We present a new algorithm for near-interactive simulation of skeleton driven, high resolution elasticity models. Our methodology is used for soft tissue deformation in character animation. The algorithm is based on a novel discretization of corotational elasticity over a hexahedral lattice. Within this framework we enforce positive definiteness of the stiffness matrix to allow efficient quasistatics and dynamics. In addition, we present a multigrid method that converges with very high efficiency. Our design targets performance through parallelism using a fully vectorized and branch-free SVD algorithm as well as a stable one-point quadrature scheme. Since body collisions, self collisions and soft-constraints are necessary for real-world examples, we present a simple framework for enforcing them. The whole approach is demonstrated in an end-to-end production-level character skinning system. [Image (C) Disney Enterprises Inc.]

@Article{MZSETTS11,
  author       = "McAdams, Aleka and Zhu, Yongning and Selle, Andrew and Empey, Mark and Tamstorf, Rasmus and Teran, Joseph and Sifakis, Eftychios",
  title        = "Efficient elasticity for character skinning with contact and collisions",
  journal      = "ACM Transcations on Graphics (SIGGRAPH 2011)",
  number       = "4",
  volume       = "30",
  pages        = "37:1--37:12",
  year         = "2011",
  url          = "http://graphics.cs.wisc.edu/Papers/2011/MZSETTS11"
}