We present a system that allows non-programmers to create generic controllers for physically simulated characters. The core of our system is based on a directed acyclic graph of trajectory transformations, which can be modified by feedback terms and serve as reference motions tracked by the physically simulated character. We then introduce tools to enable the automatic creation of robust and parameterized controllers suitable for running in real-time applications, such as in computer games. The entire process is accomplished by means of a graphical user interface and we demonstrate how our system can be intuitively used to design a simbicon-like walking controller and a parameterized jump controller to be used in real-time simulations.
展开▼
