/*
 * Copyright (c) 1993-1997, Silicon Graphics, Inc.
 * ALL RIGHTS RESERVED 
 * Permission to use, copy, modify, and distribute this software for 
 * any purpose and without fee is hereby granted, provided that the above
 * copyright notice appear in all copies and that both the copyright notice
 * and this permission notice appear in supporting documentation, and that 
 * the name of Silicon Graphics, Inc. not be used in advertising
 * or publicity pertaining to distribution of the software without specific,
 * written prior permission. 
 *
 * THE MATERIAL EMBODIED ON THIS SOFTWARE IS PROVIDED TO YOU "AS-IS"
 * AND WITHOUT WARRANTY OF ANY KIND, EXPRESS, IMPLIED OR OTHERWISE,
 * INCLUDING WITHOUT LIMITATION, ANY WARRANTY OF MERCHANTABILITY OR
 * FITNESS FOR A PARTICULAR PURPOSE.  IN NO EVENT SHALL SILICON
 * GRAPHICS, INC.  BE LIABLE TO YOU OR ANYONE ELSE FOR ANY DIRECT,
 * SPECIAL, INCIDENTAL, INDIRECT OR CONSEQUENTIAL DAMAGES OF ANY
 * KIND, OR ANY DAMAGES WHATSOEVER, INCLUDING WITHOUT LIMITATION,
 * LOSS OF PROFIT, LOSS OF USE, SAVINGS OR REVENUE, OR THE CLAIMS OF
 * THIRD PARTIES, WHETHER OR NOT SILICON GRAPHICS, INC.  HAS BEEN
 * ADVISED OF THE POSSIBILITY OF SUCH LOSS, HOWEVER CAUSED AND ON
 * ANY THEORY OF LIABILITY, ARISING OUT OF OR IN CONNECTION WITH THE
 * POSSESSION, USE OR PERFORMANCE OF THIS SOFTWARE.
 * 
 * US Government Users Restricted Rights 
 * Use, duplication, or disclosure by the Government is subject to
 * restrictions set forth in FAR 52.227.19(c)(2) or subparagraph
 * (c)(1)(ii) of the Rights in Technical Data and Computer Software
 * clause at DFARS 252.227-7013 and/or in similar or successor
 * clauses in the FAR or the DOD or NASA FAR Supplement.
 * Unpublished-- rights reserved under the copyright laws of the
 * United States.  Contractor/manufacturer is Silicon Graphics,
 * Inc., 2011 N.  Shoreline Blvd., Mountain View, CA 94039-7311.
 *
 * OpenGL(R) is a registered trademark of Silicon Graphics, Inc.
 */

/*
 * robot.c
 * This program shows how to composite modeling transformations
 * to draw translated and rotated hierarchical models.
 * Interaction:  pressing the s and e keys (shoulder and elbow)
 * alters the rotation of the robot arm.
 */

#include <windows.h>

#include <GL/gl.h>
#include <GL/glu.h>
#include <GL/glaux.h>

#include <stdio.h>
#include <stdlib.h>

static int shoulder = 0, elbow = 0; 
  
void CALLBACK elbowAdd(void) { 
  elbow = (elbow + 5) % 360; 
} 
  
void CALLBACK elbowSubtract(void) { 
  elbow = (elbow - 5) % 360; 
} 
  
void CALLBACK shoulderAdd(void) { 
  shoulder = (shoulder + 5) % 360; 
} 
  
void CALLBACK shoulderSubtract(void) { 
  shoulder = (shoulder - 5) % 360; 
} 
  
void CALLBACK display(void) { 
  glClear(GL_COLOR_BUFFER_BIT);
  glColor3f(0.0F,0.0F,0.0F);
  glPushMatrix(); 
  glTranslatef(-1.0,0.0,0.0); 
  glRotatef((GLfloat) shoulder,0.0,0.0,1.0); 
  glTranslatef(1.0,0.0,0.0); 
  auxWireBox(2.0,0.4,1.0); 
  glTranslatef(1.0,0.0,0.0); 
  glRotatef((GLfloat) elbow,0.0,0.0,1.0); 
  glTranslatef(1.0,0.0,0.0); 
  auxWireBox(2.0,0.4,1.0); 
  glPopMatrix(); 
  glFlush();
  auxSwapBuffers();
} 
  
void myinit(void) { 
  glClearColor(1.0,1.0,1.0,1.0);
} 
  
void CALLBACK myReshape(int w,int h) { 
  glViewport(0,0,w,h); 
  glMatrixMode(GL_PROJECTION); 
  glLoadIdentity(); 
  gluPerspective(65.,(float)w/(float)h,1.0,20.0); 
  glMatrixMode(GL_MODELVIEW); 
  glLoadIdentity(); 
  glTranslatef(0.0,0.0,-5.0); 
}

void main(void) { 
  auxInitDisplayMode(AUX_DOUBLE|AUX_RGB); 
  auxInitPosition(0,0,300,300);
  auxInitWindow("Bras robot");
  myinit();
  auxKeyFunc(AUX_LEFT,shoulderSubtract);
  auxKeyFunc(AUX_RIGHT,shoulderAdd);
  auxKeyFunc(AUX_UP,elbowAdd);
  auxKeyFunc(AUX_DOWN,elbowSubtract);
  auxReshapeFunc(myReshape);
  auxMainLoop(display); 
}