Constraint-based motion synthesis for deformable models

We present a fast goal-directed motion synthesis technique that integrates sample-based planning methods with constraint-based dynamics simulation using a finite element formulation to generate collision-free paths for deformable models. Our method allows the user to quickly specify various constraints, including a desired trajectory as a sparse sequence of waypoints, and it automatically computes a physically plausible path that satisfies geometric and physical constraints. We demonstrate the performance of our algorithm by computing animated realistic motion of deformable characters and simulation of a medical procedure.