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JIGGLE.md — jiggle physics

Secondary motion as core engine functionality: soft parts of a character (breasts, glutes, belly, thighs, hair, tails) lag, overshoot and settle when the body moves, and whole soft objects (jelly, slime) dent and wobble. Everything is in engine/include/kke/JigglePhysics.h, pure CPU, no GPU types, tested in tests/test_jiggle.cpp. The demo is games/jiggle_demo.

The pieces

Piece What it does Cost
kke::JiggleRig Bone chains become verlet points that chase the animated pose; the bones are turned (and, with stretch, lengthened, squashed) to follow them. Runs after the Animator, on its Pose. 8 points for a full body: ~20-40 µs per character per frame, including the pose rebuild
kke::addJiggleBone Adds a soft-tissue bone to a rig that has none (most game rigs, Synty's included) and moves the nearby skin onto it. Nothing changes at rest. load time
kke::inflateSkin Reshapes the body: pushes the skin near a point outward (volume in metres). load time
kke::addHumanoidSoftTissue All of the above for any humanoid in one call: finds chest, pelvis and thighs by bone name and the skin around them, reshapes, adds breast and glute bones, returns rig chains and skin zones. load time
kke::JiggleSkin Jiggle on the mesh without bones: a few verlet points ride on bones and displace the skin near them (ModelModule::setSkinJiggle, applied after skinning). Belly, thighs. a few µs
kke::JellyBody A whole soft body: a particle lattice kept in shape by shape matching over every 2x2x2 cell, a rounded render surface embedded in it, two-way collision with balls. 320 particles, 3 iterations at 120 Hz: ~0.8 ms per frame

Use

kke::ModelData body = kke::loadModel(path, options);
kke::HumanoidSoftTissue tissue;
tissue.bust = 0.06f;   // metres of extra volume, 0 = the artist's shape
tissue.glutes = 0.05f;
kke::HumanoidJiggleSetup setup = kke::addHumanoidSoftTissue(body, tissue);
// ... retarget clips onto `body` now (the new bones stay at rest in them)
auto id = models.add(std::move(body), "my-character");

kke::JiggleRig rig(rigData, setup.chains);
kke::JiggleSkin skin(rigData, setup.zones, setup.zonePositions);
// every frame, after the Animator:
kke::Pose pose = animator.pose();
rig.apply(rigData, pose, instanceTransform, dt);
skin.apply(rigData, pose, instanceTransform, dt);
models.setSkinJiggle(instance, skin.offsets());
kke::poseToLocals(pose, *models.boneLocals(instance));

Hair, tails, antennae: JiggleRig::Chain{ firstHairBone } on the rig's own bones; the last bone gets a virtual tip continuing its parent's direction. JiggleCollider spheres and capsules keep points out of the body.

Settings (kke::JiggleSettings, all 0..1 unless noted)

  • stiffness: pull back to the animated pose each step.
  • soften: how much weaker that pull is near rest (soft wobble for small motions, still held for big ones).
  • stretch: 0 keeps bone length, 1 is a free spring (squash and stretch; a one-bone chain from addJiggleBone scales along its axis, keeping volume).
  • drag: damping relative to the parent (the tissue's own wobble).
  • airDrag: damping in the world (what makes a ponytail trail).
  • gravity: multiple of world gravity (sag). blend: 0 = animation only.
  • angleLimit (degrees), maxStretch (ratio), radius (metres, for colliders).

How it's built (and what the "jiggle physics" trope gets wrong)

Techniques from naelstrof's JigglePhysics for Unity, rewritten for this engine rather than copied, plus fixes for what makes jiggle look bad:

  • Driven by the difference from animation. Points chase where the pose puts them, so the authored pose always wins and nothing drifts. A character standing still has no energy to bounce with: no bouncing on its own at idle.
  • Fixed internal step (90 Hz) with interpolation of the offset from the pose, not of the positions. Frame-rate independent, and no lag or jitter against the body at any frame rate (interpolating positions would trail the body by one step).
  • Two drags. Relative drag damps the tissue's own wobble, air drag damps world motion. Separate, so riding in a car or an elevator doesn't set everything wobbling forever.
  • Soften near rest, angle limits, hard length clamps, colliders: it stays anatomically sane whatever the sliders say.
  • Every step is a blend or a clamp, never a force. It can't explode.
  • Sleep. A rig whose points are still and whose pose isn't moving skips its solve. Teleports (more than teleportDistance in one frame) reset instead of whipping across the map.
  • Hitches run at most 4 steps and drop the rest.
  • Flat-shaded art. inflateSkin pushes by position, never by vertex normal: low-poly meshes split every corner per face, and a normal-based push would tear them open.

The jelly uses lattice shape matching (Müller et al. 2005, "Meshless deformations based on shape matching"; per-cell regions as in Rivers & James 2007, "FastLSM"). Each cell's rotation comes from Müller et al. 2016, "A robust method to extract the rotational part of deformations", warm-started from the last step, so three iterations are enough. Balls collide with the particles and with the top as a height field, so a fast ball can dent the jelly but never end up inside it.

Why not FEMFX

FEMFX (kke::PhysicsModule) solves real volumetric elasticity and fracture; that's the right tool for breakable hero objects. Jiggle is secondary motion that has to run on every character every frame: FEMFX costs about 0.2 ms per body per step on its own and needs a tet mesh; the rig above costs tens of microseconds for a whole character and needs nothing but the skeleton. For a jelly you want to break, FEMFX is still the tool (see the physics demo's rubber ball); for a jelly that wobbles, JellyBody is ~0.8 ms and works on builds without FEMFX (the default).

The demo

cd build/bin && ./jiggle_demo. Tab switches scenes.

  • Jelly: balls rain onto a jelly with fruit set in it. Space toggles the rain, B drops a big ball, P squishes it, R resets; sliders for firmness, iterations, damping, and the look: flavour (strawberry, lime, blue raspberry, orange, panna cotta, clear gelatin), density, milkiness. KKE_JELLY_LOOK=0..5 picks the flavour.

    The jelly is drawn with DynamicMeshRenderer::drawTranslucent, a reusable translucent material (shaders/translucent*.{glsl,frag}): one pass multiplies what's behind by the transmittance (Beer-Lambert through a thickness that grows toward the silhouette, so edges look richer, as real jelly does), a second adds Fresnel reflection, light scattered inside, light shining through from behind and a glossy highlight. No sorting or extra render targets; draw it after the opaque scene.

  • Body: a realistic woman (female_body, a Character Creator 4 OBJ with no skeleton, rigged at load by kke::autoRigHumanoid, AUTO_RIG.md) with soft-tissue bones from addHumanoidSoftTissue and strand hair (HAIR.md); without her, a Synty character reshaped with addHumanoidSoftTissue. She runs a circle on UAL clips: stand, jog, jump, sprint, stop dead, jump, walk (5, the tour), or 1-4 for one gait, Space to jump. The camera follows from the side. "Twin without jiggle" adds the same body without jiggle half a lap behind; "Show points" draws the simulated points (pink) against their animated targets (blue). Breast and glute sliders.

Environment: KKE_JIGGLE_SCENE=body, KKE_JIGGLE_MOVE=0..4, KKE_JIGGLE_CHARACTER=SK_..., KKE_JIGGLE_BODY=<file>, KKE_JIGGLE_HAIR=<style>, KKE_JIGGLE_TWIN=1, KKE_JIGGLE_VIEW=yaw,pitch,distance (screenshots), KKE_JIGGLE_TRACE=1 (logs swing and stretch every frame). The body scene needs female_body (or a Synty character pack) and assets/animations/UAL1_Standard.fbx; see SCENES.md for exactly which.