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+// Don't use static library for this example because of Mosek complications
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+//#define IGL_NO_MOSEK
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+#ifdef IGL_NO_MOSEK
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+#undef IGL_STATIC_LIBRARY
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+#endif
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+#include <igl/boundary_conditions.h>
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+#include <igl/colon.h>
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+#include <igl/column_to_quats.h>
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+#include <igl/directed_edge_parents.h>
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+#include <igl/forward_kinematics.h>
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+#include <igl/jet.h>
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+#include <igl/lbs_matrix.h>
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+#include <igl/deform_skeleton.h>
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+#include <igl/normalize_row_sums.h>
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+#include <igl/readDMAT.h>
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+#include <igl/readMESH.h>
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+#include <igl/readTGF.h>
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+#include <igl/viewer/Viewer.h>
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+#include <igl/bbw/bbw.h>
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+
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+#include <Eigen/Geometry>
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+#include <Eigen/StdVector>
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+#include <vector>
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+#include <algorithm>
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+#include <iostream>
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+
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+typedef
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+ std::vector<Eigen::Quaterniond,Eigen::aligned_allocator<Eigen::Quaterniond> >
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+ RotationList;
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+
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+const Eigen::RowVector3d sea_green(70./255.,252./255.,167./255.);
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+Eigen::MatrixXd V,W;
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+Eigen::MatrixXi F,BE;
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+Eigen::VectorXi P;
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+RotationList pose;
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+double anim_t = 1.0;
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+double anim_t_dir = -0.03;
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+
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+bool pre_draw(igl::Viewer & viewer)
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+{
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+ using namespace Eigen;
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+ using namespace std;
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+ if(viewer.options.is_animating)
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+ {
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+ // Interpolate pose and identity
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+ RotationList anim_pose(pose.size());
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+ for(int e = 0;e<pose.size();e++)
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+ {
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+ anim_pose[e] = pose[e].slerp(anim_t,Quaterniond::Identity());
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+ }
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+ // Propogate relative rotations via FK to retrieve absolute transformations
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+ RotationList vQ;
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+ vector<Vector3d> vT;
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+ igl::forward_kinematics(C,BE,P,anim_pose,vQ,vT);
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+ const int dim = C.cols();
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+ MatrixXd T(BE.rows()*(dim+1),dim);
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+ for(int e = 0;e<BE.rows();e++)
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+ {
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+ Affine3d a = Affine3d::Identity();
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+ a.translate(vT[e]);
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+ a.rotate(vQ[e]);
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+ T.block(e*(dim+1),0,dim+1,dim) =
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+ a.matrix().transpose().block(0,0,dim+1,dim);
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+ }
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+ // Compute deformation via LBS as matrix multiplication
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+ U = M*T;
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+
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+ // Also deform skeleton edges
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+ MatrixXd CT;
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+ MatrixXi BET;
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+ igl::deform_skeleton(C,BE,T,CT,BET);
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+
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+ viewer.set_vertices(U);
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+ viewer.set_edges(CT,BET,sea_green);
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+ viewer.compute_normals();
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+ anim_t += anim_t_dir;
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+ anim_t_dir *= (anim_t>=1.0 || anim_t<=0.0?-1.0:1.0);
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+ }
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+ return false;
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+}
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+
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+bool key_down(igl::Viewer &viewer, unsigned char key, int mods)
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+{
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+ switch(key)
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+ {
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+ case ' ':
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+ viewer.options.is_animating = !viewer.options.is_animating;
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+ break;
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+ }
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+}
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+
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+int main(int argc, char *argv[])
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+{
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+ using namespace Eigen;
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+ using namespace std;
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+ igl::readOBJ("../shared/arm.obj",V,F);
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+ U=V;
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+ igl::readTGF("../shared/arm.tgf",C,BE);
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+ // retrieve parents for forward kinematics
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+ directed_edge_parents(BE,P);
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+ igl::readDMAT("../shared/arm-weights.dmat",W);
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+ pose_0 identity
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+ pose_1 twist
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+ pose_2 bend
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+
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+ // Plot the mesh with pseudocolors
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+ igl::Viewer viewer;
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+ viewer.set_mesh(U, F);
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+ viewer.set_edges(C,BE,sea_green);
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+ viewer.options.show_lines = false;
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+ viewer.options.show_overlay_depth = false;
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+ viewer.options.line_width = 1;
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+ viewer.options.trackball_angle.normalize();
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+ viewer.callback_pre_draw = &pre_draw;
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+ viewer.callback_key_down = &key_down;
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+ viewer.options.is_animating = false;
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+ viewer.options.animation_max_fps = 30.;
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+ viewer.launch();
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+}
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Alec Jacobson