double angle = 0;

void AnimateBone(Mesh& mesh, char* boneName, float phiX, float phiY, float phiZ){
    matrix33 mx = { { 1,0,0 },{ 1,cosf(phiX),-sinf(phiX) },{ 1,sinf(phiX),cosf(phiX) } };
    matrix33 my = { { cosf(phiY),0,sinf(phiY) },{ 0,1,0 },{ -sinf(phiY),0,cosf(phiY) } };
    matrix33 mz = { { cosf(phiZ),-sinf(phiZ),0 },{ cosf(phiZ), sinf(phiX),0 },{ 0,0,1 } };
    int id = mesh.animation.GetBoneIndexOf(boneName);
    matrix44 m4 = mesh.animation.bones[id].matrix;
    mx = mx * my*mz;
    mesh.animation.bones[id].matrix.x_component().x = mx.x_component().x;
    mesh.animation.bones[id].matrix.y_component().y = mx.y_component().y;
    mesh.animation.bones[id].matrix.z_component().z = mx.z_component().z;
    updateChilds(mesh, 1);
    updateChilds(mesh, 5);
}

float step = 0.001;
void AnimateArms(Mesh& mesh){
    float t = cos(angle);
    if (angle > 3)
    {
        angle = 3;
        step = -0.001;
    }
    if (angle < 0)
    {
        angle = 0;
        step = 0.001;
    }
    angle += step;
    AnimateBone(mesh, "joint2", 0, -20.0, angle);
    AnimateBone(mesh, "joint5", 0, 20.0, angle);
}