void SkeletalModel::traverseLimbTree(Joint* j){
Vector3f u,v,w;
Vector4f c;
Matrix4f rotate,scale,translate;
translate = Matrix4f::translation(0.0f,0.0f,0.5f);
m_matrixStack.push(j->transform);
for (int i = 0; i < j->children.size(); i++){
c = j->children[i]->transform.getCol(3);
w = c.xyz().normalized();
v = Vector3f::cross(w,Vector3f(0,0,1)).normalized();
u = Vector3f::cross(v,w).normalized();
scale = Matrix4f::scaling(.025,.025,c.xyz().abs());
rotate = Matrix4f(Vector4f(u,0),Vector4f(v,0),Vector4f(w,0),Vector4f(0,0,0,1));
glLoadMatrixf(m_matrixStack.top()*rotate*scale*translate);
glutSolidCube(1.0f);
traverseLimbTree(j->children[i]);
}
m_matrixStack.pop();
}
void SDFShadowDemo::UpdateScene(f32 /*dt*/)
{
auto frames = (f32)mTimer.FrameCount() / 1000;
//m_worldMat = Matrix4f::RotationMatrixY(frames);
m_worldMat = Matrix4f::Identity();
Matrix4f viewRot = Matrix4f::RotationMatrixY(frames);
// Build the view matrix.
m_cameraPos = Vector4f(0.0f, 1.0f, -5.0f, 1.0f);
m_cameraPos = viewRot * m_cameraPos;
Vector3f target;
target.MakeZero();
Vector3f up = Vector3f(0.0f, 1.0f, 0.0f);
m_viewMat = Matrix4f::LookAtLHMatrix(m_cameraPos.xyz(), target, up);
}
void update()
{
if (targetCamera)
view = look_at(position, target, Vector3f(0.f, 1.f, 0.f));
else
{
Vector4f p = invert(view) * Vector4f(0.f, 0.f, 0.f, 1.f);
p /= p.w;
position = p.xyz();
}
Matrix4x4f m = perspective(fov, 1.f, 0.1f, 100.f) * view;
viewToClip = m;
clipToView = viewToClip;
clipToView.invert();
}
