renderer/glViewer.py [2086:2112]:
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        length = math.sqrt(x1*x1 + y1*y1 + z1*z1)
        theta = math.degrees(math.acos(z1/length))
        phi = math.degrees(math.atan2(y1, x1))

        glPushMatrix()
        glTranslate(x0, y0, z0)
        glRotatef(phi, 0, 0, 1)
        glRotatef(theta, 0, 1, 0)
        glutSolidCone(2, length, 10, 10)
        glPopMatrix()

    # Visualize Normals
    if normal is not None:
        i=1
        facePt = joints[(3*i):(3*i+3)]
        normalPt = facePt + normal*50

        glColor3ub(0, 255, 255)
        glPushMatrix()
        glTranslate(normalPt[0], normalPt[1], normalPt[2])
        glutSolidSphere(1, 10, 10)
        glPopMatrix()

        glBegin(GL_LINES)
        glVertex3f(facePt[0], facePt[1], facePt[2])
        glVertex3f(normalPt[0], normalPt[1],  normalPt[2])
        glEnd()
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renderer/glViewer.py [2228:2254]:
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        length = math.sqrt(x1*x1 + y1*y1 + z1*z1)
        theta = math.degrees(math.acos(z1/length))
        phi = math.degrees(math.atan2(y1, x1))

        glPushMatrix()
        glTranslate(x0, y0, z0)
        glRotatef(phi, 0, 0, 1)
        glRotatef(theta, 0, 1, 0)
        glutSolidCone(2, length, 10, 10)
        glPopMatrix()

    # Visualize Normals
    if normal is not None:
        i=1
        facePt = joints[(3*i):(3*i+3)]
        normalPt = facePt + normal*50

        glColor3ub(0, 255, 255)
        glPushMatrix()
        glTranslate(normalPt[0], normalPt[1], normalPt[2])
        glutSolidSphere(1, 10, 10)
        glPopMatrix()

        glBegin(GL_LINES)
        glVertex3f(facePt[0], facePt[1], facePt[2])
        glVertex3f(normalPt[0], normalPt[1],  normalPt[2])
        glEnd()
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