75 lines
2.8 KiB
C++
75 lines
2.8 KiB
C++
// This file is part of libigl, a simple c++ geometry processing library.
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//
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// Copyright (C) 2014 Alec Jacobson <alecjacobson@gmail.com>
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//
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// This Source Code Form is subject to the terms of the Mozilla Public License
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// v. 2.0. If a copy of the MPL was not distributed with this file, You can
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// obtain one at http://mozilla.org/MPL/2.0/.
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#include "dqs.h"
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#include <Eigen/Geometry>
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template <
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typename DerivedV,
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typename DerivedW,
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typename Q,
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typename QAlloc,
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typename T,
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typename DerivedU>
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IGL_INLINE void igl::dqs(
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const Eigen::PlainObjectBase<DerivedV> & V,
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const Eigen::PlainObjectBase<DerivedW> & W,
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const std::vector<Q,QAlloc> & vQ,
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const std::vector<T> & vT,
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Eigen::PlainObjectBase<DerivedU> & U)
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{
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using namespace std;
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assert(V.rows() <= W.rows());
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assert(W.cols() == (int)vQ.size());
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assert(W.cols() == (int)vT.size());
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// resize output
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U.resizeLike(V);
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// Convert quats + trans into dual parts
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vector<Q> vD(vQ.size());
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for(int c = 0;c<W.cols();c++)
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{
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const Q & q = vQ[c];
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vD[c].w() = -0.5*( vT[c](0)*q.x() + vT[c](1)*q.y() + vT[c](2)*q.z());
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vD[c].x() = 0.5*( vT[c](0)*q.w() + vT[c](1)*q.z() - vT[c](2)*q.y());
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vD[c].y() = 0.5*(-vT[c](0)*q.z() + vT[c](1)*q.w() + vT[c](2)*q.x());
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vD[c].z() = 0.5*( vT[c](0)*q.y() - vT[c](1)*q.x() + vT[c](2)*q.w());
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}
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// Loop over vertices
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const int nv = V.rows();
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#pragma omp parallel for if (nv>10000)
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for(int i = 0;i<nv;i++)
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{
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Q b0(0,0,0,0);
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Q be(0,0,0,0);
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// Loop over handles
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for(int c = 0;c<W.cols();c++)
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{
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b0.coeffs() += W(i,c) * vQ[c].coeffs();
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be.coeffs() += W(i,c) * vD[c].coeffs();
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}
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Q ce = be;
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ce.coeffs() /= b0.norm();
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Q c0 = b0;
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c0.coeffs() /= b0.norm();
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// See algorithm 1 in "Geometric skinning with approximate dual quaternion
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// blending" by Kavan et al
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T v = V.row(i);
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T d0 = c0.vec();
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T de = ce.vec();
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typename Q::Scalar a0 = c0.w();
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typename Q::Scalar ae = ce.w();
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U.row(i) = v + 2*d0.cross(d0.cross(v) + a0*v) + 2*(a0*de - ae*d0 + d0.cross(de));
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}
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}
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#ifdef IGL_STATIC_LIBRARY
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// Explicit template instantiation
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template void igl::dqs<Eigen::Matrix<double, -1, -1, 0, -1, -1>, Eigen::Matrix<double, -1, -1, 0, -1, -1>, Eigen::Quaternion<double, 0>, Eigen::aligned_allocator<Eigen::Quaternion<double, 0> >, Eigen::Matrix<double, 3, 1, 0, 3, 1>, Eigen::Matrix<double, -1, -1, 0, -1, -1> >(Eigen::PlainObjectBase<Eigen::Matrix<double, -1, -1, 0, -1, -1> > const&, Eigen::PlainObjectBase<Eigen::Matrix<double, -1, -1, 0, -1, -1> > const&, std::vector<Eigen::Quaternion<double, 0>, Eigen::aligned_allocator<Eigen::Quaternion<double, 0> > > const&, std::vector<Eigen::Matrix<double, 3, 1, 0, 3, 1>, std::allocator<Eigen::Matrix<double, 3, 1, 0, 3, 1> > > const&, Eigen::PlainObjectBase<Eigen::Matrix<double, -1, -1, 0, -1, -1> >&);
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#endif
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