A Modeling System Based On Dynamic Constraints

We present "dynamic constraints, " a physically-based technique for constraint-based control of computer graphics models. Using dynamic constraints, we build objects by specifying eometric onstraints; the models assemble themselves as the elements move to satisfy the con-straints. The individual elements are rigid bodies which act in ac-cordance with the rules of physics, and can thus exhibit physically realistic behavior. To implement the constraints, a set of "constraint forces " is found, which causes the bodies to act in accordance with the constraints; finding these "constraint forces " is an inverse dynamics problem