def pre_draw(viewer):
global recompute, anim_t, poses, C, BE, P, U, M, anim_t_dir
if recompute:
# Find pose interval
begin = int(math.floor(anim_t)) % len(poses)
end = int(math.floor(anim_t) + 1) % len(poses)
t = anim_t - math.floor(anim_t)
# Interpolate pose and identity
anim_pose = igl.RotationList()
for e in range(len(poses[begin])):
anim_pose.append(poses[begin][e].slerp(t, poses[end][e]))
# Propagate relative rotations via FK to retrieve absolute transformations
vQ = igl.RotationList()
vT = []
igl.forward_kinematics(C, BE, P, anim_pose, vQ, vT)
dim = C.cols()
T = igl.eigen.MatrixXd(BE.rows() * (dim + 1), dim)
for e in range(BE.rows()):
a = igl.eigen.Affine3d.Identity()
a.translate(vT[e])
a.rotate(vQ[e])
T.setBlock(e * (dim + 1), 0, dim + 1, dim,
a.matrix().transpose().block(0, 0, dim + 1, dim))
# Compute deformation via LBS as matrix multiplication
if use_dqs:
igl.dqs(V, W, vQ, vT, U)
else:
U = M * T
# Also deform skeleton edges
CT = igl.eigen.MatrixXd()
BET = igl.eigen.MatrixXi()
igl.deform_skeleton(C, BE, T, CT, BET)
viewer.data.set_vertices(U)
viewer.data.set_edges(CT, BET, sea_green)
viewer.data.compute_normals()
if viewer.core.is_animating:
anim_t += anim_t_dir
else:
recompute = False
return False
def pre_draw(viewer):
global recompute, anim_t, poses, C, BE, P, U, M, anim_t_dir
if recompute:
# Find pose interval
begin = int(math.floor(anim_t)) % len(poses)
end = int(math.floor(anim_t) + 1) % len(poses)
t = anim_t - math.floor(anim_t)
# Interpolate pose and identity
anim_pose = igl.RotationList()
for e in range(len(poses[begin])):
anim_pose.append(poses[begin][e].slerp(t, poses[end][e]))
# Propogate relative rotations via FK to retrieve absolute transformations
vQ = igl.RotationList()
vT = []
igl.forward_kinematics(C, BE, P, anim_pose, vQ, vT)
dim = C.cols()
T = igl.eigen.MatrixXd(BE.rows() * (dim + 1), dim)
for e in range(BE.rows()):
a = igl.eigen.Affine3d.Identity()
a.translate(vT[e])
a.rotate(vQ[e])
T.setBlock(e * (dim + 1), 0, dim + 1, dim, a.matrix().transpose().block(0, 0, dim + 1, dim))
# Compute deformation via LBS as matrix multiplication
if use_dqs:
igl.dqs(V, W, vQ, vT, U)
else:
U = M * T
# Also deform skeleton edges
CT = igl.eigen.MatrixXd()
BET = igl.eigen.MatrixXi()
igl.deform_skeleton(C, BE, T, CT, BET)
viewer.data.set_vertices(U)
viewer.data.set_edges(CT, BET, sea_green)
viewer.data.compute_normals()
if viewer.core.is_animating:
anim_t += anim_t_dir
else:
recompute = False
return False
def pre_draw(viewer):
global pose, anim_t, C, BE, P, U, M, anim_t_dir
if viewer.core.is_animating:
# Interpolate pose and identity
anim_pose = igl.RotationList(len(pose))
for e in range(len(pose)):
anim_pose[e] = pose[e].slerp(anim_t,
igl.eigen.Quaterniond.Identity())
# Propagate relative rotations via FK to retrieve absolute transformations
vQ = igl.RotationList()
vT = []
igl.forward_kinematics(C, BE, P, anim_pose, vQ, vT)
dim = C.cols()
T = igl.eigen.MatrixXd(BE.rows() * (dim + 1), dim)
for e in range(BE.rows()):
a = igl.eigen.Affine3d.Identity()
a.translate(vT[e])
a.rotate(vQ[e])
T.setBlock(e * (dim + 1), 0, dim + 1, dim,
a.matrix().transpose().block(0, 0, dim + 1, dim))
# Compute deformation via LBS as matrix multiplication
U = M * T
# Also deform skeleton edges
CT = igl.eigen.MatrixXd()
BET = igl.eigen.MatrixXi()
igl.deform_skeleton(C, BE, T, CT, BET)
viewer.data().set_vertices(U)
viewer.data().set_edges(CT, BET, sea_green)
viewer.data().compute_normals()
anim_t += anim_t_dir
anim_t_dir *= -1.0 if (0.0 >= anim_t or anim_t >= 1.0) else 1.0
return False
def pre_draw(viewer):
global pose, anim_t, C, BE, P, U, M, anim_t_dir
if viewer.core.is_animating:
# Interpolate pose and identity
anim_pose = igl.RotationList(len(pose))
for e in range(len(pose)):
anim_pose[e] = pose[e].slerp(anim_t, igl.eigen.Quaterniond.Identity())
# Propagate relative rotations via FK to retrieve absolute transformations
vQ = igl.RotationList()
vT = []
igl.forward_kinematics(C, BE, P, anim_pose, vQ, vT)
dim = C.cols()
T = igl.eigen.MatrixXd(BE.rows() * (dim + 1), dim)
for e in range(BE.rows()):
a = igl.eigen.Affine3d.Identity()
a.translate(vT[e])
a.rotate(vQ[e])
T.setBlock(e * (dim + 1), 0, dim + 1, dim, a.matrix().transpose().block(0, 0, dim + 1, dim))
# Compute deformation via LBS as matrix multiplication
U = M * T
# Also deform skeleton edges
CT = igl.eigen.MatrixXd()
BET = igl.eigen.MatrixXi()
igl.deform_skeleton(C, BE, T, CT, BET)
viewer.data.set_vertices(U)
viewer.data.set_edges(CT, BET, sea_green)
viewer.data.compute_normals()
anim_t += anim_t_dir
anim_t_dir *= -1.0 if (0.0 >= anim_t or anim_t >= 1.0) else 1.0
return False
