An animation system for rigid and deformable models

We describe a system for the animation of rigid and deformable models. The system uses the approaches from elasticity theory for animating the models. Two different formulations, namely the primal and the hybrid formulations, are implemented so that the user could select the suitable one for an animation depending on the rigidity of the models. Collision of the models with impenetrable obstacles and constraining model points to fixed positions in space are implemented for use in the animations.