From 8b816f8296deb2daccdc84f0369742c127c84307 Mon Sep 17 00:00:00 2001
From: Seth Hamilton <shamilton@the-embedded-lab.com>
Date: Thu, 21 Aug 2025 13:19:42 -0500
Subject: [PATCH] getting ready to have the camera poses plotted using spheres.
 auto-copy pthreadVC3d.dll and poses.csv to output directory

---
 LivePlotter.vcxproj |  3 +++
 inc/body.hpp        |  1 +
 poses.csv           | 15 +++++++++++++++
 src/body.cpp        |  1 +
 src/main.cpp        |  4 +++-
 5 files changed, 23 insertions(+), 1 deletion(-)
 create mode 100644 poses.csv

diff --git a/LivePlotter.vcxproj b/LivePlotter.vcxproj
index e13aa13..a0df2e6 100644
--- a/LivePlotter.vcxproj
+++ b/LivePlotter.vcxproj
@@ -118,6 +118,9 @@
       <GenerateDebugInformation>true</GenerateDebugInformation>
       <AdditionalDependencies>ext\pthreads4w-code\build\Debug\pthreadVC3d.lib;glfw3.lib;opengl32.lib;%(AdditionalDependencies)</AdditionalDependencies>
     </Link>
+    <PostBuildEvent>
+      <Command>xcopy /y "$(SolutionDir)poses.csv"  "$(OutDir)" &amp;&amp; xcopy /y "$(SolutionDir)ext\pthreads4w-code\build\Debug\pthreadVC3d.dll" "$(OutDir)"</Command>
+    </PostBuildEvent>
   </ItemDefinitionGroup>
   <ItemDefinitionGroup Condition="'$(Configuration)|$(Platform)'=='Release|x64'">
     <ClCompile>
diff --git a/inc/body.hpp b/inc/body.hpp
index e27e766..37b1d3e 100644
--- a/inc/body.hpp
+++ b/inc/body.hpp
@@ -6,6 +6,7 @@
 
 struct body {
     glm::mat4 pose;
+    float scale;
     uint ebo;
     uint vao;
     uint vbo;
diff --git a/poses.csv b/poses.csv
new file mode 100644
index 0000000..9c156c1
--- /dev/null
+++ b/poses.csv
@@ -0,0 +1,15 @@
+x,y,z,w,i,j,k
+266.74169921875, 160.65499877929688, 138.2093963623047, 0.984807753012209, 3.512142734218295e-17, -0.17364817766692506, -5.0158596452676065e-17
+-266.7416687011719, 160.65499877929688, 138.2093963623047, 0.9848077530122087, 8.863269777109884e-16, 0.17364817766692614, 1.5628335990023316e-16
+266.74169921875, 447.67498779296875, 138.2093963623047, 0.984807753012209, 3.512142734218295e-17, -0.17364817766692506, -5.0158596452676065e-17
+-266.7416687011719, 447.67498779296875, 138.2093963623047, 0.9848077530122087, 8.863269777109884e-16, 0.17364817766692614, 1.5628335990023316e-16
+266.74169921875, 734.6950073242188, 138.2093963623047, 0.984807753012209, 3.512142734218295e-17, -0.17364817766692506, -5.0158596452676065e-17
+-266.7416687011719, 734.6950073242188, 138.2093963623047, 0.9848077530122087, 8.863269777109884e-16, 0.17364817766692614, 1.5628335990023316e-16
+266.74169921875, 1021.7150268554688, 138.2093963623047, 0.984807753012209, 3.512142734218295e-17, -0.17364817766692506, -5.0158596452676065e-17
+-266.7416687011719, 1021.7150268554688, 138.2093963623047, 0.9848077530122087, 8.863269777109884e-16, 0.17364817766692614, 1.5628335990023316e-16
+266.74169921875, 1308.7349853515625, 138.2093963623047, 0.984807753012209, 3.512142734218295e-17, -0.17364817766692506, -5.0158596452676065e-17
+-266.7416687011719, 1308.7349853515625, 138.2093963623047, 0.9848077530122087, 8.863269777109884e-16, 0.17364817766692614, 1.5628335990023316e-16
+266.74169921875, 1595.7550048828125, 138.2093963623047, 0.984807753012209, 3.512142734218295e-17, -0.17364817766692506, -5.0158596452676065e-17
+-266.7416687011719, 1595.7550048828125, 138.2093963623047, 0.9848077530122087, 8.863269777109884e-16, 0.17364817766692614, 1.5628335990023316e-16
+266.74169921875, 1882.7750244140625, 138.2093963623047, 0.984807753012209, 3.512142734218295e-17, -0.17364817766692506, -5.0158596452676065e-17
+-266.7416687011719, 1882.7750244140625, 138.2093963623047, 0.9848077530122087, 8.863269777109884e-16, 0.17364817766692614, 1.5628335990023316e-16
diff --git a/src/body.cpp b/src/body.cpp
index ad3fb2d..eaa2096 100644
--- a/src/body.cpp
+++ b/src/body.cpp
@@ -101,6 +101,7 @@ bool load_body(body* out_body, const char* obj_filepath) {
     glEnableVertexAttribArray(0);
 
     *out_body = { .pose = glm::mat4(1),
+        .scale = 1.0f,
         .ebo = ebo,
         .vao = vao,
         .vbo = vbo,
diff --git a/src/main.cpp b/src/main.cpp
index ebb6572..f129519 100644
--- a/src/main.cpp
+++ b/src/main.cpp
@@ -31,9 +31,10 @@ void process_input() {
 }
 
 static uint shader;
-void create_new_sphere(body* b) {
+void create_new_sphere(body* b, float scale=1) {
     assert(load_body(b, "Icosphere.obj"));
     b->shader = shader;
+    b->scale = scale;
     b->pose = glm::translate(b->pose, glm::vec3(0, 0, 0));
 }
 
@@ -96,6 +97,7 @@ static void cursor_position_callback(GLFWwindow* window, double xpos, double ypo
     float dy = (ypos - prev_cursor_y);
 
     glm::mat4 camera_to_world = glm::inverse(world_to_camera);
+    // These could be acquired via some cross products. Don't know if that's more efficient.
     glm::vec4 strafe_x = camera_to_world[0];
     glm::vec4 strafe_y = camera_to_world[1];
     prev_cursor_x = xpos;