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seanboneseanbone
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Initial commit: libigl submodule, docs, basic framework, demos
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‎.gitignore

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*/build/**
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*.o

‎.gitmodules

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[submodule "lib/libigl"]
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path = lib/libigl
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url = https://github.com/libigl/libigl.git

‎demos/0_dummy/CMakeLists.txt

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cmake_minimum_required(VERSION 3.1)
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project(0_dummy)
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set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} ${CMAKE_CURRENT_SOURCE_DIR}/../cmake)
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set(CMAKE_CXX_FLAGS "-Wall")
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# libigl
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option(LIBIGL_USE_STATIC_LIBRARY "Use libigl as static library" OFF)
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option(LIBIGL_WITH_ANTTWEAKBAR "Use AntTweakBar" OFF)
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option(LIBIGL_WITH_CGAL "Use CGAL" OFF)
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option(LIBIGL_WITH_COMISO "Use CoMiso" OFF)
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option(LIBIGL_WITH_CORK "Use Cork" OFF)
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option(LIBIGL_WITH_EMBREE "Use Embree" OFF)
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option(LIBIGL_WITH_LIM "Use LIM" OFF)
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option(LIBIGL_WITH_MATLAB "Use Matlab" OFF)
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option(LIBIGL_WITH_MOSEK "Use MOSEK" OFF)
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option(LIBIGL_WITH_OPENGL "Use OpenGL" ON)
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option(LIBIGL_WITH_OPENGL_GLFW "Use GLFW" ON)
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option(LIBIGL_WITH_OPENGL_GLFW_IMGUI "Use ImGui" ON)
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option(LIBIGL_WITH_PNG "Use PNG" OFF)
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option(LIBIGL_WITH_PYTHON "Use Python" OFF)
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option(LIBIGL_WITH_TETGEN "Use Tetgen" OFF)
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option(LIBIGL_WITH_TRIANGLE "Use Triangle" OFF)
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option(LIBIGL_WITH_VIEWER "Use OpenGL viewer" ON)
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option(LIBIGL_WITH_XML "Use XML" OFF)
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if (NOT LIBIGL_FOUND)
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find_package(LIBIGL REQUIRED QUIET)
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endif()
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# Add your project files
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file(GLOB SRCFILES *.cpp)
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file(GLOB SRC_FILES ${PROJECT_SOURCE_DIR}/../include/*.cpp)
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file(GLOB HFILES *.h)
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file(GLOB H_FILES ${PROJECT_SOURCE_DIR}/../include/*.h)
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include_directories(${CMAKE_CURRENT_SOURCE_DIR}/../include)
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add_definitions(-DIGL_VIEWER_VIEWER_QUIET)
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add_executable(${PROJECT_NAME} ${SRCFILES} ${SRC_FILES} ${HFILES} ${H_FILES})
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target_link_libraries(${PROJECT_NAME} igl::core igl::opengl_glfw igl::opengl_glfw_imgui)

‎demos/0_dummy/DummySim.h

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#include "Simulation.h"
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using namespace std;
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/*
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* Example simulation that changes the colors of a cube.
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*/
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class DummySim : public Simulation {
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public:
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DummySim() : Simulation() { init(); }
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virtual void init() override {
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// create a cube on [-1,1]^3
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// vertices
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m_V.resize(8, 3);
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m_V << -1, -1, -1, 1, -1, -1, -1, 1, -1, 1, 1, -1, -1, -1, 1, 1, -1, 1,
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-1, 1, 1, 1, 1, 1;
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// faces
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m_F.resize(12, 3);
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m_F << 0, 2, 1, 2, 3, 1, 1, 3, 5, 3, 7, 5, 2, 6, 3, 6, 7, 3, 5, 7, 4, 7,
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6, 4, 4, 6, 0, 6, 2, 0, 0, 4, 1, 4, 5, 1;
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// face colors
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m_C.resize(12, 3);
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reset();
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}
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virtual void resetMembers() override {
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m_C.setZero();
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m_C.col(0).setOnes();
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}
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virtual void updateRenderGeometry() override {
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m_renderV = m_V;
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m_renderF = m_F;
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m_renderC = m_C;
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}
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virtual bool advance() override {
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// do next step of some color animation
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int speed = 60;
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int decColor = (m_step / speed) % 3;
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int incColor = (decColor + 1) % 3;
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for (int i = 0; i < m_C.rows(); i++) {
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m_C(i, decColor) = (m_C(i, decColor) * speed - 1) / speed;
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m_C(i, incColor) = (m_C(i, incColor) * speed + 1) / speed;
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}
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// advance step
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m_step++;
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return false;
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}
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virtual void renderRenderGeometry(
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igl::opengl::glfw::Viewer &viewer) override {
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viewer.data().set_mesh(m_renderV, m_renderF);
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viewer.data().set_colors(m_renderC);
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}
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private:
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Eigen::MatrixXd m_V; // vertex positions
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Eigen::MatrixXi m_F; // face indices
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Eigen::MatrixXd m_C; // colors per face
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Eigen::MatrixXd m_renderV; // vertex positions for rendering
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Eigen::MatrixXi m_renderF; // face indices for rendering
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Eigen::MatrixXd m_renderC; // colors per face for rendering
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};

‎demos/0_dummy/main.cpp

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#include <igl/writeOFF.h>
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#include <thread>
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#include "DummySim.h"
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#include "Gui.h"
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#include "Simulator.h"
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/*
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* This class is a GUI for our dummy simulation. It extends the basic GUI
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* defined in Gui.h. We could add more controls and visuals here, but we don't
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* need any additional functionality for this dummy simulation.
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*/
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class DummyGui : public Gui {
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public:
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DummySim *p_dummySim = NULL; // pointer to the dummy simulation
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DummyGui() {
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// create a new dummy simulation
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p_dummySim = new DummySim();
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// set this simulation as the simulation that is running in our GUI
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setSimulation(p_dummySim);
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// start the GUI
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start();
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}
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virtual void updateSimulationParameters() override{
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// We don't have any simulation parameters to update periodically so we
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// don't need to do anything here
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};
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};
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int main(int argc, char *argv[]) {
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// create a new instance of the GUI for the dummy simulation
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new DummyGui();
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return 0;
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}

‎demos/1_cannonball/CMakeLists.txt

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cmake_minimum_required(VERSION 3.1)
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project(1_cannonball)
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set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} ${CMAKE_CURRENT_SOURCE_DIR}/../cmake)
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set(CMAKE_CXX_FLAGS "-Wall")
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# libigl
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option(LIBIGL_USE_STATIC_LIBRARY "Use libigl as static library" OFF)
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option(LIBIGL_WITH_ANTTWEAKBAR "Use AntTweakBar" OFF)
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option(LIBIGL_WITH_CGAL "Use CGAL" OFF)
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option(LIBIGL_WITH_COMISO "Use CoMiso" OFF)
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option(LIBIGL_WITH_CORK "Use Cork" OFF)
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option(LIBIGL_WITH_EMBREE "Use Embree" OFF)
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option(LIBIGL_WITH_LIM "Use LIM" OFF)
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option(LIBIGL_WITH_MATLAB "Use Matlab" OFF)
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option(LIBIGL_WITH_MOSEK "Use MOSEK" OFF)
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option(LIBIGL_WITH_OPENGL "Use OpenGL" ON)
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option(LIBIGL_WITH_OPENGL_GLFW "Use GLFW" ON)
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option(LIBIGL_WITH_OPENGL_GLFW_IMGUI "Use ImGui" ON)
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option(LIBIGL_WITH_PNG "Use PNG" OFF)
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option(LIBIGL_WITH_PYTHON "Use Python" OFF)
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option(LIBIGL_WITH_TETGEN "Use Tetgen" OFF)
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option(LIBIGL_WITH_TRIANGLE "Use Triangle" OFF)
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option(LIBIGL_WITH_VIEWER "Use OpenGL viewer" ON)
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option(LIBIGL_WITH_XML "Use XML" OFF)
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if (NOT LIBIGL_FOUND)
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find_package(LIBIGL REQUIRED QUIET)
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endif()
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# Add your project files
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file(GLOB SRCFILES *.cpp)
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file(GLOB SRC_FILES ${PROJECT_SOURCE_DIR}/../include/*.cpp)
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file(GLOB HFILES *.h)
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file(GLOB H_FILES ${PROJECT_SOURCE_DIR}/../include/*.h)
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include_directories(${CMAKE_CURRENT_SOURCE_DIR}/../include)
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add_definitions(-DIGL_VIEWER_VIEWER_QUIET)
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add_executable(${PROJECT_NAME} ${SRCFILES} ${SRC_FILES} ${HFILES} ${H_FILES})
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target_link_libraries(${PROJECT_NAME} igl::core igl::opengl_glfw igl::opengl_glfw_imgui)

‎demos/1_cannonball/CannonBallSim.cpp

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#include "CannonBallSim.h"
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/////////////////////////////////////
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//////// EX 1 - PROBLEM 1 ///////////
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/////////////////////////////////////
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bool CannonBallSim::advance() {
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// perform time integration with different integrators
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// use p_ball, m_dt, m_gravity
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switch (m_method) {
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case 0:
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{
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Eigen::Vector3d v = p_ball->getLinearVelocity();
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Eigen::Vector3d pos = p_ball->getPosition();
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pos[0] += v[0] * m_dt;
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pos[1] += v[1] * m_dt + .5*m_gravity[1]*m_dt*m_dt;
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pos[2] += v[2] * m_dt;
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p_ball->setPosition(pos);
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v[1] += m_gravity[1] * m_dt;
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p_ball->setLinearVelocity(v);
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}
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break;
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case 1:
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// explicit euler
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{
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Eigen::Vector3d v = p_ball->getLinearVelocity();
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Eigen::Vector3d pos = p_ball->getPosition();
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pos[0] += v[0] * m_dt;
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pos[1] += v[1] * m_dt;
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pos[2] += v[2] * m_dt;
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p_ball->setPosition(pos);
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v[1] += m_gravity[1] * m_dt;
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p_ball->setLinearVelocity(v);
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}
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break;
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case 2:
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// symplectic euler
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{
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Eigen::Vector3d v = p_ball->getLinearVelocity();
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v[1] += m_gravity[1] * m_dt;
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p_ball->setLinearVelocity(v);
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Eigen::Vector3d pos = p_ball->getPosition();
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pos[0] += v[0] * m_dt;
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pos[1] += v[1] * m_dt;
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pos[2] += v[2] * m_dt;
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p_ball->setPosition(pos);
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}
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break;
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default:
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std::cerr << m_method << " is not a valid integrator method."
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<< std::endl;
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}
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// advance time
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m_time += m_dt;
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m_step++;
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// log
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if ((m_step % m_log_frequency) == 0) {
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m_trajectories.back().push_back(p_ball->getPosition());
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}
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return false;
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}

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