Abstract
We extend the quadratic program (QP)-based task-space character control approach — initially intended for individual character animation — to multiple characters interacting among each other or with mobile/articulated elements of the environment. The interactions between the characters can be either physical interactions, such as contacts that can be established or broken at will between them and for which the forces are subjected to Newton's third law, or behavioral interactions, such as collision avoidance and cooperation that naturally emerge to achieve collaborative tasks from high-level specifications. We take a systematic approach integrating all the equations of motions of the characters, objects, and articulated environment parts in a single QP formulation in order to embrace and solve the most general instance of the problem, where independent individual character controllers would fail to account for the inherent coupling of their respective motions through those physical and behavioral interactions. Various types of motions/behaviors are controlled with only the one single formulation that we propose, and some examples of the original motions the framework allows are presented in the accompanying video.