File size: 4,188 Bytes
5b89cb9 | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 | #include <igl/directed_edge_orientations.h>
#include <igl/directed_edge_parents.h>
#include <igl/forward_kinematics.h>
#include <igl/PI.h>
#include <igl/lbs_matrix.h>
#include <igl/deform_skeleton.h>
#include <igl/dqs.h>
#include <igl/readDMAT.h>
#include <igl/readOBJ.h>
#include <igl/readTGF.h>
#include <igl/opengl/glfw/Viewer.h>
#include <Eigen/Geometry>
#include <Eigen/StdVector>
#include <vector>
#include <algorithm>
#include <iostream>
typedef
std::vector<Eigen::Quaterniond,Eigen::aligned_allocator<Eigen::Quaterniond> >
RotationList;
const Eigen::RowVector3d sea_green(70./255.,252./255.,167./255.);
Eigen::MatrixXd V,W,C,U,M;
Eigen::MatrixXi F,BE;
Eigen::VectorXi P;
std::vector<RotationList > poses;
double anim_t = 0.0;
double anim_t_dir = 0.015;
bool use_dqs = false;
bool recompute = true;
bool pre_draw(igl::opengl::glfw::Viewer & viewer)
{
using namespace Eigen;
using namespace std;
if(recompute)
{
// Find pose interval
const int begin = (int)floor(anim_t)%poses.size();
const int end = (int)(floor(anim_t)+1)%poses.size();
const double t = anim_t - floor(anim_t);
// Interpolate pose and identity
RotationList anim_pose(poses[begin].size());
for(int e = 0;e<poses[begin].size();e++)
{
anim_pose[e] = poses[begin][e].slerp(t,poses[end][e]);
}
// Propagate relative rotations via FK to retrieve absolute transformations
RotationList vQ;
vector<Vector3d> vT;
igl::forward_kinematics(C,BE,P,anim_pose,vQ,vT);
const int dim = C.cols();
MatrixXd T(BE.rows()*(dim+1),dim);
for(int e = 0;e<BE.rows();e++)
{
Affine3d a = Affine3d::Identity();
a.translate(vT[e]);
a.rotate(vQ[e]);
T.block(e*(dim+1),0,dim+1,dim) =
a.matrix().transpose().block(0,0,dim+1,dim);
}
// Compute deformation via LBS as matrix multiplication
if(use_dqs)
{
igl::dqs(V,W,vQ,vT,U);
}else
{
U = M*T;
}
// Also deform skeleton edges
MatrixXd CT;
MatrixXi BET;
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();
if(viewer.core().is_animating)
{
anim_t += anim_t_dir;
}
else
{
recompute=false;
}
}
return false;
}
bool key_down(igl::opengl::glfw::Viewer &viewer, unsigned char key, int mods)
{
recompute = true;
switch(key)
{
case 'D':
case 'd':
use_dqs = !use_dqs;
return true;
case ' ':
viewer.core().is_animating = !viewer.core().is_animating;
return true;
}
return false;
}
int main(int argc, char *argv[])
{
using namespace Eigen;
using namespace std;
igl::readOBJ(TUTORIAL_SHARED_PATH "/arm.obj",V,F);
U=V;
igl::readTGF(TUTORIAL_SHARED_PATH "/arm.tgf",C,BE);
// retrieve parents for forward kinematics
igl::directed_edge_parents(BE,P);
RotationList rest_pose;
igl::directed_edge_orientations(C,BE,rest_pose);
poses.resize(4,RotationList(4,Quaterniond::Identity()));
// poses[1] // twist
const Quaterniond twist(AngleAxisd(igl::PI,Vector3d(1,0,0)));
poses[1][2] = rest_pose[2]*twist*rest_pose[2].conjugate();
const Quaterniond bend(AngleAxisd(-igl::PI*0.7,Vector3d(0,0,1)));
poses[3][2] = rest_pose[2]*bend*rest_pose[2].conjugate();
igl::readDMAT(TUTORIAL_SHARED_PATH "/arm-weights.dmat",W);
igl::lbs_matrix(V,W,M);
// Plot the mesh with pseudocolors
igl::opengl::glfw::Viewer viewer;
viewer.data().set_mesh(U, F);
viewer.data().set_edges(C,BE,sea_green);
viewer.data().show_lines = false;
viewer.data().show_overlay_depth = false;
viewer.data().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().camera_zoom = 2.5;
viewer.core().animation_max_fps = 30.;
cout<<"Press [d] to toggle between LBS and DQS"<<endl<<
"Press [space] to toggle animation"<<endl;
viewer.launch();
}
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