1. Real Time Simulation of Large Rotational Deformation Authors: Min Gyu Choi and Hyeong-Seok Ko Presented by Yin Yang

2. Infinitesimal deformation

5.  Finite element model  Here  Modal displacement

6. Modal rotation We call the modal rotation matrix.

7. Integration of rotational parts  In case of large deformation  A concept of local coordinate is employed

8. Modal analysis in local coordinate        

9.  The decoupled ODEs can be solved numerically using semi-implicit integration:

10. Constraint  Position constraint  Orientation constraint

11. Position constraint  Let λ be the number of constrained points  Forces do not have to be applied on the constrained points

12. Orientation constraint  Similar to position constraint

13. Some results

15. Thank you and Question?