Q = igl.eigen.MatrixXd()
T = igl.eigen.MatrixXi()
F = igl.eigen.MatrixXi()
BE = igl.eigen.MatrixXi()
P = igl.eigen.MatrixXi()
sea_green = igl.eigen.MatrixXd([[70. / 255., 252. / 255., 167. / 255.]])
selected = 0
pose = igl.RotationList()
anim_t = 1.0
anim_t_dir = -0.03
igl.readMESH(TUTORIAL_SHARED_PATH + "hand.mesh", V, T, F)
U = igl.eigen.MatrixXd(V)
igl.readTGF(TUTORIAL_SHARED_PATH + "hand.tgf", C, BE)
# Retrieve parents for forward kinematics
igl.directed_edge_parents(BE, P)
# Read pose as matrix of quaternions per row
igl.readDMAT(TUTORIAL_SHARED_PATH + "hand-pose.dmat", Q)
igl.column_to_quats(Q, pose)
assert (len(pose) == BE.rows())
# List of boundary indices (aka fixed value indices into VV)
b = igl.eigen.MatrixXi()
# List of boundary conditions of each weight function
bc = igl.eigen.MatrixXd()
igl.boundary_conditions(V, T, C, igl.eigen.MatrixXi(), BE, igl.eigen.MatrixXi(), b, bc)
W = igl.eigen.MatrixXd()
M = igl.eigen.MatrixXd()
sea_green = igl.eigen.MatrixXd([[70. / 255., 252. / 255., 167. / 255.]])
anim_t = 0.0
anim_t_dir = 0.015
use_dqs = False
recompute = True
animation = False # Flag needed as there is some synchronization problem with viewer.core.is_animating
poses = [[]]
igl.readOBJ(TUTORIAL_SHARED_PATH + "arm.obj", V, F)
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)
W = igl.eigen.MatrixXd()
M = igl.eigen.MatrixXd()
sea_green = igl.eigen.MatrixXd([[70. / 255., 252. / 255., 167. / 255.]])
anim_t = 0.0
anim_t_dir = 0.015
use_dqs = False
recompute = True
animation = False # Flag needed as there is some synchronization problem with viewer.core.is_animating
poses = [[]]
igl.readOBJ(TUTORIAL_SHARED_PATH + "arm.obj", V, F)
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)
