005 Papers, July 31-August 04, 2005. Robert L. Cook and Tony DeRose. 2005. Wavelet noise. ACM Trans. Graph. 24, 3 (July 2005), 803-811. [ACM] Alexander Goldberg, Matthias Zwicker, Frédo Durand, Anisotropic noise, ACM Transactions on Graphics (TOG), v.27 n.3, August 2008. Robert Bridson, Jim Houriham, Marcus Nordenstam, Curl-noise for procedural fluid flow, ACM Transactions on Graphics (TOG), v.26 n.3, July 2007. (movie and public domain example code available.) Theodore Kim, Nils Thürey, Doug James, Markus Gross, Wavelet turbulence for fluid simulation, ACM Transactions on Graphics (TOG), v.27 n.3, August 2008. [ACM] (code available) H. Schechter, R. Bridson, Evolving sub-grid turbulence for smoke animation, Proceedings of the 2008 ACM SIGGRAPH/Eurographics Symposium on Computer Animation, July 07-09, 2008, Dublin, Ireland. [Movie] Rahul Narain, Jason Sewall, Mark Carlson, Ming C. Lin, Fast animation of turbulence using energy transport and procedural synthesis, ACM Transactions on Graphics (TOG), v.27 n.5, December 2008. Tobias Pfaff, Nils Thürey, Andrew Selle, and Markus Gross, Synthetic Turbulence using Artificial Boundary Layers, ACM SIGGRAPH Asia 2009 Papers, ACM Press, 2009.