Practical 3D animation of multiply articulated construction equipment

This paper presents research that led to the design and implementation of practical 3D animation methods to visualize multiply-articulated construction equipment in 3D animations of discrete-event construction process models. Using principles of forward and inverse kinematics, we designed and implemented generic pieces of multiply-articulated virtual construction equipment that accept task-level instructions from external software processes. Discrete event simulation models can configure and instantiate specific pieces of such equipment and instruct them to perform common construction tasks using simple, parametric statements of text. Once instructed to perform specific tasks (e.g. Load dirt), these "smart" pieces of equipment (e.g. backhoes) automatically decipher the sequence and amplitudes of the elemental motions their components (e.g. boom) must undergo to accomplish those tasks. The animation methods are implemented in a software tool called KineMach that integrates as an add-on with the VITASCOPE visualization system.