// rotate bone's y-axis with target.
AnimPose boneLookAt(const glm::vec3& target, const AnimPose& bone) {
glm::vec3 u, v, w;
generateBasisVectors(target - bone.trans(), bone.rot() * Vectors::UNIT_X, u, v, w);
glm::mat4 lookAt(glm::vec4(v, 0.0f),
glm::vec4(u, 0.0f),
// AJT: TODO REVISIT THIS, this could be -w.
glm::vec4(glm::normalize(glm::cross(v, u)), 0.0f),
glm::vec4(bone.trans(), 1.0f));
return AnimPose(lookAt);
}
static void addBone(const AnimPose& rootPose, const AnimPose& pose, float radius, glm::vec4& vecColor, AnimDebugDrawData::Vertex*& v) {
const float XYZ_AXIS_LENGTH = radius * 4.0f;
const uint32_t color = toRGBA(vecColor);
AnimPose finalPose = rootPose * pose;
glm::vec3 base = rootPose * pose.trans();
glm::vec3 xRing[NUM_CIRCLE_SLICES + 1]; // one extra for last index.
glm::vec3 yRing[NUM_CIRCLE_SLICES + 1];
glm::vec3 zRing[NUM_CIRCLE_SLICES + 1];
const float dTheta = (2.0f * (float)M_PI) / NUM_CIRCLE_SLICES;
for (int i = 0; i < NUM_CIRCLE_SLICES + 1; i++) {
float rCosTheta = radius * cosf(dTheta * i);
float rSinTheta = radius * sinf(dTheta * i);
xRing[i] = finalPose * glm::vec3(0.0f, rCosTheta, rSinTheta);
yRing[i] = finalPose * glm::vec3(rCosTheta, 0.0f, rSinTheta);
zRing[i] = finalPose * glm::vec3(rCosTheta, rSinTheta, 0.0f);
}
// x-axis
v->pos = base;
v->rgba = red;
v++;
v->pos = finalPose * glm::vec3(XYZ_AXIS_LENGTH, 0.0f, 0.0f);
v->rgba = red;
v++;
// x-ring
for (int i = 0; i < NUM_CIRCLE_SLICES; i++) {
v->pos = xRing[i];
v->rgba = color;
v++;
v->pos = xRing[i + 1];
v->rgba = color;
v++;
}
// y-axis
v->pos = base;
v->rgba = green;
v++;
v->pos = finalPose * glm::vec3(0.0f, XYZ_AXIS_LENGTH, 0.0f);
v->rgba = green;
v++;
// y-ring
for (int i = 0; i < NUM_CIRCLE_SLICES; i++) {
v->pos = yRing[i];
v->rgba = color;
v++;
v->pos = yRing[i + 1];
v->rgba = color;
v++;
}
// z-axis
v->pos = base;
v->rgba = blue;
v++;
v->pos = finalPose * glm::vec3(0.0f, 0.0f, XYZ_AXIS_LENGTH);
v->rgba = blue;
v++;
// z-ring
for (int i = 0; i < NUM_CIRCLE_SLICES; i++) {
v->pos = zRing[i];
v->rgba = color;
v++;
v->pos = zRing[i + 1];
v->rgba = color;
v++;
}
}