120 lines
3.2 KiB
C++
Executable File
120 lines
3.2 KiB
C++
Executable File
// Don't use static library for this example because of Mosek complications
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//#define IGL_NO_MOSEK
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#ifdef IGL_NO_MOSEK
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#undef IGL_STATIC_LIBRARY
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#endif
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#include <igl/boundary_conditions.h>
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#include <igl/colon.h>
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#include <igl/column_to_quats.h>
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#include <igl/directed_edge_parents.h>
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#include <igl/forward_kinematics.h>
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#include <igl/jet.h>
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#include <igl/lbs_matrix.h>
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#include <igl/deform_skeleton.h>
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#include <igl/normalize_row_sums.h>
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#include <igl/readDMAT.h>
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#include <igl/readMESH.h>
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#include <igl/readTGF.h>
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#include <igl/viewer/Viewer.h>
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#include <igl/bbw/bbw.h>
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#include <Eigen/Geometry>
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#include <Eigen/StdVector>
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#include <vector>
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#include <algorithm>
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#include <iostream>
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typedef
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std::vector<Eigen::Quaterniond,Eigen::aligned_allocator<Eigen::Quaterniond> >
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RotationList;
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const Eigen::RowVector3d sea_green(70./255.,252./255.,167./255.);
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Eigen::MatrixXd V,W;
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Eigen::MatrixXi F,BE;
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Eigen::VectorXi P;
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RotationList pose;
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double anim_t = 1.0;
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double anim_t_dir = -0.03;
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bool pre_draw(igl::Viewer & viewer)
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{
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using namespace Eigen;
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using namespace std;
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if(viewer.options.is_animating)
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{
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// Interpolate pose and identity
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RotationList anim_pose(pose.size());
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for(int e = 0;e<pose.size();e++)
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{
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anim_pose[e] = pose[e].slerp(anim_t,Quaterniond::Identity());
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}
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// Propogate relative rotations via FK to retrieve absolute transformations
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RotationList vQ;
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vector<Vector3d> vT;
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igl::forward_kinematics(C,BE,P,anim_pose,vQ,vT);
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const int dim = C.cols();
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MatrixXd T(BE.rows()*(dim+1),dim);
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for(int e = 0;e<BE.rows();e++)
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{
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Affine3d a = Affine3d::Identity();
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a.translate(vT[e]);
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a.rotate(vQ[e]);
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T.block(e*(dim+1),0,dim+1,dim) =
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a.matrix().transpose().block(0,0,dim+1,dim);
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}
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// Compute deformation via LBS as matrix multiplication
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U = M*T;
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// Also deform skeleton edges
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MatrixXd CT;
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MatrixXi BET;
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igl::deform_skeleton(C,BE,T,CT,BET);
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viewer.set_vertices(U);
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viewer.set_edges(CT,BET,sea_green);
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viewer.compute_normals();
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anim_t += anim_t_dir;
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anim_t_dir *= (anim_t>=1.0 || anim_t<=0.0?-1.0:1.0);
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}
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return false;
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}
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bool key_down(igl::Viewer &viewer, unsigned char key, int mods)
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{
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switch(key)
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{
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case ' ':
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viewer.options.is_animating = !viewer.options.is_animating;
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break;
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}
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}
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int main(int argc, char *argv[])
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{
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using namespace Eigen;
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using namespace std;
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igl::readOBJ("../shared/arm.obj",V,F);
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U=V;
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igl::readTGF("../shared/arm.tgf",C,BE);
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// retrieve parents for forward kinematics
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directed_edge_parents(BE,P);
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igl::readDMAT("../shared/arm-weights.dmat",W);
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pose_0 identity
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pose_1 twist
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pose_2 bend
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// Plot the mesh with pseudocolors
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igl::Viewer viewer;
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viewer.set_mesh(U, F);
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viewer.set_edges(C,BE,sea_green);
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viewer.options.show_lines = false;
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viewer.options.show_overlay_depth = false;
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viewer.options.line_width = 1;
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viewer.options.trackball_angle.normalize();
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viewer.callback_pre_draw = &pre_draw;
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viewer.callback_key_down = &key_down;
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viewer.options.is_animating = false;
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viewer.options.animation_max_fps = 30.;
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viewer.launch();
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}
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