Some thoughts on jointed systems.
In order to model 'joints' in computer graphics the following should exist for each joint be defined.
- The type of 'joint' and motion possible.
Motion between connected components either side of a joint can either be :
- Linear motion which affects the position of a component in 3D space, without affecting it's it's orientation.
- Rotational motion which affects the 'orientation' of component in 3D space, without affecting its position.
Linear motion can be modelled by treating the component which remains static as the parent of a tree, and the component(s) which move as children of an appropriately defined transformation.
The joints can be arranged into a graph which represents the hierachies relationshps between them.
- Common 'parent' principle
Related topics ? :
- Solid volume detection...
- Graph travesals..
- Graph re-ordering..