import sys, os
from math import sin, cos, pi
# Add the igl library to the modules search path
import math
sys.path.insert(0, os.getcwd() + "/../")
import pyigl as igl
from shared import TUTORIAL_SHARED_PATH, check_dependencies, print_usage
dependencies = ["viewer"]
check_dependencies(dependencies)
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()
import sys, os
# Add the igl library to the modules search path
sys.path.insert(0, os.getcwd() + "/../")
import pyigl as igl
from shared import TUTORIAL_SHARED_PATH, check_dependencies
dependencies = ["viewer"]
check_dependencies(dependencies)
z_max = 1.0
z_dir = -0.03
k = 2
resolve = True
V = igl.eigen.MatrixXd()
U = igl.eigen.MatrixXd()
Z = igl.eigen.MatrixXd()
F = igl.eigen.MatrixXi()
b = igl.eigen.MatrixXi()
bc = igl.eigen.MatrixXd()
def pre_draw(viewer):
global z_max, z_dir, k, resolve, V, U, Z, F, b, bc
if resolve: