main.cpp

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#include <iostream>
#include <vector>
 
#include <igl/opengl/glfw/Viewer.h>
#include <igl/opengl/glfw/imgui/ImGuiPlugin.h>
#include <igl/opengl/glfw/imgui/ImGuiMenu.h>
#include <igl/opengl/glfw/imgui/ImGuiHelpers.h>
#include <igl/slim.h>
 
#include "./include/euler_rotations.h"
#include "./include/exoskeleton.h"
#include "./include/menu_handler.h"
#include "./include/animated_hand.h"
#include "./include/kinematic_animation.h"
 
int main(void)
{
  // Initialize viewer
  igl::opengl::glfw::Viewer viewer;
 
  // Attach a menu plugin
  igl::opengl::glfw::imgui::ImGuiPlugin plugin;
  viewer.plugins.push_back(&plugin);
  igl::opengl::glfw::imgui::ImGuiMenu menu;
  plugin.widgets.push_back(&menu);
 
  // Menu handler
  MenuHandler menu_handler(&menu);
 
  // Generate lamda function pointing to the menu callback
  auto lamda_menu_fun = [&menu_handler]() { return menu_handler.callback(); };
  menu.callback_draw_viewer_menu = lamda_menu_fun;
 
  // Initialize left exoskeleton handle
  Exoskeleton left_exoskeleton;
 
  // Initialize animated hand handler
  AnimatedHand anim_hand; 
  
  // Initialize kinematic animation 
  KinematicAnimation ka;
  ka.initialize(&viewer, &left_exoskeleton, &anim_hand, &menu_handler);
  
  // Generate lamda function pointing to the animation loop member function
  auto lamda_anim_fun =
      [&ka](igl::opengl::glfw::Viewer& viewer) { return ka.animation_loop(viewer); };
  
 
  // Set animation
  viewer.data().show_overlay_depth = false;
  viewer.data().line_width = 1;
  viewer.data().show_lines = false;
  viewer.callback_pre_draw = lamda_anim_fun;
  viewer.core().is_animating = true;
  viewer.core().animation_max_fps = 30;
  viewer.launch();
}