update bundled_deps

bundled_deps/libigl/igl/copyleft/swept_volume.cpp

@@ -0,0 +1,49 @@
+#include "swept_volume.h"
+#include "../swept_volume_bounding_box.h"
+#include "../swept_volume_signed_distance.h"
+#include "../voxel_grid.h"
+#include "marching_cubes.h"
+#include <iostream>
+
+IGL_INLINE void igl::copyleft::swept_volume(
+  const Eigen::MatrixXd & V,
+  const Eigen::MatrixXi & F,
+  const std::function<Eigen::Affine3d(const double t)> & transform,
+  const size_t steps,
+  const size_t grid_res,
+  const size_t isolevel_grid,
+  Eigen::MatrixXd & SV,
+  Eigen::MatrixXi & SF)
+{
+  using namespace std;
+  using namespace Eigen;
+  using namespace igl;
+  using namespace igl::copyleft;
+
+  const auto & Vtransform = 
+    [&V,&transform](const size_t vi,const double t)->RowVector3d
+  {
+    Vector3d Vvi = V.row(vi).transpose();
+    return (transform(t)*Vvi).transpose();
+  };
+  AlignedBox3d Mbox;
+  swept_volume_bounding_box(V.rows(),Vtransform,steps,Mbox);
+
+  // Amount of padding: pad*h should be >= isolevel
+  const int pad = isolevel_grid+1;
+  // number of vertices on the largest side
+  const int s = grid_res+2*pad;
+  const double h = Mbox.diagonal().maxCoeff()/(double)(s-2.*pad-1.);
+  const double isolevel = isolevel_grid*h;
+
+  // create grid
+  RowVector3i res;
+  MatrixXd GV;
+  voxel_grid(Mbox,s,pad,GV,res);
+
+  // compute values
+  VectorXd S;
+  swept_volume_signed_distance(V,F,transform,steps,GV,res,h,isolevel,S);
+  S.array()-=isolevel;
+  marching_cubes(S,GV,res(0),res(1),res(2),SV,SF);
+}