bool pre_draw(igl::opengl::glfw::Viewer & viewer)
{
using namespace Eigen;
// Determine boundary conditions
if(viewer.core().is_animating)
{
bc_frac += bc_dir;
bc_dir *= (bc_frac>=1.0 || bc_frac<=0.0?-1.0:1.0);
}
const MatrixXd U_bc_anim = V_bc+bc_frac*(U_bc-V_bc);
if(deformation_field)
{
MatrixXd D;
MatrixXd D_bc = U_bc_anim - V_bc;
igl::harmonic(V,F,b,D_bc,2,D);
U = V+D;
}else
{
igl::harmonic(V,F,b,U_bc_anim,2.,U);
}
viewer.data().set_vertices(U);
viewer.data().compute_normals();
return false;
}
void update_visualization(igl::opengl::glfw::Viewer & viewer)
{
using namespace Eigen;
using namespace std;
Eigen::Vector4d plane(
0,0,1,-((1-slice_z)*V.col(2).minCoeff()+slice_z*V.col(2).maxCoeff()));
MatrixXd V_vis;
MatrixXi F_vis;
VectorXi J;
{
SparseMatrix<double> bary;
// Value of plane's implicit function at all vertices
const VectorXd IV =
(V.col(0)*plane(0) +
V.col(1)*plane(1) +
V.col(2)*plane(2)).array()
+ plane(3);
igl::marching_tets(V,T,IV,V_vis,F_vis,J,bary);
}
VectorXd W_vis;
igl::slice(W,J,W_vis);
MatrixXd C_vis;
// color without normalizing
igl::parula(W_vis,false,C_vis);
const auto & append_mesh = [&C_vis,&F_vis,&V_vis](
const Eigen::MatrixXd & V,
const Eigen::MatrixXi & F,
const RowVector3d & color)
{
F_vis.conservativeResize(F_vis.rows()+F.rows(),3);
F_vis.bottomRows(F.rows()) = F.array()+V_vis.rows();
V_vis.conservativeResize(V_vis.rows()+V.rows(),3);
V_vis.bottomRows(V.rows()) = V;
C_vis.conservativeResize(C_vis.rows()+F.rows(),3);
C_vis.bottomRows(F.rows()).rowwise() = color;
};
switch(overlay)
{
case OVERLAY_INPUT:
append_mesh(V,F,RowVector3d(1.,0.894,0.227));
break;
case OVERLAY_OUTPUT:
append_mesh(V,G,RowVector3d(0.8,0.8,0.8));
break;
default:
break;
}
viewer.data().clear();
viewer.data().set_mesh(V_vis,F_vis);
viewer.data().set_colors(C_vis);
viewer.data().set_face_based(true);
}
bool key_down(igl::opengl::glfw::Viewer &viewer, unsigned char key, int mods)
{
switch(key)
{
case ' ':
viewer.core().is_animating = !viewer.core().is_animating;
return true;
case 'D':
case 'd':
deformation_field = !deformation_field;
return true;
}
return false;
}
// This function is called every time a keyboard button is pressed
bool key_down(igl::opengl::glfw::Viewer& viewer, unsigned char key, int modifier)
{
switch(key)
{
case '1':
viewer.data().set_normals(N_faces);
return true;
case '2':
viewer.data().set_normals(N_vertices);
return true;
case '3':
viewer.data().set_normals(N_corners);
return true;
default: break;
}
return false;
}
bool pre_draw(igl::opengl::glfw::Viewer & viewer)
{
using namespace Eigen;
using namespace std;
if(viewer.core.is_animating)
{
// Interpolate pose and identity
RotationList anim_pose(pose.size());
for(int e = 0;e<pose.size();e++)
{
anim_pose[e] = pose[e].slerp(anim_t,Quaterniond::Identity());
}
// Propagate relative rotations via FK to retrieve absolute transformations
RotationList vQ;
vector<Vector3d> vT;
igl::forward_kinematics(C,BE,P,anim_pose,vQ,vT);
const int dim = C.cols();
MatrixXd T(BE.rows()*(dim+1),dim);
for(int e = 0;e<BE.rows();e++)
{
Affine3d a = Affine3d::Identity();
a.translate(vT[e]);
a.rotate(vQ[e]);
T.block(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
MatrixXd CT;
MatrixXi BET;
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 *= (anim_t>=1.0 || anim_t<=0.0?-1.0:1.0);
}
return false;
}
void solve(igl::opengl::glfw::Viewer &viewer)
{
using namespace std;
igl::active_set_params as;
as.max_iter = 8;
igl::active_set(Q,B,b,bc,Aeq,Beq,Aieq,Bieq,lx,ux,as,Z);
// Pseudo-color based on solution
Eigen::MatrixXd C;
igl::jet(Z,0,1,C);
viewer.data().set_colors(C);
}
void drawField(igl::opengl::glfw::Viewer &viewer,
const Eigen::MatrixXd &field,
const Eigen::RowVector3d &color)
{
for (int n=0; n<2; ++n)
{
Eigen::MatrixXd VF = field.block(0,n*3,F.rows(),3);
Eigen::VectorXd c = VF.rowwise().norm();
viewer.data().add_edges(B - global_scale*VF, B + global_scale*VF , color);
}
}
bool key_down(igl::opengl::glfw::Viewer& viewer, unsigned char key, int modifier)
{
if (key == '1')
show_uv = false;
else if (key == '2')
show_uv = true;
if (key == ' ')
{
timer.start();
igl::scaf_solve(scaf_data, 1);
std::cout << "time = " << timer.getElapsedTime() << std::endl;
}
const auto& V_uv = uv_scale * scaf_data.w_uv.topRows(V.rows());
if (show_uv)
{
viewer.data().clear();
viewer.data().set_mesh(V_uv,F);
viewer.data().set_uv(V_uv);
viewer.core.align_camera_center(V_uv,F);
}
else
{
viewer.data().set_mesh(V,F);
viewer.data().set_uv(V_uv);
viewer.core.align_camera_center(V,F);
}
viewer.data().compute_normals();
return false;
}
void drawConstraints(igl::opengl::glfw::Viewer &viewer)
{
for (int n=0; n<2; ++n)
{
Eigen::MatrixXd Bc = igl::slice(B, b, 1);
Eigen::MatrixXd color;
color.setZero(b.rows(),3);
color.col(2).setOnes();
for (int i =0; i<b.rows(); ++i)
if (blevel[i] ==1 && n>0)
color.row(i)<<0.7,0.7,0.7;
// Eigen::RowVector3d color; color<<0.5,0.5,0.5;
viewer.data().add_edges(Bc - global_scale*bc.block(0,n*3,bc.rows(),3), Bc + global_scale*bc.block(0,n*3,bc.rows(),3) , color);
}
}
void drawCuts(igl::opengl::glfw::Viewer& viewer,
const Eigen::MatrixXi &cuts)
{
int maxCutNum = cuts.sum();
Eigen::MatrixXd start(maxCutNum,3);
Eigen::MatrixXd end(maxCutNum,3);
int ind = 0;
for (unsigned int i=0;i<F.rows();i++)
for (int j=0;j<3;j++)
if (cuts(i,j))
{
start.row(ind) = V.row(F(i,j));
end.row(ind) = V.row(F(i,(j+1)%3));
ind++;
}
viewer.data().add_edges(start, end , Eigen::RowVector3d(1.,0,1.));
}
void update_display(igl::opengl::glfw::Viewer& viewer)
{
using namespace std;
using namespace Eigen;
viewer.data().clear();
viewer.data().lines.resize(0,9);
viewer.data().points.resize(0,6);
viewer.data().show_texture = false;
if (display_mode == 1)
{
cerr<< "Displaying original field, its singularities and its cuts" <<endl;
viewer.data().set_mesh(V, F);
// Highlight in red the constrained faces
MatrixXd C = MatrixXd::Constant(F.rows(),3,1);
for (unsigned i=0; i<b.size();++i)
C.row(b(i)) << 1, 0, 0;
viewer.data().set_colors(C);
//Draw constraints
drawConstraints(viewer);
// Draw Field
Eigen::RowVector3d color; color<<0,0,1;
drawField(viewer,two_pv_ori,color);
// Draw Cuts
drawCuts(viewer,cuts_ori);
//Draw Singularities
Eigen::MatrixXd singular_points = igl::slice(V, singularities_ori, 1);
viewer.data().add_points(singular_points,Eigen::RowVector3d(239./255.,205./255.,57./255.));
}
if (display_mode == 2)
{
cerr<< "Displaying current field, its singularities and its cuts" <<endl;
viewer.data().set_mesh(V, F);
// Highlight in red the constrained faces
MatrixXd C = MatrixXd::Constant(F.rows(),3,1);
for (unsigned i=0; i<b.size();++i)
C.row(b(i)) << 1, 0, 0;
viewer.data().set_colors(C);
//Draw constraints
drawConstraints(viewer);
// Draw Field
Eigen::RowVector3d color; color<<0,0,1;
drawField(viewer,two_pv,color);
// Draw Cuts
drawCuts(viewer,cuts);
//Draw Singularities
Eigen::MatrixXd singular_points = igl::slice(V, singularities, 1);
viewer.data().add_points(singular_points,Eigen::RowVector3d(239./255.,205./255.,57./255.));
}
if (display_mode == 3)
{
cerr<< "Displaying original field and its curl" <<endl;
viewer.data().set_mesh(Vbs, Fbs);
Eigen::MatrixXd C;
colorEdgeMeshFaces(curl_ori, 0, 0.2, C);
viewer.data().set_colors(C);
// Draw Field
Eigen::RowVector3d color; color<<1,1,1;
drawField(viewer,two_pv_ori,color);
}
if (display_mode == 4)
{
cerr<< "Displaying current field and its curl" <<endl;
viewer.data().set_mesh(Vbs, Fbs);
Eigen::MatrixXd C;
colorEdgeMeshFaces(curl, 0, 0.2, C);
viewer.data().set_colors(C);
// Draw Field
Eigen::RowVector3d color; color<<1,1,1;
drawField(viewer,two_pv,color);
}
if (display_mode == 5)
{
cerr<< "Displaying original poisson-integrated field and original poisson error" <<endl;
viewer.data().set_mesh(V, F);
Eigen::MatrixXd C;
igl::jet(poisson_error_ori, 0, 0.5, C);
viewer.data().set_colors(C);
// Draw Field
Eigen::RowVector3d color; color<<1,1,1;
drawField(viewer,two_pv_poisson_ori,color);
}
if (display_mode == 6)
{
cerr<< "Displaying current poisson-integrated field and current poisson error" <<endl;
viewer.data().set_mesh(V, F);
Eigen::MatrixXd C;
igl::jet(poisson_error, 0, 0.5, C);
viewer.data().set_colors(C);
// Draw Field
Eigen::RowVector3d color; color<<1,1,1;
drawField(viewer,two_pv_poisson,color);
}
if (display_mode == 7)
{
cerr<< "Displaying original texture with cuts and singularities" <<endl;
viewer.data().set_mesh(V, F);
MatrixXd C = MatrixXd::Constant(F.rows(),3,1);
viewer.data().set_colors(C);
viewer.data().set_uv(uv_scale*scalars_ori, Fcut_ori);
viewer.data().set_texture(texture_R, texture_B, texture_G);
viewer.data().show_texture = true;
// Draw Cuts
drawCuts(viewer,cuts_ori);
//Draw Singularities
Eigen::MatrixXd singular_points = igl::slice(V, singularities_ori, 1);
viewer.data().add_points(singular_points,Eigen::RowVector3d(239./255.,205./255.,57./255.));
}
if (display_mode == 8)
{
cerr<< "Displaying current texture with cuts and singularities" <<endl;
viewer.data().set_mesh(V, F);
MatrixXd C = MatrixXd::Constant(F.rows(),3,1);
viewer.data().set_colors(C);
viewer.data().set_uv(uv_scale*scalars, Fcut);
viewer.data().set_texture(texture_R, texture_B, texture_G);
viewer.data().show_texture = true;
// Draw Cuts
drawCuts(viewer,cuts);
//Draw Singularities
Eigen::MatrixXd singular_points = igl::slice(V, singularities, 1);
viewer.data().add_points(singular_points,Eigen::RowVector3d(239./255.,205./255.,57./255.));
}
if (display_mode == 9)
{
cerr<< "Displaying original field overlaid onto the current integrated field" <<endl;
viewer.data().set_mesh(V, F);
// Highlight in red the constrained faces
MatrixXd C = MatrixXd::Constant(F.rows(),3,1);
for (unsigned i=0; i<b.size();++i)
C.row(b(i)) << 1, 0, 0;
viewer.data().set_colors(C);
// Draw Field
Eigen::RowVector3d color; color<<0,0,1;
drawField(viewer,two_pv_ori,color);
// Draw Integrated Field
color<<.2,.2,.2;
drawField(viewer,two_pv_poisson_ori,color);
}
if (display_mode == 0)
{
cerr<< "Displaying current field overlaid onto the current integrated field" <<endl;
viewer.data().set_mesh(V, F);
// Highlight in red the constrained faces
MatrixXd C = MatrixXd::Constant(F.rows(),3,1);
for (unsigned i=0; i<b.size();++i)
C.row(b(i)) << 1, 0, 0;
viewer.data().set_colors(C);
// Draw Field
Eigen::RowVector3d color; color<<0,0,1;
drawField(viewer,two_pv,color);
// Draw Integrated Field
color<<.2,.2,.2;
drawField(viewer,two_pv_poisson,color);
}
}
void set_color(igl::opengl::glfw::Viewer &viewer)
{
Eigen::MatrixXd C;
igl::jet(W.col(selected).eval(),true,C);
viewer.data().set_colors(C);
}
void update_visualization(igl::opengl::glfw::Viewer & viewer)
{
using namespace Eigen;
using namespace std;
Eigen::Vector4d plane(
0,0,1,-((1-slice_z)*V.col(2).minCoeff()+slice_z*V.col(2).maxCoeff()));
MatrixXd V_vis;
MatrixXi F_vis;
// Extract triangle mesh slice through volume mesh and subdivide nasty
// triangles
{
VectorXi J;
SparseMatrix<double> bary;
{
// Value of plane's implicit function at all vertices
const VectorXd IV =
(V.col(0)*plane(0) +
V.col(1)*plane(1) +
V.col(2)*plane(2)).array()
+ plane(3);
igl::slice_tets(V,T,IV,V_vis,F_vis,J,bary);
igl::writeOBJ("vis.obj",V_vis,F_vis);
}
while(true)
{
MatrixXd l;
igl::edge_lengths(V_vis,F_vis,l);
l /= (V_vis.colwise().maxCoeff() - V_vis.colwise().minCoeff()).norm();
const double max_l = 0.03;
if(l.maxCoeff()<max_l)
{
break;
}
Array<bool,Dynamic,1> bad = l.array().rowwise().maxCoeff() > max_l;
MatrixXi F_vis_bad, F_vis_good;
igl::slice_mask(F_vis,bad,1,F_vis_bad);
igl::slice_mask(F_vis,(bad!=true).eval(),1,F_vis_good);
igl::upsample(V_vis,F_vis_bad);
F_vis = igl::cat(1,F_vis_bad,F_vis_good);
}
}
// Compute signed distance
VectorXd S_vis;
{
VectorXi I;
MatrixXd N,C;
// Bunny is a watertight mesh so use pseudonormal for signing
signed_distance_pseudonormal(V_vis,V,F,tree,FN,VN,EN,EMAP,S_vis,I,C,N);
}
// push to [0,1] range
S_vis.array() = 0.5*(S_vis.array()/max_distance)+0.5;
MatrixXd C_vis;
// color without normalizing
igl::parula(S_vis,false,C_vis);
const auto & append_mesh = [&C_vis,&F_vis,&V_vis](
const Eigen::MatrixXd & V,
const Eigen::MatrixXi & F,
const RowVector3d & color)
{
F_vis.conservativeResize(F_vis.rows()+F.rows(),3);
F_vis.bottomRows(F.rows()) = F.array()+V_vis.rows();
V_vis.conservativeResize(V_vis.rows()+V.rows(),3);
V_vis.bottomRows(V.rows()) = V;
C_vis.conservativeResize(C_vis.rows()+V.rows(),3);
C_vis.bottomRows(V.rows()).rowwise() = color;
};
if(overlay)
{
append_mesh(V,F,RowVector3d(0.8,0.8,0.8));
}
viewer.data().clear();
viewer.data().set_mesh(V_vis,F_vis);
viewer.data().set_colors(C_vis);
viewer.core.lighting_factor = overlay;
}