Added tutorial 403 and submodule bbw

Former-commit-id: a475a5d124
2016-07-14 11:59:56 +02:00
parent 8b9bb47883
commit ba5cfc10ba
14 changed files with 377 additions and 12 deletions
@@ -0,0 +1,145 @@
+import sys, os
+
+# Add the igl library to the modules search path
+sys.path.insert(0, os.getcwd() + "/../")
+import pyigl as igl
+
+from shared import TUTORIAL_SHARED_PATH, check_dependencies, print_usage
+
+dependencies = ["viewer", "bbw"]
+check_dependencies(dependencies)
+
+
+def pre_draw(viewer):
+    global pose, anim_t, C, BE, P, U, M, anim_t_dir
+
+    if viewer.core.is_animating:
+        # Interpolate pose and identity
+        anim_pose = igl.RotationList(len(pose))
+
+        for e in range(len(pose)):
+            anim_pose[e] = pose[e].slerp(anim_t, igl.eigen.Quaterniond.Identity())
+
+        # Propogate relative rotations via FK to retrieve absolute transformations
+        vQ = igl.RotationList()
+        vT = []
+        igl.forward_kinematics(C, BE, P, anim_pose, vQ, vT)
+        dim = C.cols()
+        T = igl.eigen.MatrixXd(BE.rows() * (dim + 1), dim)
+        for e in range(BE.rows()):
+            a = igl.eigen.Affine3d.Identity()
+            a.translate(vT[e])
+            a.rotate(vQ[e])
+            T.setBlock(e * (dim + 1), 0, dim + 1, dim, a.matrix().transpose().block(0, 0, dim + 1, dim))
+
+        # Compute deformation via LBS as matrix multiplication
+        U = M * T
+
+        # Also deform skeleton edges
+        CT = igl.eigen.MatrixXd()
+        BET = igl.eigen.MatrixXi()
+        igl.deform_skeleton(C, BE, T, CT, BET)
+
+        viewer.data.set_vertices(U)
+        viewer.data.set_edges(CT, BET, sea_green)
+        viewer.data.compute_normals()
+        anim_t += anim_t_dir
+        anim_t_dir *= -1.0 if (0.0 >= anim_t or anim_t >= 1.0) else 1.0
+
+    return False
+
+
+def key_down(viewer, key, mods):
+    global selected, W
+    if key == ord('.'):
+        selected += 1
+        selected = min(max(selected, 0), W.cols()-1)
+        set_color(viewer)
+    elif key == ord(','):
+        selected -= 1
+        selected = min(max(selected, 0), W.cols()-1)
+        set_color(viewer)
+    elif key == ord(' '):
+        viewer.core.is_animating = not viewer.core.is_animating
+
+    return True
+
+
+def set_color(viewer):
+    global selected, W
+    C = igl.eigen.MatrixXd()
+    igl.jet(W.col(selected), True, C)
+    viewer.data.set_colors(C)
+
+
+if __name__ == "__main__":
+    keys = {".": "show next weight function",
+            ",": "show previous weight function",
+            "space": "toggle animation"}
+
+    print_usage(keys)
+
+    V = igl.eigen.MatrixXd()
+    W = igl.eigen.MatrixXd()
+    U = igl.eigen.MatrixXd()
+    C = igl.eigen.MatrixXd()
+    M = igl.eigen.MatrixXd()
+    Q = igl.eigen.MatrixXd()
+    T = igl.eigen.MatrixXi()
+    F = igl.eigen.MatrixXi()
+    BE = igl.eigen.MatrixXi()
+    P = igl.eigen.MatrixXi()
+
+    sea_green = igl.eigen.MatrixXd([[70. / 255., 252. / 255., 167. / 255.]])
+
+    selected = 0
+    pose = igl.RotationList()
+    anim_t = 1.0
+    anim_t_dir = -0.03
+
+    igl.readMESH(TUTORIAL_SHARED_PATH + "hand.mesh", V, T, F)
+    U = igl.eigen.MatrixXd(V)
+    igl.readTGF(TUTORIAL_SHARED_PATH + "hand.tgf", C, BE)
+
+    # Retrieve parents for forward kinematics
+    igl.directed_edge_parents(BE, P)
+
+    # Read pose as matrix of quaternions per row
+    igl.readDMAT(TUTORIAL_SHARED_PATH + "hand-pose.dmat", Q)
+    igl.column_to_quats(Q, pose)
+    assert (len(pose) == BE.rows())
+
+    # List of boundary indices (aka fixed value indices into VV)
+    b = igl.eigen.MatrixXi()
+    # List of boundary conditions of each weight function
+    bc = igl.eigen.MatrixXd()
+
+    igl.boundary_conditions(V, T, C, igl.eigen.MatrixXi(), BE, igl.eigen.MatrixXi(), b, bc)
+
+    # compute BBW weights matrix
+    bbw_data = igl.bbw.BBWData()
+    # only a few iterations for sake of demo
+    bbw_data.active_set_params.max_iter = 8
+    bbw_data.verbosity = 2
+    if not igl.bbw.bbw(V, T, b, bc, bbw_data, W):
+        exit(-1)
+
+    # Normalize weights to sum to one
+    igl.normalize_row_sums(W, W)
+    # precompute linear blend skinning matrix
+    igl.lbs_matrix(V, W, M)
+
+    # Plot the mesh with pseudocolors
+    viewer = igl.viewer.Viewer()
+    viewer.data.set_mesh(U, F)
+    set_color(viewer)
+    viewer.data.set_edges(C, BE, sea_green)
+    viewer.core.show_lines = False
+    viewer.core.show_overlay_depth = False
+    viewer.core.line_width = 1
+    viewer.core.trackball_angle.normalize()
+    viewer.callback_pre_draw = pre_draw
+    viewer.callback_key_down = key_down
+    viewer.core.is_animating = False
+    viewer.core.animation_max_fps = 30.0
+    viewer.launch()