Merged branch 'dev_native' into lm_sla_supports_auto

Added igl library files

src/igl/arap.h

@@ -0,0 +1,104 @@
+// This file is part of libigl, a simple c++ geometry processing library.
+// 
+// Copyright (C) 2013 Alec Jacobson <alecjacobson@gmail.com>
+// 
+// This Source Code Form is subject to the terms of the Mozilla Public License 
+// v. 2.0. If a copy of the MPL was not distributed with this file, You can 
+// obtain one at http://mozilla.org/MPL/2.0/.
+#ifndef IGL_ARAP_H
+#define IGL_ARAP_H
+#include "igl_inline.h"
+#include "min_quad_with_fixed.h"
+#include "ARAPEnergyType.h"
+#include <Eigen/Core>
+#include <Eigen/Sparse>
+
+namespace igl
+{
+  struct ARAPData
+  {
+    // n  #V
+    // G  #V list of group indices (1 to k) for each vertex, such that vertex i
+    //    is assigned to group G(i)
+    // energy  type of energy to use
+    // with_dynamics  whether using dynamics (need to call arap_precomputation
+    //   after changing)
+    // f_ext  #V by dim list of external forces
+    // vel  #V by dim list of velocities
+    // h  dynamics time step
+    // ym  ~Young's modulus smaller is softer, larger is more rigid/stiff
+    // max_iter  maximum inner iterations
+    // K  rhs pre-multiplier
+    // M  mass matrix
+    // solver_data  quadratic solver data
+    // b  list of boundary indices into V
+    // dim  dimension being used for solving
+    int n;
+    Eigen::VectorXi G;
+    ARAPEnergyType energy;
+    bool with_dynamics;
+    Eigen::MatrixXd f_ext,vel;
+    double h;
+    double ym;
+    int max_iter;
+    Eigen::SparseMatrix<double> K,M;
+    Eigen::SparseMatrix<double> CSM;
+    min_quad_with_fixed_data<double> solver_data;
+    Eigen::VectorXi b;
+    int dim;
+      ARAPData():
+        n(0),
+        G(),
+        energy(ARAP_ENERGY_TYPE_DEFAULT),
+        with_dynamics(false),
+        f_ext(),
+        h(1),
+        ym(1),
+        max_iter(10),
+        K(),
+        CSM(),
+        solver_data(),
+        b(),
+        dim(-1) // force this to be set by _precomputation
+    {
+    };
+  };
+  
+  // Compute necessary information to start using an ARAP deformation
+  //
+  // Inputs:
+  //   V  #V by dim list of mesh positions
+  //   F  #F by simplex-size list of triangle|tet indices into V
+  //   dim  dimension being used at solve time. For deformation usually dim =
+  //     V.cols(), for surface parameterization V.cols() = 3 and dim = 2
+  //   b  #b list of "boundary" fixed vertex indices into V
+  // Outputs:
+  //   data  struct containing necessary precomputation
+  template <
+    typename DerivedV,
+    typename DerivedF,
+    typename Derivedb>
+  IGL_INLINE bool arap_precomputation(
+    const Eigen::PlainObjectBase<DerivedV> & V,
+    const Eigen::PlainObjectBase<DerivedF> & F,
+    const int dim,
+    const Eigen::PlainObjectBase<Derivedb> & b,
+    ARAPData & data);
+  // Inputs:
+  //   bc  #b by dim list of boundary conditions
+  //   data  struct containing necessary precomputation and parameters
+  //   U  #V by dim initial guess
+  template <
+    typename Derivedbc,
+    typename DerivedU>
+  IGL_INLINE bool arap_solve(
+    const Eigen::PlainObjectBase<Derivedbc> & bc,
+    ARAPData & data,
+    Eigen::PlainObjectBase<DerivedU> & U);
+};
+
+#ifndef IGL_STATIC_LIBRARY
+#include "arap.cpp"
+#endif
+
+#endif