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Merged branch 'dev_native' into lm_sla_supports_auto
Added igl library files
This commit is contained in:
Lukas Matena
commit
7681d00ee5
2865 changed files with 142806 additions and 22325 deletions
166
src/igl/opengl2/draw_skeleton_3d.cpp
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166
src/igl/opengl2/draw_skeleton_3d.cpp
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// This file is part of libigl, a simple c++ geometry processing library.
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//
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// Copyright (C) 2013 Alec Jacobson <alecjacobson@gmail.com>
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//
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// This Source Code Form is subject to the terms of the Mozilla Public License
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// v. 2.0. If a copy of the MPL was not distributed with this file, You can
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// obtain one at http://mozilla.org/MPL/2.0/.
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#include "draw_skeleton_3d.h"
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#include "../PI.h"
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#include "../material_colors.h"
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#include "gl.h"
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#include <Eigen/Geometry>
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#include <iostream>
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template <
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typename DerivedC,
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typename DerivedBE,
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typename DerivedT,
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typename Derivedcolor>
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IGL_INLINE void igl::opengl2::draw_skeleton_3d(
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const Eigen::PlainObjectBase<DerivedC> & C,
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const Eigen::PlainObjectBase<DerivedBE> & BE,
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const Eigen::PlainObjectBase<DerivedT> & T,
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const Eigen::PlainObjectBase<Derivedcolor> & color,
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const double half_bbd)
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{
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// Note: Maya's skeleton *does* scale with the mesh suggesting a scale
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// parameter. Further, its joint balls are not rotated with the bones.
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using namespace Eigen;
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using namespace std;
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if(color.size() == 0)
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{
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return draw_skeleton_3d(C,BE,T,MAYA_SEA_GREEN,half_bbd);
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}
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assert(color.cols() == 4 || color.size() == 4);
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if(T.size() == 0)
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{
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typedef Eigen::Matrix<typename DerivedT::Scalar,Dynamic,Dynamic> Mat;
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Mat I = Mat::Identity(C.cols()+1,C.cols());
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Mat T = I.replicate(BE.rows(),1);
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// insane base case
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if(T.size() == 0)
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{
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return;
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}
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return draw_skeleton_3d(C,BE,T,color,half_bbd);
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}
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assert(T.rows() == BE.rows()*(C.cols()+1));
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assert(T.cols() == C.cols());
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// push old settings
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glPushAttrib(GL_LIGHTING_BIT);
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glPushAttrib(GL_LINE_BIT);
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glDisable(GL_LIGHTING);
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glLineWidth(1.0);
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auto draw_sphere = [](const double r)
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{
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auto draw_circle = []()
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{
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glBegin(GL_LINE_STRIP);
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for(double th = 0;th<2.0*igl::PI;th+=(2.0*igl::PI/30.0))
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{
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glVertex3d(cos(th),sin(th),0.0);
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}
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glVertex3d(cos(0),sin(0),0.0);
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glEnd();
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};
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glPushMatrix();
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glScaled(r,r,r);
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draw_circle();
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glRotated(90.0,1.0,0.0,0.0);
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draw_circle();
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glRotated(90.0,0.0,1.0,0.0);
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draw_circle();
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glPopMatrix();
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};
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auto draw_pyramid = []()
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{
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glBegin(GL_LINE_STRIP);
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glVertex3d(0, 1,-1);
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glVertex3d(0,-1,-1);
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glVertex3d(0,-1, 1);
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glVertex3d(0, 1, 1);
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glVertex3d(0, 1,-1);
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glEnd();
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glBegin(GL_LINES);
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glVertex3d(0, 1,-1);
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glVertex3d(1,0,0);
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glVertex3d(0,-1,-1);
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glVertex3d(1,0,0);
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glVertex3d(0,-1, 1);
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glVertex3d(1,0,0);
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glVertex3d(0, 1, 1);
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glVertex3d(1,0,0);
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glEnd();
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};
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// Loop over bones
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for(int e = 0;e < BE.rows();e++)
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{
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// Draw a sphere
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auto s = C.row(BE(e,0));
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auto d = C.row(BE(e,1));
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auto b = (d-s).transpose().eval();
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double r = 0.02*half_bbd;
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Matrix4d Te = Matrix4d::Identity();
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Te.block(0,0,3,4) = T.block(e*4,0,4,3).transpose();
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Quaterniond q;
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q.setFromTwoVectors(Vector3d(1,0,0),b);
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glPushMatrix();
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glMultMatrixd(Te.data());
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glTranslated(s(0),s(1),s(2));
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if(color.size() == 4)
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{
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glColor4d( color(0), color(1), color(2), color(3));
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}else
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{
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glColor4d( color(e,0), color(e,1), color(e,2), color(e,3));
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}
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draw_sphere(r);
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const double len = b.norm()-2.*r;
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if(len>=0)
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{
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auto u = b.normalized()*r;
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glPushMatrix();
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glTranslated(u(0),u(1),u(2));
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glMultMatrixd(Affine3d(q).matrix().data());
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glScaled(b.norm()-2.*r,r,r);
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draw_pyramid();
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glPopMatrix();
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}
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glTranslated(b(0),b(1),b(2));
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draw_sphere(r);
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glPopMatrix();
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}
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// Reset settings
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glPopAttrib();
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glPopAttrib();
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}
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template <typename DerivedC, typename DerivedBE, typename DerivedT>
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IGL_INLINE void igl::opengl2::draw_skeleton_3d(
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const Eigen::PlainObjectBase<DerivedC> & C,
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const Eigen::PlainObjectBase<DerivedBE> & BE,
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const Eigen::PlainObjectBase<DerivedT> & T)
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{
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return draw_skeleton_3d(C,BE,T,MAYA_SEA_GREEN);
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}
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template <typename DerivedC, typename DerivedBE>
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IGL_INLINE void igl::opengl2::draw_skeleton_3d(
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const Eigen::PlainObjectBase<DerivedC> & C,
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const Eigen::PlainObjectBase<DerivedBE> & BE)
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{
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return draw_skeleton_3d(C,BE,Eigen::MatrixXd(),MAYA_SEA_GREEN);
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}
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#ifdef IGL_STATIC_LIBRARY
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// Explicit template instantiation
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template void igl::opengl2::draw_skeleton_3d<Eigen::Matrix<double, -1, -1, 0, -1, -1>, Eigen::Matrix<int, -1, -1, 0, -1, -1> >(Eigen::PlainObjectBase<Eigen::Matrix<double, -1, -1, 0, -1, -1> > const&, Eigen::PlainObjectBase<Eigen::Matrix<int, -1, -1, 0, -1, -1> > const&);
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template void igl::opengl2::draw_skeleton_3d<Eigen::Matrix<double, -1, -1, 0, -1, -1>, Eigen::Matrix<int, -1, -1, 0, -1, -1>, Eigen::Matrix<double, -1, -1, 0, -1, -1> >(Eigen::PlainObjectBase<Eigen::Matrix<double, -1, -1, 0, -1, -1> > const&, Eigen::PlainObjectBase<Eigen::Matrix<int, -1, -1, 0, -1, -1> > const&, Eigen::PlainObjectBase<Eigen::Matrix<double, -1, -1, 0, -1, -1> > const&);
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template void igl::opengl2::draw_skeleton_3d<Eigen::Matrix<double, -1, -1, 0, -1, -1>, Eigen::Matrix<int, -1, -1, 0, -1, -1>, Eigen::Matrix<double, -1, -1, 0, -1, -1>, Eigen::Matrix<float, 4, 1, 0, 4, 1> >(Eigen::PlainObjectBase<Eigen::Matrix<double, -1, -1, 0, -1, -1> > const&, Eigen::PlainObjectBase<Eigen::Matrix<int, -1, -1, 0, -1, -1> > const&, Eigen::PlainObjectBase<Eigen::Matrix<double, -1, -1, 0, -1, -1> > const&, Eigen::PlainObjectBase<Eigen::Matrix<float, 4, 1, 0, 4, 1> > const&, double);
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template void igl::opengl2::draw_skeleton_3d<Eigen::Matrix<double, -1, -1, 0, -1, -1>, Eigen::Matrix<int, -1, -1, 0, -1, -1>, Eigen::Matrix<double, -1, -1, 0, -1, -1>, Eigen::Matrix<float, -1, -1, 0, -1, -1> >(Eigen::PlainObjectBase<Eigen::Matrix<double, -1, -1, 0, -1, -1> > const&, Eigen::PlainObjectBase<Eigen::Matrix<int, -1, -1, 0, -1, -1> > const&, Eigen::PlainObjectBase<Eigen::Matrix<double, -1, -1, 0, -1, -1> > const&, Eigen::PlainObjectBase<Eigen::Matrix<float, -1, -1, 0, -1, -1> > const&, double);
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#endif
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