U = igl.eigen.MatrixXd(V)
igl.readTGF(TUTORIAL_SHARED_PATH + "arm.tgf", C, BE)
# retrieve parents for forward kinematics
igl.directed_edge_parents(BE, P)
rest_pose = igl.RotationList()
igl.directed_edge_orientations(C, BE, rest_pose)
poses = [[igl.eigen.Quaterniond.Identity() for i in range(4)] for j in range(4)]
twist = igl.eigen.Quaterniond(pi, igl.eigen.MatrixXd([1, 0, 0]))
poses[1][2] = rest_pose[2] * twist * rest_pose[2].conjugate()
bend = igl.eigen.Quaterniond(-pi * 0.7, igl.eigen.MatrixXd([0, 0, 1]))
poses[3][2] = rest_pose[2] * bend * rest_pose[2].conjugate()
igl.readDMAT(TUTORIAL_SHARED_PATH + "arm-weights.dmat", W)
igl.lbs_matrix(V, W, M)
# Plot the mesh with pseudocolors
viewer = igl.viewer.Viewer()
viewer.data.set_mesh(U, F)
viewer.data.set_edges(C, BE, sea_green)
viewer.core.show_lines = False
viewer.core.show_overlay_depth = False
viewer.core.line_width = 1
viewer.core.trackball_angle.normalize()
viewer.callback_pre_draw = pre_draw
viewer.callback_key_down = key_down
viewer.core.is_animating = False
viewer.core.camera_zoom = 2.5
viewer.core.animation_max_fps = 30.0
viewer.launch()
bc = igl.eigen.MatrixXd()
igl.boundary_conditions(V, T, C, igl.eigen.MatrixXi(), BE, igl.eigen.MatrixXi(), b, bc)
# compute BBW weights matrix
bbw_data = igl.BBWData()
# only a few iterations for sake of demo
bbw_data.active_set_params.max_iter = 8
bbw_data.verbosity = 2
if not igl.bbw(V, T, b, bc, bbw_data, W):
exit(-1)
# Normalize weights to sum to one
igl.normalize_row_sums(W, W)
# precompute linear blend skinning matrix
igl.lbs_matrix(V, W, M)
# Plot the mesh with pseudocolors
viewer = igl.viewer.Viewer()
viewer.data.set_mesh(U, F)
set_color(viewer)
viewer.data.set_edges(C, BE, sea_green)
viewer.core.show_lines = False
viewer.core.show_overlay_depth = False
viewer.core.line_width = 1
viewer.core.trackball_angle.normalize()
viewer.callback_pre_draw = pre_draw
viewer.callback_key_down = key_down
viewer.core.is_animating = False
viewer.core.animation_max_fps = 30.0
viewer.launch()
