Merged branch 'dev_native' into lm_sla_supports_auto

Added igl library files

src/igl/opengl2/draw_skeleton_vector_graphics.cpp

@@ -0,0 +1,122 @@
+// 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/.
+#include "draw_skeleton_vector_graphics.h"
+#include "draw_point.h"
+#include "gl.h"
+#include "../material_colors.h"
+
+IGL_INLINE void igl::opengl2::draw_skeleton_vector_graphics(
+  const Eigen::MatrixXd & C,
+  const Eigen::MatrixXi & BE)
+{
+  return draw_skeleton_vector_graphics(C,BE,BBW_POINT_COLOR,BBW_LINE_COLOR);
+}
+
+IGL_INLINE void igl::opengl2::draw_skeleton_vector_graphics(
+  const Eigen::MatrixXd & C,
+  const Eigen::MatrixXi & BE,
+  const float * point_color,
+  const float * line_color)
+{
+  using namespace Eigen;
+
+  int old_lighting=0;
+  double old_line_width=1;
+  glGetIntegerv(GL_LIGHTING,&old_lighting);
+  glGetDoublev(GL_LINE_WIDTH,&old_line_width);
+  int cm;
+  glGetIntegerv(GL_COLOR_MATERIAL,&cm);
+  glDisable(GL_LIGHTING);
+  glDisable(GL_LINE_STIPPLE);
+  //glEnable(GL_POLYGON_OFFSET_FILL);
+  glEnable(GL_COLOR_MATERIAL);
+  glLineWidth(10.0);
+  glColorMaterial(GL_FRONT_AND_BACK,GL_DIFFUSE);
+  float mat_ambient[4] = {0.1,0.1,0.1,1.0};
+  float mat_specular[4] = {0.0,0.0,0.0,1.0};
+  float mat_shininess = 1;
+  glMaterialfv(GL_FRONT_AND_BACK, GL_AMBIENT,  mat_ambient);
+  glMaterialfv(GL_FRONT_AND_BACK, GL_AMBIENT,  mat_ambient);
+  glMaterialfv(GL_FRONT_AND_BACK, GL_SPECULAR, mat_specular);
+  glMaterialf( GL_FRONT_AND_BACK, GL_SHININESS, mat_shininess);
+
+  for(int i = 0;i<3;i++)
+  {
+    switch(i)
+    {
+      case 0: glColor3fv(WHITE);      glLineWidth(10); break;
+      case 1: glColor3fv(BLACK);      glLineWidth( 6); break;
+      case 2: glColor3fv(line_color); glLineWidth( 4); break;
+    }
+    // Loop over bone edges
+    glBegin(GL_LINES);
+    for(int e = 0;e<BE.rows();e++)
+    {
+      RowVector3d tip = C.row(BE(e,0));
+      RowVector3d tail = C.row(BE(e,1));
+      glVertex3dv(tip.data());
+      glVertex3dv(tail.data());
+    }
+    glEnd();
+  }
+
+  glColor3fv(point_color);
+  for(int i = 0;i<C.rows();i++)
+  {
+    RowVector3d p = C.row(i);
+    draw_point(p(0),p(1),p(2));
+  }
+
+  (cm ? glEnable(GL_COLOR_MATERIAL):glDisable(GL_COLOR_MATERIAL));
+  //glDisable(GL_POLYGON_OFFSET_FILL);
+  glEnable(GL_LIGHTING);
+  (old_lighting ? glEnable(GL_LIGHTING) : glDisable(GL_LIGHTING));
+  glLineWidth(old_line_width);
+}
+
+template <typename DerivedC, typename DerivedBE, typename DerivedT>
+IGL_INLINE void igl::opengl2::draw_skeleton_vector_graphics(
+  const Eigen::PlainObjectBase<DerivedC> & C,
+  const Eigen::PlainObjectBase<DerivedBE> & BE,
+  const Eigen::PlainObjectBase<DerivedT> & T)
+{
+  return draw_skeleton_vector_graphics(C,BE,T,BBW_POINT_COLOR,BBW_LINE_COLOR);
+}
+
+template <typename DerivedC, typename DerivedBE, typename DerivedT>
+IGL_INLINE void igl::opengl2::draw_skeleton_vector_graphics(
+  const Eigen::PlainObjectBase<DerivedC> & C,
+  const Eigen::PlainObjectBase<DerivedBE> & BE,
+  const Eigen::PlainObjectBase<DerivedT> & T,
+  const float * point_color,
+  const float * line_color)
+{
+  DerivedC CT;
+  DerivedBE BET;
+  const int dim = T.cols();
+  assert(dim == C.cols());
+  CT.resize(2*BE.rows(),C.cols());
+  BET.resize(BE.rows(),2);
+  for(int e = 0;e<BE.rows();e++)
+  {
+    BET(e,0) = 2*e;
+    BET(e,1) = 2*e+1;
+    const auto & c0 = C.row(BE(e,0));
+    const auto & c1 = C.row(BE(e,1));
+    const auto & L = T.block(e*(dim+1),0,dim,dim);
+    const auto & t = T.block(e*(dim+1)+dim,0,1,dim);
+    CT.row(2*e) =   c0 * L + t;
+    CT.row(2*e+1) = c1 * L + t;
+  }
+  draw_skeleton_vector_graphics(CT,BET,point_color,line_color);
+}
+
+#ifdef IGL_STATIC_LIBRARY
+// Explicit template instantiation
+template void igl::opengl2::draw_skeleton_vector_graphics<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&);
+#endif