rendering.cpp

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#include "../include/rendering.h"
 
Rendering::Rendering()
{
    // Animation
    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 skeletal animation 
    SkeletalAnimation sa;
    sa.initialize(&viewer, &left_exoskeleton, &anim_hand, &menu_handler);
 
    // Generate lamda function pointing to the animation loop member function
    auto lamda_anim_fun =
        [&sa](igl::opengl::glfw::Viewer& viewer) { return sa.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();
}