mirror of
https://github.com/SoftFever/OrcaSlicer.git
synced 2025-10-28 11:11:16 -06:00
2ae2672ee9
Fixing dep build script on Windows and removing some warnings. Use bundled igl by default. Not building with the dependency scripts if not explicitly stated. This way, it will stay in Fix the libigl patch to include C source files in header only mode.
74 lines
2.8 KiB
C++
74 lines
2.8 KiB
C++
// This file is part of libigl, a simple c++ geometry processing library.
|
|
//
|
|
// Copyright (C) 2014 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 "dqs.h"
|
|
#include <Eigen/Geometry>
|
|
template <
|
|
typename DerivedV,
|
|
typename DerivedW,
|
|
typename Q,
|
|
typename QAlloc,
|
|
typename T,
|
|
typename DerivedU>
|
|
IGL_INLINE void igl::dqs(
|
|
const Eigen::PlainObjectBase<DerivedV> & V,
|
|
const Eigen::PlainObjectBase<DerivedW> & W,
|
|
const std::vector<Q,QAlloc> & vQ,
|
|
const std::vector<T> & vT,
|
|
Eigen::PlainObjectBase<DerivedU> & U)
|
|
{
|
|
using namespace std;
|
|
assert(V.rows() <= W.rows());
|
|
assert(W.cols() == (int)vQ.size());
|
|
assert(W.cols() == (int)vT.size());
|
|
// resize output
|
|
U.resizeLike(V);
|
|
|
|
// Convert quats + trans into dual parts
|
|
vector<Q> vD(vQ.size());
|
|
for(int c = 0;c<W.cols();c++)
|
|
{
|
|
const Q & q = vQ[c];
|
|
vD[c].w() = -0.5*( vT[c](0)*q.x() + vT[c](1)*q.y() + vT[c](2)*q.z());
|
|
vD[c].x() = 0.5*( vT[c](0)*q.w() + vT[c](1)*q.z() - vT[c](2)*q.y());
|
|
vD[c].y() = 0.5*(-vT[c](0)*q.z() + vT[c](1)*q.w() + vT[c](2)*q.x());
|
|
vD[c].z() = 0.5*( vT[c](0)*q.y() - vT[c](1)*q.x() + vT[c](2)*q.w());
|
|
}
|
|
|
|
// Loop over vertices
|
|
const int nv = V.rows();
|
|
#pragma omp parallel for if (nv>10000)
|
|
for(int i = 0;i<nv;i++)
|
|
{
|
|
Q b0(0,0,0,0);
|
|
Q be(0,0,0,0);
|
|
// Loop over handles
|
|
for(int c = 0;c<W.cols();c++)
|
|
{
|
|
b0.coeffs() += W(i,c) * vQ[c].coeffs();
|
|
be.coeffs() += W(i,c) * vD[c].coeffs();
|
|
}
|
|
Q ce = be;
|
|
ce.coeffs() /= b0.norm();
|
|
Q c0 = b0;
|
|
c0.coeffs() /= b0.norm();
|
|
// See algorithm 1 in "Geometric skinning with approximate dual quaternion
|
|
// blending" by Kavan et al
|
|
T v = V.row(i);
|
|
T d0 = c0.vec();
|
|
T de = ce.vec();
|
|
typename Q::Scalar a0 = c0.w();
|
|
typename Q::Scalar ae = ce.w();
|
|
U.row(i) = v + 2*d0.cross(d0.cross(v) + a0*v) + 2*(a0*de - ae*d0 + d0.cross(de));
|
|
}
|
|
|
|
}
|
|
|
|
#ifdef IGL_STATIC_LIBRARY
|
|
// Explicit template instantiation
|
|
template void igl::dqs<Eigen::Matrix<double, -1, -1, 0, -1, -1>, Eigen::Matrix<double, -1, -1, 0, -1, -1>, Eigen::Quaternion<double, 0>, Eigen::aligned_allocator<Eigen::Quaternion<double, 0> >, Eigen::Matrix<double, 3, 1, 0, 3, 1>, Eigen::Matrix<double, -1, -1, 0, -1, -1> >(Eigen::PlainObjectBase<Eigen::Matrix<double, -1, -1, 0, -1, -1> > const&, Eigen::PlainObjectBase<Eigen::Matrix<double, -1, -1, 0, -1, -1> > const&, std::vector<Eigen::Quaternion<double, 0>, Eigen::aligned_allocator<Eigen::Quaternion<double, 0> > > const&, std::vector<Eigen::Matrix<double, 3, 1, 0, 3, 1>, std::allocator<Eigen::Matrix<double, 3, 1, 0, 3, 1> > > const&, Eigen::PlainObjectBase<Eigen::Matrix<double, -1, -1, 0, -1, -1> >&);
|
|
#endif
|