1178 lines
28 KiB
C++
1178 lines
28 KiB
C++
#include <igl/draw_skeleton_vector_graphics.h>
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#include <igl/two_axis_valuator_fixed_up.h>
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#include <igl/read_triangle_mesh.h>
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#include <igl/readTGF.h>
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#include <igl/writeOBJ.h>
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#include <igl/writeOFF.h>
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#include <igl/report_gl_error.h>
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#include <igl/draw_mesh.h>
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#include <igl/draw_floor.h>
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#include <igl/pathinfo.h>
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#include <igl/list_to_matrix.h>
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#include <igl/quat_to_mat.h>
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#include <igl/per_face_normals.h>
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#include <igl/material_colors.h>
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#include <igl/trackball.h>
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#include <igl/snap_to_canonical_view_quat.h>
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#include <igl/snap_to_fixed_up.h>
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#include <igl/REDRUM.h>
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#include <igl/Camera.h>
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#include <igl/ReAntTweakBar.h>
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#include <igl/get_seconds.h>
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#include <igl/forward_kinematics.h>
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#include <igl/boundary_conditions.h>
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#include <igl/normalize_row_sums.h>
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#include <igl/lbs_matrix.h>
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#include <igl/sort_triangles.h>
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#include <igl/slice.h>
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#include <igl/project.h>
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#include <igl/unproject.h>
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#include <igl/embree/EmbreeIntersector.h>
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#include <igl/embree/unproject_in_mesh.h>
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#include <igl/matlab_format.h>
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#include <igl/remove_unreferenced.h>
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#include <igl/adjacency_list.h>
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#include <igl/adjacency_matrix.h>
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#include <igl/right_axis.h>
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#include <igl/colon.h>
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#include <igl/unique.h>
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#include <igl/REDRUM.h>
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#include <igl/writeTGF.h>
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#include <igl/file_exists.h>
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#include <igl/centroid.h>
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#include <igl/draw_skeleton_3d.h>
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#include <Eigen/Core>
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#include <Eigen/Geometry>
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#ifdef __APPLE__
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#include <GLUT/glut.h>
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#else
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#include <GL/glut.h>
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#endif
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#ifndef GLUT_WHEEL_UP
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#define GLUT_WHEEL_UP 3
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#endif
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#ifndef GLUT_WHEEL_DOWN
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#define GLUT_WHEEL_DOWN 4
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#endif
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#ifndef GLUT_WHEEL_RIGHT
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#define GLUT_WHEEL_RIGHT 5
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#endif
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#ifndef GLUT_WHEEL_LEFT
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#define GLUT_WHEEL_LEFT 6
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#endif
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#ifndef GLUT_ACTIVE_COMMAND
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#define GLUT_ACTIVE_COMMAND 8
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#endif
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#include <string>
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#include <vector>
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#include <queue>
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#include <stack>
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#include <iostream>
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enum SkelStyleType
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{
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SKEL_STYLE_TYPE_3D = 0,
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SKEL_STYLE_TYPE_VECTOR_GRAPHICS = 1,
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NUM_SKEL_STYLE_TYPE = 2
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}skel_style;
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Eigen::MatrixXd V,N,sorted_N;
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Eigen::Vector3d Vmid,Vcen;
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double bbd = 1.0;
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Eigen::MatrixXi F,sorted_F;
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Eigen::VectorXi P;
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igl::Camera camera;
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struct State
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{
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Eigen::MatrixXd C;
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Eigen::MatrixXi BE;
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Eigen::VectorXi sel;
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} s;
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bool wireframe = false;
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bool skeleton_on_top = false;
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double alpha = 0.5;
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// See README for descriptions
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enum RotationType
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{
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ROTATION_TYPE_IGL_TRACKBALL = 0,
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ROTATION_TYPE_TWO_AXIS_VALUATOR_FIXED_UP = 1,
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NUM_ROTATION_TYPES = 2,
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} rotation_type = ROTATION_TYPE_TWO_AXIS_VALUATOR_FIXED_UP;
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std::stack<State> undo_stack;
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std::stack<State> redo_stack;
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bool is_rotating = false;
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bool is_dragging = false;
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bool new_leaf_on_drag = false;
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bool new_root_on_drag = false;
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int down_x,down_y;
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Eigen::MatrixXd down_C;
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igl::Camera down_camera;
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std::string output_filename;
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bool is_animating = false;
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double animation_start_time = 0;
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double ANIMATION_DURATION = 0.5;
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Eigen::Quaterniond animation_from_quat;
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Eigen::Quaterniond animation_to_quat;
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int width,height;
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Eigen::Vector4f light_pos(-0.1,-0.1,0.9,0);
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#define REBAR_NAME "temp.rbr"
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igl::ReTwBar rebar;
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igl::EmbreeIntersector ei;
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void push_undo()
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{
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undo_stack.push(s);
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// Clear
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redo_stack = std::stack<State>();
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}
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// No-op setter, does nothing
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void TW_CALL no_op(const void * /*value*/, void * /*clientData*/)
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{
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}
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void TW_CALL set_rotation_type(const void * value, void * clientData)
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{
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using namespace Eigen;
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using namespace std;
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using namespace igl;
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const RotationType old_rotation_type = rotation_type;
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rotation_type = *(const RotationType *)(value);
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if(rotation_type == ROTATION_TYPE_TWO_AXIS_VALUATOR_FIXED_UP &&
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old_rotation_type != ROTATION_TYPE_TWO_AXIS_VALUATOR_FIXED_UP)
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{
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push_undo();
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animation_from_quat = camera.m_rotation_conj;
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snap_to_fixed_up(animation_from_quat,animation_to_quat);
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// start animation
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animation_start_time = get_seconds();
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is_animating = true;
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}
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}
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void TW_CALL get_rotation_type(void * value, void *clientData)
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{
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RotationType * rt = (RotationType *)(value);
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*rt = rotation_type;
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}
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void reshape(int width, int height)
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{
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::width = width;
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::height = height;
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glViewport(0,0,width,height);
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// Send the new window size to AntTweakBar
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TwWindowSize(width, height);
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camera.m_aspect = (double)width/(double)height;
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}
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void push_scene()
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{
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using namespace igl;
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using namespace std;
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glMatrixMode(GL_PROJECTION);
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glPushMatrix();
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glLoadIdentity();
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gluPerspective(camera.m_angle,camera.m_aspect,camera.m_near,camera.m_far);
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glMatrixMode(GL_MODELVIEW);
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glPushMatrix();
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glLoadIdentity();
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gluLookAt(
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camera.eye()(0), camera.eye()(1), camera.eye()(2),
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camera.at()(0), camera.at()(1), camera.at()(2),
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camera.up()(0), camera.up()(1), camera.up()(2));
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}
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void push_object()
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{
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using namespace igl;
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glPushMatrix();
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glScaled(2./bbd,2./bbd,2./bbd);
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glTranslated(-Vmid(0),-Vmid(1),-Vmid(2));
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}
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void pop_object()
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{
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glPopMatrix();
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}
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void pop_scene()
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{
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glMatrixMode(GL_PROJECTION);
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glPopMatrix();
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glMatrixMode(GL_MODELVIEW);
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glPopMatrix();
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}
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// Set up double-sided lights
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void lights()
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{
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using namespace std;
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using namespace Eigen;
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glEnable(GL_LIGHTING);
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glLightModelf(GL_LIGHT_MODEL_TWO_SIDE,GL_TRUE);
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glEnable(GL_LIGHT0);
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glEnable(GL_LIGHT1);
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float WHITE[4] = {0.8,0.8,0.8,1.};
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float GREY[4] = {0.4,0.4,0.4,1.};
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float BLACK[4] = {0.,0.,0.,1.};
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Vector4f pos = light_pos;
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glLightfv(GL_LIGHT0,GL_AMBIENT,GREY);
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glLightfv(GL_LIGHT0,GL_DIFFUSE,WHITE);
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glLightfv(GL_LIGHT0,GL_SPECULAR,BLACK);
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glLightfv(GL_LIGHT0,GL_POSITION,pos.data());
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pos(0) *= -1;
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pos(1) *= -1;
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pos(2) *= -1;
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glLightfv(GL_LIGHT1,GL_AMBIENT,GREY);
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glLightfv(GL_LIGHT1,GL_DIFFUSE,WHITE);
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glLightfv(GL_LIGHT1,GL_SPECULAR,BLACK);
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glLightfv(GL_LIGHT1,GL_POSITION,pos.data());
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}
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void sort()
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{
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using namespace std;
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using namespace Eigen;
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using namespace igl;
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push_scene();
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push_object();
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VectorXi I;
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sort_triangles(V,F,sorted_F,I);
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slice(N,I,1,sorted_N);
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pop_object();
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pop_scene();
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}
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void display()
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{
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using namespace igl;
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using namespace std;
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using namespace Eigen;
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const float back[4] = {0.75, 0.75, 0.75,0};
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glClearColor(back[0],back[1],back[2],0);
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glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
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static bool first = true;
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if(first)
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{
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sort();
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first = false;
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}
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if(is_animating)
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{
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double t = (get_seconds() - animation_start_time)/ANIMATION_DURATION;
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if(t > 1)
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{
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t = 1;
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is_animating = false;
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}
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Quaterniond q = animation_from_quat.slerp(t,animation_to_quat).normalized();
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camera.orbit(q.conjugate());
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}
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glEnable(GL_DEPTH_TEST);
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glDepthFunc(GL_LEQUAL);
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glEnable(GL_NORMALIZE);
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glEnable(GL_BLEND);
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glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA);
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lights();
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push_scene();
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// Draw a nice floor
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glEnable(GL_DEPTH_TEST);
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glPushMatrix();
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const double floor_offset =
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-2./bbd*(V.col(1).maxCoeff()-Vmid(1));
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glTranslated(0,floor_offset,0);
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const float GREY[4] = {0.5,0.5,0.6,1.0};
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const float DARK_GREY[4] = {0.2,0.2,0.3,1.0};
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glPolygonMode(GL_FRONT_AND_BACK,GL_FILL);
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glEnable(GL_CULL_FACE);
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glCullFace(GL_BACK);
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draw_floor(GREY,DARK_GREY);
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glDisable(GL_CULL_FACE);
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glPopMatrix();
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push_object();
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const auto & draw_skeleton = []()
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{
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switch(skel_style)
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{
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default:
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case SKEL_STYLE_TYPE_3D:
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{
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MatrixXf colors = MAYA_VIOLET.transpose().replicate(s.BE.rows(),1);
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for(int si=0;si<s.sel.size();si++)
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{
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for(int b=0;b<s.BE.rows();b++)
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{
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if(s.BE(b,0) == s.sel(si) || s.BE(b,1) == s.sel(si))
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{
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colors.row(b) = MAYA_SEA_GREEN;
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}
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}
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}
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draw_skeleton_3d(s.C,s.BE,MatrixXd(),colors,bbd*0.5);
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break;
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}
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case SKEL_STYLE_TYPE_VECTOR_GRAPHICS:
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draw_skeleton_vector_graphics(s.C,s.BE);
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break;
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}
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};
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if(!skeleton_on_top)
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{
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draw_skeleton();
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}
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// Set material properties
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glDisable(GL_COLOR_MATERIAL);
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glMaterialfv(GL_FRONT, GL_AMBIENT,
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Vector4f(GOLD_AMBIENT[0],GOLD_AMBIENT[1],GOLD_AMBIENT[2],alpha).data());
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glMaterialfv(GL_FRONT, GL_DIFFUSE,
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Vector4f(GOLD_DIFFUSE[0],GOLD_DIFFUSE[1],GOLD_DIFFUSE[2],alpha).data());
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glMaterialfv(GL_FRONT, GL_SPECULAR,
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Vector4f(GOLD_SPECULAR[0],GOLD_SPECULAR[1],GOLD_SPECULAR[2],alpha).data());
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glMaterialf (GL_FRONT, GL_SHININESS, 128);
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glMaterialfv(GL_BACK, GL_AMBIENT,
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Vector4f(SILVER_AMBIENT[0],SILVER_AMBIENT[1],SILVER_AMBIENT[2],alpha).data());
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glMaterialfv(GL_BACK, GL_DIFFUSE,
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Vector4f(FAST_GREEN_DIFFUSE[0],FAST_GREEN_DIFFUSE[1],FAST_GREEN_DIFFUSE[2],alpha).data());
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glMaterialfv(GL_BACK, GL_SPECULAR,
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Vector4f(SILVER_SPECULAR[0],SILVER_SPECULAR[1],SILVER_SPECULAR[2],alpha).data());
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glMaterialf (GL_BACK, GL_SHININESS, 128);
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if(wireframe)
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{
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glPolygonMode(GL_FRONT_AND_BACK,GL_LINE);
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}
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glLineWidth(1.0);
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draw_mesh(V,sorted_F,sorted_N);
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glPolygonMode(GL_FRONT_AND_BACK,GL_FILL);
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if(skeleton_on_top)
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{
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glDisable(GL_DEPTH_TEST);
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draw_skeleton();
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}
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pop_object();
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pop_scene();
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report_gl_error();
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TwDraw();
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glutSwapBuffers();
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if(is_animating)
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{
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glutPostRedisplay();
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}
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}
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void mouse_wheel(int wheel, int direction, int mouse_x, int mouse_y)
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{
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using namespace std;
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using namespace igl;
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using namespace Eigen;
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GLint viewport[4];
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glGetIntegerv(GL_VIEWPORT,viewport);
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if(wheel == 0 && TwMouseMotion(mouse_x, viewport[3] - mouse_y))
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{
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static double mouse_scroll_y = 0;
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const double delta_y = 0.125*direction;
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mouse_scroll_y += delta_y;
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TwMouseWheel(mouse_scroll_y);
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return;
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}
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push_undo();
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if(wheel==0)
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{
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// factor of zoom change
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double s = (1.-0.01*direction);
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//// FOV zoom: just widen angle. This is hardly ever appropriate.
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//camera.m_angle *= s;
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//camera.m_angle = min(max(camera.m_angle,1),89);
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camera.push_away(s);
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}else
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{
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// Dolly zoom:
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camera.dolly_zoom((double)direction*1.0);
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}
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glutPostRedisplay();
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}
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Eigen::VectorXi selection(const std::vector<bool> & mask)
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{
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const int count = std::count(mask.begin(),mask.end(),true);
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Eigen::VectorXi sel(count);
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int s = 0;
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for(int c = 0;c<(int)mask.size();c++)
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{
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if(mask[c])
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{
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sel(s) = c;
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s++;
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}
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}
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return sel;
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}
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std::vector<bool> selection_mask(const Eigen::VectorXi & sel, const int n)
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{
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std::vector<bool> mask(n,false);
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for(int si = 0;si<sel.size();si++)
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{
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const int i = sel(si);
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mask[i] = true;
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}
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return mask;
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}
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bool ss_select(
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const double mouse_x,
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const double mouse_y,
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const Eigen::MatrixXd & C,
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const bool accum,
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Eigen::VectorXi & sel)
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{
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using namespace igl;
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using namespace Eigen;
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using namespace std;
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//// zap old list
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//if(!accum)
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//{
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// sel.resize(0,1);
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//}
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vector<bool> old_mask = selection_mask(s.sel,s.C.rows());
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vector<bool> mask(old_mask.size(),false);
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double min_dist = 1e25;
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bool sel_changed = false;
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bool found = false;
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for(int c = 0;c<C.rows();c++)
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{
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const RowVector3d & Cc = C.row(c);
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const auto Pc = project(Cc);
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const double SELECTION_DIST = 18;//pixels
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const double dist = (Pc.head(2)-RowVector2d(mouse_x,height-mouse_y)).norm();
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if(dist < SELECTION_DIST && (accum || dist < min_dist))
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{
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mask[c] = true;
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min_dist = dist;
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found = true;
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sel_changed |= mask[c] != old_mask[c];
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}
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}
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for(int c = 0;c<C.rows();c++)
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{
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if(accum)
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{
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mask[c] = mask[c] ^ old_mask[c];
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}else
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{
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if(!sel_changed)
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{
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mask[c] = mask[c] || old_mask[c];
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}
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}
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}
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sel = selection(mask);
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return found;
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}
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void mouse(int glutButton, int glutState, int mouse_x, int mouse_y)
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{
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using namespace std;
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using namespace Eigen;
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using namespace igl;
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bool tw_using = TwEventMouseButtonGLUT(glutButton,glutState,mouse_x,mouse_y);
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const int mod = (glutButton <=2 ? glutGetModifiers() : 0);
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const bool option_down = mod & GLUT_ACTIVE_ALT;
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const bool shift_down = mod & GLUT_ACTIVE_SHIFT;
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const bool command_down = GLUT_ACTIVE_COMMAND & mod;
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switch(glutButton)
|
|
{
|
|
case GLUT_RIGHT_BUTTON:
|
|
case GLUT_LEFT_BUTTON:
|
|
{
|
|
switch(glutState)
|
|
{
|
|
case 1:
|
|
// up
|
|
glutSetCursor(GLUT_CURSOR_INHERIT);
|
|
if(is_rotating)
|
|
{
|
|
sort();
|
|
}
|
|
is_rotating = false;
|
|
is_dragging = false;
|
|
break;
|
|
case 0:
|
|
new_leaf_on_drag = false;
|
|
new_root_on_drag = false;
|
|
if(!tw_using)
|
|
{
|
|
down_x = mouse_x;
|
|
down_y = mouse_y;
|
|
if(option_down)
|
|
{
|
|
glutSetCursor(GLUT_CURSOR_CYCLE);
|
|
// collect information for trackball
|
|
is_rotating = true;
|
|
down_camera = camera;
|
|
}else
|
|
{
|
|
push_undo();
|
|
push_scene();
|
|
push_object();
|
|
// Zap selection
|
|
if(shift_down)
|
|
{
|
|
s.sel.resize(0,1);
|
|
}
|
|
if(ss_select(mouse_x,mouse_y,s.C,
|
|
command_down && !shift_down,
|
|
s.sel))
|
|
{
|
|
if(shift_down)
|
|
{
|
|
new_leaf_on_drag = true;
|
|
}
|
|
}else
|
|
{
|
|
new_root_on_drag = true;
|
|
}
|
|
is_dragging = !command_down;
|
|
down_C = s.C;
|
|
pop_object();
|
|
pop_scene();
|
|
}
|
|
}
|
|
break;
|
|
}
|
|
break;
|
|
}
|
|
// Scroll down
|
|
case 3:
|
|
{
|
|
mouse_wheel(0,-1,mouse_x,mouse_y);
|
|
break;
|
|
}
|
|
// Scroll up
|
|
case 4:
|
|
{
|
|
mouse_wheel(0,1,mouse_x,mouse_y);
|
|
break;
|
|
}
|
|
// Scroll left
|
|
case 5:
|
|
{
|
|
mouse_wheel(1,-1,mouse_x,mouse_y);
|
|
break;
|
|
}
|
|
// Scroll right
|
|
case 6:
|
|
{
|
|
mouse_wheel(1,1,mouse_x,mouse_y);
|
|
break;
|
|
}
|
|
}
|
|
glutPostRedisplay();
|
|
}
|
|
|
|
void mouse_drag(int mouse_x, int mouse_y)
|
|
{
|
|
using namespace igl;
|
|
using namespace std;
|
|
using namespace Eigen;
|
|
|
|
if(is_rotating)
|
|
{
|
|
glutSetCursor(GLUT_CURSOR_CYCLE);
|
|
Quaterniond q;
|
|
switch(rotation_type)
|
|
{
|
|
case ROTATION_TYPE_IGL_TRACKBALL:
|
|
{
|
|
// Rotate according to trackball
|
|
igl::trackball<double>(
|
|
width,
|
|
height,
|
|
2.0,
|
|
down_camera.m_rotation_conj.coeffs().data(),
|
|
down_x,
|
|
down_y,
|
|
mouse_x,
|
|
mouse_y,
|
|
q.coeffs().data());
|
|
break;
|
|
}
|
|
case ROTATION_TYPE_TWO_AXIS_VALUATOR_FIXED_UP:
|
|
{
|
|
// Rotate according to two axis valuator with fixed up vector
|
|
two_axis_valuator_fixed_up(
|
|
width, height,
|
|
2.0,
|
|
down_camera.m_rotation_conj,
|
|
down_x, down_y, mouse_x, mouse_y,
|
|
q);
|
|
break;
|
|
}
|
|
default:
|
|
break;
|
|
}
|
|
camera.orbit(q.conjugate());
|
|
}
|
|
|
|
if(is_dragging)
|
|
{
|
|
push_scene();
|
|
push_object();
|
|
if(new_leaf_on_drag)
|
|
{
|
|
assert(s.C.size() >= 1);
|
|
// one new node
|
|
s.C.conservativeResize(s.C.rows()+1,3);
|
|
const int nc = s.C.rows();
|
|
assert(s.sel.size() >= 1);
|
|
s.C.row(nc-1) = s.C.row(s.sel(0));
|
|
// one new bone
|
|
s.BE.conservativeResize(s.BE.rows()+1,2);
|
|
s.BE.row(s.BE.rows()-1) = RowVector2i(s.sel(0),nc-1);
|
|
// select just last node
|
|
s.sel.resize(1,1);
|
|
s.sel(0) = nc-1;
|
|
// reset down_C
|
|
down_C = s.C;
|
|
new_leaf_on_drag = false;
|
|
}
|
|
if(new_root_on_drag)
|
|
{
|
|
// two new nodes
|
|
s.C.conservativeResize(s.C.rows()+2,3);
|
|
const int nc = s.C.rows();
|
|
Vector3d obj;
|
|
int nhits = unproject_in_mesh(mouse_x,height-mouse_y,ei,obj);
|
|
if(nhits == 0)
|
|
{
|
|
Vector3d pV_mid = project(Vcen);
|
|
obj = unproject(Vector3d(mouse_x,height-mouse_y,pV_mid(2)));
|
|
}
|
|
s.C.row(nc-2) = obj;
|
|
s.C.row(nc-1) = obj;
|
|
// select last node
|
|
s.sel.resize(1,1);
|
|
s.sel(0) = nc-1;
|
|
// one new bone
|
|
s.BE.conservativeResize(s.BE.rows()+1,2);
|
|
s.BE.row(s.BE.rows()-1) = RowVector2i(nc-2,nc-1);
|
|
// reset down_C
|
|
down_C = s.C;
|
|
new_root_on_drag = false;
|
|
}
|
|
double z = 0;
|
|
Vector3d obj,win;
|
|
int nhits = unproject_in_mesh(mouse_x,height-mouse_y,ei,obj);
|
|
project(obj,win);
|
|
z = win(2);
|
|
|
|
for(int si = 0;si<s.sel.size();si++)
|
|
{
|
|
const int c = s.sel(si);
|
|
Vector3d pc = project((RowVector3d) down_C.row(c));
|
|
pc(0) += mouse_x-down_x;
|
|
pc(1) += (height-mouse_y)-(height-down_y);
|
|
if(nhits > 0)
|
|
{
|
|
pc(2) = z;
|
|
}
|
|
s.C.row(c) = unproject(pc);
|
|
}
|
|
pop_object();
|
|
pop_scene();
|
|
}
|
|
|
|
glutPostRedisplay();
|
|
}
|
|
|
|
void init_relative()
|
|
{
|
|
using namespace Eigen;
|
|
using namespace igl;
|
|
using namespace std;
|
|
per_face_normals(V,F,N);
|
|
const auto Vmax = V.colwise().maxCoeff();
|
|
const auto Vmin = V.colwise().minCoeff();
|
|
Vmid = 0.5*(Vmax + Vmin);
|
|
centroid(V,F,Vcen);
|
|
bbd = (Vmax-Vmin).norm();
|
|
cout<<"bbd: "<<bbd<<endl;
|
|
camera.push_away(2);
|
|
}
|
|
|
|
void undo()
|
|
{
|
|
using namespace std;
|
|
if(!undo_stack.empty())
|
|
{
|
|
redo_stack.push(s);
|
|
s = undo_stack.top();
|
|
undo_stack.pop();
|
|
}
|
|
}
|
|
|
|
void redo()
|
|
{
|
|
using namespace std;
|
|
if(!redo_stack.empty())
|
|
{
|
|
undo_stack.push(s);
|
|
s = redo_stack.top();
|
|
redo_stack.pop();
|
|
}
|
|
}
|
|
|
|
void symmetrize()
|
|
{
|
|
using namespace std;
|
|
using namespace igl;
|
|
using namespace Eigen;
|
|
if(s.sel.size() == 0)
|
|
{
|
|
cout<<YELLOWGIN("Make a selection first.")<<endl;
|
|
return;
|
|
}
|
|
push_undo();
|
|
push_scene();
|
|
push_object();
|
|
Vector3d right;
|
|
right_axis(right.data(),right.data()+1,right.data()+2);
|
|
right.normalize();
|
|
MatrixXd RC(s.C.rows(),s.C.cols());
|
|
MatrixXd old_C = s.C;
|
|
for(int c = 0;c<s.C.rows();c++)
|
|
{
|
|
const Vector3d Cc = s.C.row(c);
|
|
const auto A = Cc-Vcen;
|
|
const auto A1 = A.dot(right) * right;
|
|
const auto A2 = A-A1;
|
|
RC.row(c) = Vcen + A2 - A1;
|
|
}
|
|
vector<bool> mask = selection_mask(s.sel,s.C.rows());
|
|
// stupid O(n²) matching
|
|
for(int c = 0;c<s.C.rows();c++)
|
|
{
|
|
// not selected
|
|
if(!mask[c])
|
|
{
|
|
continue;
|
|
}
|
|
const Vector3d Cc = s.C.row(c);
|
|
int min_r = -1;
|
|
double min_dist = 1e25;
|
|
double max_dist = 0.1*bbd;
|
|
for(int r= 0;r<RC.rows();r++)
|
|
{
|
|
const Vector3d RCr = RC.row(r);
|
|
const double dist = (Cc-RCr).norm();
|
|
if(
|
|
dist<min_dist && // closest
|
|
dist<max_dist && // not too far away
|
|
(c==r || (Cc-Vcen).dot(right)*(RCr-Vcen).dot(right) > 0) // on same side
|
|
)
|
|
{
|
|
min_dist = dist;
|
|
min_r = r;
|
|
}
|
|
}
|
|
if(min_r>=0)
|
|
{
|
|
if(mask[min_r])
|
|
{
|
|
s.C.row(c) = 0.5*(Cc.transpose()+RC.row(min_r));
|
|
}else
|
|
{
|
|
s.C.row(c) = RC.row(min_r);
|
|
}
|
|
}
|
|
}
|
|
pop_object();
|
|
pop_scene();
|
|
}
|
|
|
|
bool save()
|
|
{
|
|
using namespace std;
|
|
using namespace igl;
|
|
if(writeTGF(output_filename,s.C,s.BE))
|
|
{
|
|
cout<<GREENGIN("Current skeleton written to "+output_filename+".")<<endl;
|
|
return true;
|
|
}else
|
|
{
|
|
cout<<REDRUM("Writing to "+output_filename+" failed.")<<endl;
|
|
return false;
|
|
}
|
|
}
|
|
|
|
void key(unsigned char key, int mouse_x, int mouse_y)
|
|
{
|
|
using namespace std;
|
|
using namespace igl;
|
|
using namespace Eigen;
|
|
int mod = glutGetModifiers();
|
|
const bool command_down = GLUT_ACTIVE_COMMAND & mod;
|
|
const bool shift_down = GLUT_ACTIVE_SHIFT & mod;
|
|
switch(key)
|
|
{
|
|
// ESC
|
|
case char(27):
|
|
rebar.save(REBAR_NAME);
|
|
// ^C
|
|
case char(3):
|
|
exit(0);
|
|
case char(127):
|
|
{
|
|
push_undo();
|
|
// delete
|
|
MatrixXi new_BE(s.BE.rows(),s.BE.cols());
|
|
int count = 0;
|
|
for(int b=0;b<s.BE.rows();b++)
|
|
{
|
|
bool selected = false;
|
|
for(int si=0;si<s.sel.size();si++)
|
|
{
|
|
if(s.BE(b,0) == s.sel(si) || s.BE(b,1) == s.sel(si))
|
|
{
|
|
selected = true;
|
|
break;
|
|
}
|
|
}
|
|
if(!selected)
|
|
{
|
|
new_BE.row(count) = s.BE.row(b);
|
|
count++;
|
|
}
|
|
}
|
|
new_BE.conservativeResize(count,new_BE.cols());
|
|
const auto old_C = s.C;
|
|
VectorXi I;
|
|
remove_unreferenced(old_C,new_BE,s.C,s.BE,I);
|
|
s.sel.resize(0,1);
|
|
break;
|
|
}
|
|
case 'A':
|
|
case 'a':
|
|
{
|
|
push_undo();
|
|
s.sel = colon<int>(0,s.C.rows()-1);
|
|
break;
|
|
}
|
|
case 'C':
|
|
case 'c':
|
|
{
|
|
push_undo();
|
|
// snap close vertices
|
|
SparseMatrix<double> A;
|
|
adjacency_matrix(s.BE,A);
|
|
VectorXi J = colon<int>(0,s.C.rows()-1);
|
|
// stupid O(n²) version
|
|
for(int c = 0;c<s.C.rows();c++)
|
|
{
|
|
for(int d = c+1;d<s.C.rows();d++)
|
|
{
|
|
if(
|
|
A.coeff(c,d) == 0 && // no edge
|
|
(s.C.row(c)-s.C.row(d)).norm() < 0.02*bbd //close
|
|
)
|
|
{
|
|
// c < d
|
|
J(d) = c;
|
|
}
|
|
}
|
|
}
|
|
for(int e = 0;e<s.BE.rows();e++)
|
|
{
|
|
s.BE(e,0) = J(s.BE(e,0));
|
|
s.BE(e,1) = J(s.BE(e,1));
|
|
}
|
|
const auto old_BE = s.BE;
|
|
const auto old_C = s.C;
|
|
VectorXi I;
|
|
remove_unreferenced(old_C,old_BE,s.C,s.BE,I);
|
|
for(int i = 0;i<s.sel.size();i++)
|
|
{
|
|
s.sel(i) = J(s.sel(i));
|
|
}
|
|
VectorXi _;
|
|
igl::unique(s.sel,s.sel,_,_);
|
|
break;
|
|
}
|
|
case 'D':
|
|
case 'd':
|
|
{
|
|
push_undo();
|
|
s.sel.resize(0,1);
|
|
break;
|
|
}
|
|
case 'P':
|
|
case 'p':
|
|
{
|
|
// add bone to parents (should really only be one)
|
|
push_undo();
|
|
vector<int> new_sel;
|
|
const int old_nbe = s.BE.rows();
|
|
for(int si=0;si<s.sel.size();si++)
|
|
{
|
|
for(int b=0;b<old_nbe;b++)
|
|
{
|
|
if(s.BE(b,1) == s.sel(si))
|
|
{
|
|
// one new node
|
|
s.C.conservativeResize(s.C.rows()+1,3);
|
|
const int nc = s.C.rows();
|
|
s.C.row(nc-1) = 0.5*(s.C.row(s.BE(b,1)) + s.C.row(s.BE(b,0)));
|
|
// one new bone
|
|
s.BE.conservativeResize(s.BE.rows()+1,2);
|
|
s.BE.row(s.BE.rows()-1) = RowVector2i(nc-1,s.BE(b,1));
|
|
s.BE(b,1) = nc-1;
|
|
// select last node
|
|
new_sel.push_back(nc-1);
|
|
}
|
|
}
|
|
}
|
|
list_to_matrix(new_sel,s.sel);
|
|
break;
|
|
}
|
|
case 'R':
|
|
case 'r':
|
|
{
|
|
// re-root try at first selected
|
|
if(s.sel.size() > 0)
|
|
{
|
|
push_undo();
|
|
// only use first
|
|
s.sel.conservativeResize(1,1);
|
|
// Ideally this should only effect the connected component of s.sel(0)
|
|
const auto & C = s.C;
|
|
auto & BE = s.BE;
|
|
vector<bool> seen(C.rows(),false);
|
|
// adjacency list
|
|
vector<vector< int> > A;
|
|
adjacency_list(BE,A,false);
|
|
int e = 0;
|
|
queue<int> Q;
|
|
Q.push(s.sel(0));
|
|
seen[s.sel(0)] = true;
|
|
while(!Q.empty())
|
|
{
|
|
const int c = Q.front();
|
|
Q.pop();
|
|
for(const auto & d : A[c])
|
|
{
|
|
if(!seen[d])
|
|
{
|
|
BE(e,0) = c;
|
|
BE(e,1) = d;
|
|
e++;
|
|
Q.push(d);
|
|
seen[d] = true;
|
|
}
|
|
}
|
|
}
|
|
// only keep tree
|
|
BE.conservativeResize(e,BE.cols());
|
|
}
|
|
break;
|
|
}
|
|
case 'S':
|
|
case 's':
|
|
{
|
|
save();
|
|
break;
|
|
}
|
|
case 'U':
|
|
case 'u':
|
|
{
|
|
push_scene();
|
|
push_object();
|
|
for(int c = 0;c<s.C.rows();c++)
|
|
{
|
|
Vector3d P = project((Vector3d)s.C.row(c));
|
|
Vector3d obj;
|
|
int nhits = unproject_in_mesh(P(0),P(1),ei,obj);
|
|
if(nhits > 0)
|
|
{
|
|
s.C.row(c) = obj;
|
|
}
|
|
}
|
|
pop_object();
|
|
pop_scene();
|
|
break;
|
|
}
|
|
case 'Y':
|
|
case 'y':
|
|
{
|
|
symmetrize();
|
|
break;
|
|
}
|
|
case 'z':
|
|
case 'Z':
|
|
is_rotating = false;
|
|
is_dragging = false;
|
|
if(command_down)
|
|
{
|
|
if(shift_down)
|
|
{
|
|
redo();
|
|
}else
|
|
{
|
|
undo();
|
|
}
|
|
break;
|
|
}else
|
|
{
|
|
push_undo();
|
|
Quaterniond q;
|
|
snap_to_canonical_view_quat(camera.m_rotation_conj,1.0,q);
|
|
camera.orbit(q.conjugate());
|
|
}
|
|
break;
|
|
default:
|
|
if(!TwEventKeyboardGLUT(key,mouse_x,mouse_y))
|
|
{
|
|
cout<<"Unknown key command: "<<key<<" "<<int(key)<<endl;
|
|
}
|
|
}
|
|
|
|
glutPostRedisplay();
|
|
}
|
|
|
|
|
|
int main(int argc, char * argv[])
|
|
{
|
|
using namespace std;
|
|
using namespace Eigen;
|
|
using namespace igl;
|
|
string filename = "../shared/decimated-knight.obj";
|
|
string skel_filename = "";
|
|
output_filename = "";
|
|
switch(argc)
|
|
{
|
|
case 4:
|
|
output_filename = argv[3];
|
|
//fall through
|
|
case 3:
|
|
skel_filename = argv[2];
|
|
if(output_filename.size() == 0)
|
|
{
|
|
output_filename = skel_filename;
|
|
}
|
|
//fall through
|
|
case 2:
|
|
// Read and prepare mesh
|
|
filename = argv[1];
|
|
break;
|
|
default:
|
|
cerr<<"Usage:"<<endl<<" ./example input.obj [input/output.tgf]"<<endl;
|
|
cout<<endl<<"Opening default mesh..."<<endl;
|
|
}
|
|
|
|
// print key commands
|
|
cout<<"[Click] and [drag] Create bone (or select node) and reposition."<<endl;
|
|
cout<<"⇧ +[Click] and [drag] Select node (or create one) and _pull out_ new bone."<<endl;
|
|
cout<<"⌥ +[Click] and [drag] Rotate secene."<<endl;
|
|
cout<<"⌫ Delete selected node(s) and incident bones."<<endl;
|
|
cout<<"A,a Select all."<<endl;
|
|
cout<<"D,d Deselect all."<<endl;
|
|
cout<<"C,c Snap close nodes."<<endl;
|
|
cout<<"P,p Split \"parent\" bone(s) of selection by creating new node(s)."<<endl;
|
|
cout<<"R,r Breadth first search at selection to redirect skeleton into tree."<<endl;
|
|
cout<<"S,s Save current skeleton to output .tgf file."<<endl;
|
|
cout<<"U,u Project then unproject inside mesh (as if dragging each by ε)."<<endl;
|
|
cout<<"Y,Y Symmetrize selection over plane through object centroid and right vector."<<endl;
|
|
cout<<"Z,z Snap to canonical view."<<endl;
|
|
cout<<"⌘ Z Undo."<<endl;
|
|
cout<<"⇧ ⌘ Z Redo."<<endl;
|
|
cout<<"^C,ESC Exit (without saving)."<<endl;
|
|
|
|
string dir,_1,_2,name;
|
|
read_triangle_mesh(filename,V,F,dir,_1,_2,name);
|
|
|
|
if(output_filename.size() == 0)
|
|
{
|
|
output_filename = dir+"/"+name+".tgf";
|
|
}
|
|
|
|
if(file_exists(output_filename.c_str()))
|
|
{
|
|
cout<<YELLOWGIN("Output set to overwrite "<<output_filename)<<endl;
|
|
}else
|
|
{
|
|
cout<<BLUEGIN("Output set to "<<output_filename)<<endl;
|
|
}
|
|
|
|
if(skel_filename.length() > 0)
|
|
{
|
|
readTGF(skel_filename,s.C,s.BE);
|
|
}
|
|
|
|
init_relative();
|
|
ei.init(V.cast<float>(),F.cast<int>());
|
|
|
|
// Init glut
|
|
glutInit(&argc,argv);
|
|
if( !TwInit(TW_OPENGL, NULL) )
|
|
{
|
|
// A fatal error occured
|
|
fprintf(stderr, "AntTweakBar initialization failed: %s\n", TwGetLastError());
|
|
return 1;
|
|
}
|
|
// Create a tweak bar
|
|
rebar.TwNewBar("TweakBar");
|
|
rebar.TwAddVarRW("camera_rotation", TW_TYPE_QUAT4D,
|
|
camera.m_rotation_conj.coeffs().data(), "open readonly=true");
|
|
TwType RotationTypeTW = ReTwDefineEnumFromString("RotationType",
|
|
"igl_trackball,two-a...-fixed-up");
|
|
rebar.TwAddVarCB( "rotation_type", RotationTypeTW,
|
|
set_rotation_type,get_rotation_type,NULL,"keyIncr=] keyDecr=[");
|
|
rebar.TwAddVarRW("skeleton_on_top", TW_TYPE_BOOLCPP,&skeleton_on_top,"key=O");
|
|
rebar.TwAddVarRW("wireframe", TW_TYPE_BOOLCPP,&wireframe,"key=l");
|
|
TwType SkelStyleTypeTW = ReTwDefineEnumFromString("SkelStyleType",
|
|
"3d,vector-graphics");
|
|
rebar.TwAddVarRW("style",SkelStyleTypeTW,&skel_style,"");
|
|
rebar.TwAddVarRW("alpha",TW_TYPE_DOUBLE,&alpha,
|
|
"keyIncr=} keyDecr={ min=0 max=1 step=0.1");
|
|
rebar.load(REBAR_NAME);
|
|
|
|
// Init antweakbar
|
|
glutInitDisplayString( "rgba depth double samples>=8 ");
|
|
glutInitWindowSize(glutGet(GLUT_SCREEN_WIDTH)/2.0,glutGet(GLUT_SCREEN_HEIGHT)/2.0);
|
|
glutCreateWindow("skeleton-builder");
|
|
glutDisplayFunc(display);
|
|
glutReshapeFunc(reshape);
|
|
glutKeyboardFunc(key);
|
|
glutMouseFunc(mouse);
|
|
glutMotionFunc(mouse_drag);
|
|
glutPassiveMotionFunc((GLUTmousemotionfun)TwEventMouseMotionGLUT);
|
|
glutMainLoop();
|
|
|
|
return 0;
|
|
}
|