skeletal_animation.h

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#pragma once
 
#include <iostream>
#include <vector>
#include <stdlib.h>
#include <memory>
#include <boost/filesystem.hpp>
 
#include "exoskeleton.h"
#include "animated_hand.h"
#include "hand.h"
#include "menu_handler.h"
#include "face.h"
 
 
#include <Eigen/Geometry>
#include <Eigen/StdVector>
#include "igl/opengl/glfw/Viewer.h"
#include "igl/readMESH.h"
#include "igl/readTGF.h"
#include "igl/png/readPNG.h"
#include "igl/directed_edge_parents.h"
#include "igl/boundary_conditions.h"
#include "igl/bbw.h"
#include "igl/lbs_matrix.h"
#include "igl/normalize_row_sums.h"
#include "igl/forward_kinematics.h"
#include "igl/jet.h"
#include "igl/deform_skeleton.h"
 
typedef std::vector<Eigen::Quaterniond, 
    Eigen::aligned_allocator<Eigen::Quaterniond>> RotationList;
 
 
class SkeletalAnimation
{
 
public:
 
    SkeletalAnimation() {};
 
    void initialize(igl::opengl::glfw::Viewer* viewer, 
        Exoskeleton* left_exo, AnimatedHand* anim_hand, 
        MenuHandler* menu_handler);
 
    bool animation_loop(igl::opengl::glfw::Viewer & viewer);
 
private:
 
    std::string m_hand_mesh_name =
        boost::filesystem::system_complete("share/hand.mesh").string();
    
    std::string m_hand_graph_name = 
        boost::filesystem::system_complete("share/hand.tgf").string();
 
    std::string m_hand_texture_name = 
        boost::filesystem::system_complete("share/texture.png").string();
 
private: 
 
    Exoskeleton* m_left_exo;
 
    AnimatedHand* m_anim_hand;
 
    MenuHandler* m_menu_handler;
 
    std::shared_ptr<Hand> m_left_hand, m_right_hand;
 
    std::shared_ptr<Face> m_face;
 
    Eigen::Vector3d m_left_origin = Eigen::Vector3d(1.0, 0.0, 0.0);
 
    Eigen::Vector3d m_right_origin = Eigen::Vector3d(-1.0, 0.0, 0.0);
 
    bool m_initialize_animation = 1;
 
    void setup_meshes(igl::opengl::glfw::Viewer& viewer);
};