/* Auteur: Nicolas JANEY               */
/* nicolas.janey@univ-fcomte.fr        */
/* Mars 2003                           */
/* Programmation d'une transformation  */
/* geometrique de visualisation        */

#include <stdio.h>
#include <math.h>

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

#include "ModuleMatriceVecteur.h"
#include "ModuleCouleurs.h"
#include "ModuleManipulateur.h"
#include "ModuleMenus.h"
#include "ModuleReshape.h"
#include "ModuleFont.h"
#include "ModuleAxes.h"
#include "ModuleFleche.h"
#include "ModuleDessinArc.h"

#ifndef M_PI
#define M_PI 3.1415926535897932F
#endif

static int scn = 0;
static vecteur ref = { 1.6F,1.8F,4.0F,1.0F };
static vecteur po = { 1.6F,1.8F,4.0F,1.0F };
static vecteur pv = { 2.8F,0.5F,-4.0F,1.0F };
static int f1;
static int f2;
static int f3;
static vecteur axeVisee;
static float thetay;
static matrice r1;
static vecteur axeVisee2;
static float thetax;
static matrice r2;
static vecteur axeVisee3;
static matrice m;
static vecteur axe;
static matrice t;
static vecteur p;
static matrice mc;

void calculParametresVisualisation(void) {
  calculVecteur(po,pv,axeVisee);
  thetay =(float) -atan2(-axeVisee[0],-axeVisee[2])*180/M_PI;
  toRotationY(r1,thetay);
  produitMatriceVecteur(r1,axeVisee,axeVisee2) ;
  thetax =(float) atan2(-axeVisee2[1],-axeVisee2[2])*180/M_PI;
  toRotationX(r2,thetax);
  produitMatriceVecteur(r2,axeVisee2,axeVisee3) ;
  produitMatriceMatrice(r2,r1,m);
  produitMatriceVecteur(m,axeVisee,axe) ;
  toTranslation(t,-po[0],-po[1],-po[2]);
  produitMatriceMatrice(m,t,m) ;
  produitMatriceVecteur(m,pv,p) ;
  vecteur av;
  calculVecteur(po,pv,av);
  normalise(av);
  float a = 1.0F/(float) sqrt(1-av[1]*av[1]);
  mc[0][0] = -a*av[2];
  mc[0][1] = 0.0F;
  mc[0][2] = a*av[0];
  mc[0][3] = a*(po[0]*av[2]-po[2]*av[0]);
  mc[1][0] = a*av[0]*av[1];
  mc[1][1] = 1/a;
  mc[1][2] = -a*av[1]*av[2];
  mc[1][3] = a*av[1]*(po[0]*av[0]+po[2]*av[2])-po[1]/a;
  mc[2][0] = -av[0];
  mc[2][1] = -av[1];
  mc[2][2] = -av[2];
  mc[2][3] = po[0]*av[0]+po[1]*av[1]+po[2]*av[2];
  mc[3][0] = 0.0F;
  mc[3][1] = 0.0F;
  mc[3][2] = 0.0F;
  mc[3][3] = 1.0F;
}

void myinit(float *c) {
  glClearColor(c[0],c[1],c[2],1.0F);
  GLfloat light_position0[] = { 1.0F,1.0F,1.0F,0.0F };
  glLightfv(GL_LIGHT0,GL_AMBIENT,couleurNoir());
  glLightfv(GL_LIGHT0,GL_DIFFUSE,couleurBlanc());
  glLightfv(GL_LIGHT0,GL_SPECULAR,couleurBlanc());
  glLightfv(GL_LIGHT0,GL_POSITION,light_position0);
  glEnable(GL_LIGHTING);
  glEnable(GL_LIGHT0);
  glEnable(GL_AUTO_NORMAL);
  glEnable(GL_NORMALIZE);
  glEnable(GL_DEPTH_TEST);
  glDepthFunc(GL_LESS);
  glEnable(GL_BLEND);
  glBlendFunc(GL_SRC_ALPHA,GL_ONE_MINUS_SRC_ALPHA);
  glEnable(GL_CULL_FACE);
}

void solidCylinder(float r,float h,int n,int m) {
  glPushMatrix();
  glRotatef(90,1.0F,0.0F,0.0F);
  glTranslatef(0.0F,0.0F,-h/2);
  GLUquadricObj *qobj = gluNewQuadric();
  gluQuadricDrawStyle(qobj,GLU_FILL);
  gluCylinder(qobj,r,r,h,n,m);
  gluDeleteQuadric(qobj);  
  glPopMatrix();
}

void scene(void) {
  if ( scn ) {
    glEnable(GL_LIGHTING);
    glEnable(GL_CULL_FACE);
    glPushMatrix();
    glTranslatef(2.8F,0.5F,-4.0F);
    glMaterialfv(GL_FRONT,GL_DIFFUSE,couleurCyan());
    glutSolidSphere(0.25,36,36);
    glPopMatrix();
    glPushMatrix();
    glTranslatef(4.8F,0.9F,-1.5F);
    glMaterialfv(GL_FRONT,GL_DIFFUSE,couleurRouge(0.5));
    solidCylinder(0.1,3.0,30,10);
    glPopMatrix();
    glPushMatrix();
    glTranslatef(0.8F,0.2F,-3.5F);
    glMaterialfv(GL_FRONT,GL_DIFFUSE,couleurJaune(0.5));
    solidCylinder(0.1,3.0,30,10);
    glPopMatrix();
    glPushMatrix();
    glTranslatef(1.8F,0.7F,-2.5F);
    glMaterialfv(GL_FRONT,GL_DIFFUSE,couleurVert(0.5));
    solidCylinder(0.1,3.0,30,10);
    glPopMatrix();
    glPushMatrix();
    glTranslatef(3.2F,0.3F,-2.0F);
    glMaterialfv(GL_FRONT,GL_DIFFUSE,couleurBleu(0.5));
    solidCylinder(0.1,3.0,30,10);
    glPopMatrix();
    glEnable(GL_CULL_FACE); }
}

void box(float x,float y,float z) {
  glVertex3f(x,y,z);
  glVertex3f(x,0.0,z);
  glVertex3f(x,y,z);
  glVertex3f(x,y,0.0);
  glVertex3f(x,y,z);
  glVertex3f(0.0,y,z);
  glVertex3f(0.0,0.0,z);
  glVertex3f(x,0.0,z);
  glVertex3f(0.0,y,0.0);
  glVertex3f(x,y,0.0);
  glVertex3f(0.0,0.0,z);
  glVertex3f(0.0,y,z);
  glVertex3f(x,0.0,0.0);
  glVertex3f(x,0.0,z);
  glVertex3f(x,0.0,0.0);
  glVertex3f(x,y,0.0);
  glVertex3f(0.0,y,0.0);
  glVertex3f(0.0,y,z);
}

void display0(void) {
  glClear(GL_COLOR_BUFFER_BIT|GL_DEPTH_BUFFER_BIT);
  glPushMatrix();
  manipulateurSouris();
  manipulateurClavier();
  axes();
  glEnable(GL_LIGHTING);
  glPushMatrix();
  glTranslatef(po[0],po[1],po[2]);
  glMaterialfv(GL_FRONT,GL_DIFFUSE,couleurBlanc());
  glutSolidSphere(0.25,20,20);
  glPopMatrix();
  glPushMatrix();
  glTranslatef(pv[0],pv[1],pv[2]);
  glMaterialfv(GL_FRONT,GL_DIFFUSE,couleurCyan());
  glutSolidSphere(0.25,20,20);
  glPopMatrix();
  glPushMatrix();
  glTranslatef(po[0],po[1],po[2]);
  glRotatef(-thetay,0.0F,1.0F,0.0F);
  glRotatef(-thetax,1.0F,0.0F,0.0F);
  axes();
  glPopMatrix();
  glPushMatrix();
  glTranslatef(po[0],po[1],po[2]);
  glMaterialfv(GL_FRONT,GL_DIFFUSE,couleurBleu());
  flecheEnVolume(axeVisee[0],axeVisee[1],axeVisee[2],0.2F,1.0F,0.05F);
  glPopMatrix();
  glPushMatrix();
  glDisable(GL_LIGHTING);
  glColor4fv(couleurGrisFonce(0.5));
  glBegin(GL_LINES);
  glVertex3f(po[0]-10*axeVisee[0],po[1]-10*axeVisee[1],po[2]-10*axeVisee[2]);
  glVertex3f(po[0]+10*axeVisee[0],po[1]+10*axeVisee[1],po[2]+10*axeVisee[2]);
  box(po[0],po[1],po[2]);
  box(pv[0],pv[1],pv[2]);
  glVertex3f(-100.0,0.0,0.0);
  glVertex3f(100.0,0.0,0.0);
  glVertex3f(0.0,-100.0,0.0);
  glVertex3f(0.0,100.0,0.0);
  glVertex3f(0.0,0.0,-100.0);
  glVertex3f(0.0,0.0,100.0);
  glEnd();
  glPopMatrix();
  scene();
  glPopMatrix();
  glFlush();
  glutSwapBuffers() ;
}

void display1(void) {
  glClear(GL_COLOR_BUFFER_BIT|GL_DEPTH_BUFFER_BIT);
  glPushMatrix();
  manipulateurSouris();
  manipulateurClavier();
  axes();
  glEnable(GL_LIGHTING);
  glPushMatrix();
  glTranslatef(po[0],po[1],po[2]);
  glMaterialfv(GL_FRONT,GL_DIFFUSE,couleurBlanc());
  glutSolidSphere(0.25,20,20);
  glPopMatrix();
  glPushMatrix();
  glTranslatef(pv[0],pv[1],pv[2]);
  glMaterialfv(GL_FRONT,GL_DIFFUSE,couleurCyan());
  glutSolidSphere(0.25,20,20);
  glPopMatrix();
  glMaterialfv(GL_FRONT,GL_DIFFUSE,couleurMagenta());
  flecheEnVolume(axeVisee3[0],axeVisee3[1],axeVisee3[2],0.2F,1.0F,0.05F);
  glPushMatrix();
  glTranslatef(po[0],po[1],po[2]);
  glMaterialfv(GL_FRONT,GL_DIFFUSE,couleurBleu(0.25));
  glEnable(GL_CULL_FACE);
  flecheEnVolume(axeVisee[0],axeVisee[1],axeVisee[2],0.2F,1.0F,0.05F);
  glDisable(GL_CULL_FACE);
  glPopMatrix();
  glDisable(GL_LIGHTING);
  glColor4fv(couleurGrisFonce(0.5));
  glBegin(GL_LINES);
  glVertex3f(po[0]-10*axeVisee[0],po[1]-10*axeVisee[1],po[2]-10*axeVisee[2]);
  glVertex3f(po[0]+10*axeVisee[0],po[1]+10*axeVisee[1],po[2]+10*axeVisee[2]);
  box(po[0],po[1],po[2]);
  box(pv[0],pv[1],pv[2]);
  glVertex3f(-100.0,0.0,0.0);
  glVertex3f(100.0,0.0,0.0);
  glVertex3f(0.0,-100.0,0.0);
  glVertex3f(0.0,100.0,0.0);
  glVertex3f(0.0,0.0,-100.0);
  glVertex3f(0.0,0.0,100.0);
  glEnd();
  glPopMatrix();
  glFlush();
  glutSwapBuffers() ;
}

void display2(void) {
  glClear(GL_COLOR_BUFFER_BIT|GL_DEPTH_BUFFER_BIT);
  glPushMatrix();
  manipulateurSouris();
  manipulateurClavier();
  axes();
  glEnable(GL_LIGHTING);
  glPushMatrix();
  glTranslatef(po[0],po[1],po[2]);
  glMaterialfv(GL_FRONT,GL_DIFFUSE,couleurBlanc());
  glutSolidSphere(0.25,20,20);
  glPopMatrix();
  glPushMatrix();
  glTranslatef(pv[0],pv[1],pv[2]);
  glMaterialfv(GL_FRONT,GL_DIFFUSE,couleurCyan());
  glutSolidSphere(0.25,20,20);
  glPopMatrix();
  glMaterialfv(GL_FRONT,GL_DIFFUSE,couleurMagenta(0.25F));
  flecheEnVolume(axeVisee3[0],axeVisee3[1],axeVisee3[2],0.2F,1.0F,0.05F);
  glTranslatef(po[0],po[1],po[2]);
  axes();
  glMaterialfv(GL_FRONT,GL_DIFFUSE,couleurMagenta());
  flecheEnVolume(axeVisee3[0],axeVisee3[1],axeVisee3[2],0.2F,1.0F,0.05F);
  glMaterialfv(GL_FRONT,GL_DIFFUSE,couleurBleu(0.25));
  glEnable(GL_CULL_FACE);
  flecheEnVolume(axeVisee[0],axeVisee[1],axeVisee[2],0.2F,1.0F,0.05F);
  glDisable(GL_CULL_FACE);
  glDisable(GL_LIGHTING);
  glColor4fv(couleurGrisFonce(0.5));
  glBegin(GL_LINES);
  glVertex3f(-10*axeVisee[0],-10*axeVisee[1],-10*axeVisee[2]);
  glVertex3f(10*axeVisee[0],10*axeVisee[1],10*axeVisee[2]);
  box(axeVisee[0],axeVisee[1],axeVisee[2]);
  glVertex3f(-100.0,0.0,0.0);
  glVertex3f(100.0,0.0,0.0);
  glVertex3f(0.0,-100.0,0.0);
  glVertex3f(0.0,100.0,0.0);
  glVertex3f(0.0,0.0,-100.0);
  glVertex3f(0.0,0.0,100.0);
  glEnd();
  glPopMatrix();
  glFlush();
  glutSwapBuffers() ;
}

void display3(void) {
  glClear(GL_COLOR_BUFFER_BIT|GL_DEPTH_BUFFER_BIT);
  glPushMatrix();
  manipulateurSouris();
  manipulateurClavier();
  axes();
  glEnable(GL_LIGHTING);
  glPushMatrix();
  glTranslatef(po[0],po[1],po[2]);
  glMaterialfv(GL_FRONT,GL_DIFFUSE,couleurBlanc());
  glutSolidSphere(0.25,20,20);
  glPopMatrix();
  glPushMatrix();
  glTranslatef(pv[0],pv[1],pv[2]);
  glMaterialfv(GL_FRONT,GL_DIFFUSE,couleurCyan());
  glutSolidSphere(0.25,20,20);
  glPopMatrix();
  glPushMatrix();
  glTranslatef(po[0],po[1],po[2]);
  glRotatef(-thetay,0.0F,1.0F,0.0F);
  axes();
  glPopMatrix();
  glPushMatrix();
  glTranslatef(po[0],po[1],po[2]);
  vecteur av2;
  matrice rr;
  toRotationY(rr,-thetay);
  produitMatriceVecteur(rr,axeVisee3,av2);
  glDisable(GL_LIGHTING);
  glColor4fv(couleurRouge());
  traceAngleFleche(axeVisee3,av2,30,0.7F,1,2,3.0F,0.025F) ;
  glEnable(GL_LIGHTING);
  glPopMatrix();
  glPushMatrix();
  glTranslatef(po[0],po[1],po[2]);
  glMaterialfv(GL_FRONT,GL_DIFFUSE,couleurRouge(0.25F));
  flecheEnVolume(axeVisee3[0],axeVisee3[1],axeVisee3[2],0.2F,1.0F,0.05F);
  glPopMatrix();
  glPushMatrix();
  glTranslatef(po[0],po[1],po[2]);
  glMaterialfv(GL_FRONT,GL_DIFFUSE,couleurRouge());
  glRotatef(-thetay,0.0F,1.0F,0.0F);
  flecheEnVolume(axeVisee3[0],axeVisee3[1],axeVisee3[2],0.2F,1.0F,0.05F);
  glPopMatrix();
  glPushMatrix();
  glTranslatef(po[0],po[1],po[2]);
  glMaterialfv(GL_FRONT,GL_DIFFUSE,couleurBleu(0.25));
  glEnable(GL_CULL_FACE);
  flecheEnVolume(axeVisee[0],axeVisee[1],axeVisee[2],0.2F,1.0F,0.05F);
  glDisable(GL_CULL_FACE);
  glPopMatrix();
  glDisable(GL_LIGHTING);
  glColor4fv(couleurGrisFonce(0.5));
  glTranslatef(po[0],po[1],po[2]);
  glRotatef(-thetay,0.0F,1.0F,0.0F);
  glBegin(GL_LINES);
  box(axeVisee2[0],axeVisee2[1],axeVisee2[2]);
  glVertex3f(-100.0,0.0,0.0);
  glVertex3f(100.0,0.0,0.0);
  glVertex3f(0.0,-100.0,0.0);
  glVertex3f(0.0,100.0,0.0);
  glVertex3f(0.0,0.0,-100.0);
  glVertex3f(0.0,0.0,100.0);
  glEnd();
  glPopMatrix();
  glFlush();
  glutSwapBuffers() ;
}

void display4(void) {
  glClear(GL_COLOR_BUFFER_BIT|GL_DEPTH_BUFFER_BIT);
  glPushMatrix();
  manipulateurSouris();
  manipulateurClavier();
  axes();
  glEnable(GL_LIGHTING);
  glPushMatrix();
  glTranslatef(po[0],po[1],po[2]);
  glMaterialfv(GL_FRONT,GL_DIFFUSE,couleurBlanc());
  glutSolidSphere(0.25,20,20);
  glPopMatrix();
  glPushMatrix();
  glTranslatef(pv[0],pv[1],pv[2]);
  glMaterialfv(GL_FRONT,GL_DIFFUSE,couleurCyan());
  glutSolidSphere(0.25,20,20);
  glPopMatrix();
  glPushMatrix();
  glTranslatef(po[0],po[1],po[2]);
  glRotatef(-thetay,0.0F,1.0F,0.0F);
  glRotatef(-thetax,1.0F,0.0F,0.0F);
  axes();
  glPopMatrix();
  glPushMatrix();
  glTranslatef(po[0],po[1],po[2]);
  vecteur av2;
  matrice rr;
  toRotationY(rr,-thetay);
  produitMatriceVecteur(rr,axeVisee3,av2);
  glDisable(GL_LIGHTING);
  glColor4fv(couleurVert());
  traceAngleFleche(av2,axeVisee,30,0.7F,1,2,3.0F,0.025F) ;
  glEnable(GL_LIGHTING);
  glPopMatrix();
  glPushMatrix();
  glTranslatef(po[0],po[1],po[2]);
  glMaterialfv(GL_FRONT,GL_DIFFUSE,couleurVert(0.25F));
  glRotatef(-thetay,0.0F,1.0F,0.0F);
  flecheEnVolume(axeVisee3[0],axeVisee3[1],axeVisee3[2],0.2F,1.0F,0.05F);
  glPopMatrix();
  glPushMatrix();
  glTranslatef(po[0],po[1],po[2]);
  glMaterialfv(GL_FRONT,GL_DIFFUSE,couleurVert());
  flecheEnVolume(axeVisee[0],axeVisee[1],axeVisee[2],0.2F,1.0F,0.05F);
  glPopMatrix();
  glDisable(GL_LIGHTING);
  glColor4fv(couleurGrisFonce(0.5));
  glTranslatef(po[0],po[1],po[2]);
  glRotatef(-thetay,0.0F,1.0F,0.0F);
  glRotatef(-thetax,1.0F,0.0F,0.0F);
  glBegin(GL_LINES);
  glVertex3f(-100.0,0.0,0.0);
  glVertex3f(100.0,0.0,0.0);
  glVertex3f(0.0,-100.0,0.0);
  glVertex3f(0.0,100.0,0.0);
  glVertex3f(0.0,0.0,-100.0);
  glVertex3f(0.0,0.0,100.0);
  glEnd();
  glPopMatrix();
  glFlush();
  glutSwapBuffers() ;
}

void display5(void) {
  glClear(GL_COLOR_BUFFER_BIT|GL_DEPTH_BUFFER_BIT);
  glPushMatrix();
  manipulateurSouris();
  manipulateurClavier();
  axes();
  glEnable(GL_LIGHTING);
  glPushMatrix();
  glTranslatef(po[0],po[1],po[2]);
  glMaterialfv(GL_FRONT,GL_DIFFUSE,couleurBlanc());
  glutSolidSphere(0.25,20,20);
  glPopMatrix();
  glPushMatrix();
  glTranslatef(pv[0],pv[1],pv[2]);
  glMaterialfv(GL_FRONT,GL_DIFFUSE,couleurCyan());
  glutSolidSphere(0.25,20,20);
  glPopMatrix();
  glPushMatrix();
  glTranslatef(po[0],po[1],po[2]);
  glRotatef(-thetay,0.0F,1.0F,0.0F);
  glRotatef(-thetax,1.0F,0.0F,0.0F);
  axes();
  glPopMatrix();
  glPushMatrix();
  glTranslatef(po[0],po[1],po[2]);
  glMaterialfv(GL_FRONT,GL_DIFFUSE,couleurMagenta());
  flecheEnVolume(axeVisee[0],axeVisee[1],axeVisee[2],0.2F,1.0F,0.05F);
  glPopMatrix();
  glPushMatrix();
  glDisable(GL_LIGHTING);
  glColor4fv(couleurGrisFonce(0.5));
  glTranslatef(po[0],po[1],po[2]);
  glRotatef(-thetay,0.0F,1.0F,0.0F);
  glRotatef(-thetax,1.0F,0.0F,0.0F);
  glBegin(GL_LINES);
  glVertex3f(-100.0,0.0,0.0);
  glVertex3f(100.0,0.0,0.0);
  glVertex3f(0.0,-100.0,0.0);
  glVertex3f(0.0,100.0,0.0);
  glVertex3f(0.0,0.0,-100.0);
  glVertex3f(0.0,0.0,100.0);
  glEnd();
  glPopMatrix();
  scene();
  glPopMatrix();
  glFlush();
  glutSwapBuffers() ;
}

void postRedisplay(void) {
  calculParametresVisualisation();
  glutPostWindowRedisplay(f1);
  glutPostWindowRedisplay(f2);
  glutPostWindowRedisplay(f3);
}

void key(unsigned char key,int x,int y) {
  static int aff = 1;
  static int disp = 0;
  if ( keyManipulateur(key,x,y) )
    postRedisplay();
    else
    switch ( key ) {
      case 's'  : scn = !scn;
                  postRedisplay();
                  break;
      case '1'  : po[0] -= 0.05F;
                  postRedisplay();
                  break;
      case '4'  : po[0] += 0.05F;
                  postRedisplay();
                  break;
      case '2'  : po[1] -= 0.05F;
                  postRedisplay();
                  break;
      case '5'  : po[1] += 0.05F;
                  postRedisplay();
                  break;
      case '3'  : po[2] -= 0.05F;
                  postRedisplay();
                  break;
      case '6'  : po[2] += 0.05F;
                  postRedisplay();
                  break;
      case ' '  : aff = !aff;
                  if ( aff ) {
                    po[0] = pv[0];
                    po[1] = pv[1];
                    po[2] = 4.0F; }
                    else {
                    po[0] = ref[0];
                    po[1] = ref[1];
                    po[2] = ref[2]; }
                  postRedisplay();
                  break;
      case 0x0D : disp = (disp+1)%6;
                  glutSetWindow(f1);
                  switch(disp) {
                    case 0 : glutDisplayFunc(display0);
                             break;
                    case 1 : glutDisplayFunc(display1);
                             break;
                    case 2 : glutDisplayFunc(display2);
                             break;
                    case 3 : glutDisplayFunc(display3);
                             break;
                    case 4 : glutDisplayFunc(display4);
                             break;
                    case 5 : glutDisplayFunc(display5);
                             break; }
                  postRedisplay();
                  break; }
}

void reshapeValeurs(int w,int h) {
  glViewport(0,0,w,h);
  glMatrixMode(GL_PROJECTION);
  glLoadIdentity();
  glOrtho(0,w,-h,0,-1.0,1.0); 
  glMatrixMode(GL_MODELVIEW);
  glLoadIdentity();
}

void displayValeurs() {
  int i;
  glClear(GL_DEPTH_BUFFER_BIT|GL_COLOR_BUFFER_BIT);
  glPushMatrix();
  float pos = 1.0F;
  glColor4fv(couleurBlanc());
  placeFontCursor(5.0F,-pos*20.0F,0.0F) ;
  simpleBitmapOutput(1,REGULAR8x13,"Po=Observateur  : %6.3f %6.3f %6.3f %6.3f",po[0],po[1],po[2],po[3]) ;
  pos += 1.0F;
  placeFontCursor(5.0F,-pos*20.0F,0.0F) ;
  glColor4fv(couleurCyan());
  simpleBitmapOutput(1,REGULAR8x13,"Pv=Point vise   : %6.3f %6.3f %6.3f %6.3f",pv[0],pv[1],pv[2],pv[3]) ;
  pos += 1.0F;
  placeFontCursor(5.0F,-pos*20.0F,0.0F) ;
  glColor4fv(couleurBleu());
  simpleBitmapOutput(1,REGULAR8x13,"A=Axe de visee  : %6.3f %-.3f %6.3f %6.3f",axeVisee[0],axeVisee[1],axeVisee[2],axeVisee[3]) ;
  pos += 1.0F;
  placeFontCursor(5.0F,-pos*20.0F,0.0F) ;
  glColor4fv(couleurRouge());
  simpleBitmapOutput(1,REGULAR8x13,"ThetaY (R1)     : %8.3f degres",thetay) ;
  pos += 1.0F;
  placeFontCursor(5.0F,-pos*20.0F,0.0F) ;
  glColor4fv(couleurBlanc());
  simpleBitmapOutput(1,REGULAR8x13,"A'=R1.A         : %6.3f %6.3f %6.3f %6.3f",axeVisee2[0],axeVisee2[1],axeVisee2[2],axeVisee2[3]) ;
  pos += 1.0F;
  placeFontCursor(5.0F,-pos*20.0F,0.0F) ;
  glColor4fv(couleurVert());
  simpleBitmapOutput(1,REGULAR8x13,"ThetaX (R2)     : %8.3f degres",thetax) ;
  pos += 1.0F;
  placeFontCursor(5.0F,-pos*20.0F,0.0F) ;
  glColor4fv(couleurMagenta());
  simpleBitmapOutput(1,REGULAR8x13,"A\"=R2.A'        : %6.3f %6.3f %6.3f %6.3f",axeVisee3[0],axeVisee3[1],axeVisee3[2],axeVisee3[3]) ;
  pos += 1.0F;
  placeFontCursor(5.0F,-pos*20.0F,0.0F) ;
  glColor4fv(couleurJaune());
  simpleBitmapOutput(1,REGULAR8x13,"Matrice M=R2.R1") ;
  pos += 1.0F;
  for ( i = 0 ; i < 4 ; i++ ) {
    placeFontCursor(5.0F,-pos*20.0F,0.0F) ;
    simpleBitmapOutput(1,REGULAR8x13,"                  %6.3f %6.3f %6.3f %6.3f",m[i][0],m[i][1],m[i][2],m[i][3]) ;
    pos += 1.0F; }
  placeFontCursor(5.0F,-pos*20.0F,0.0F) ;
  glColor4fv(couleurMagenta());
  simpleBitmapOutput(1,REGULAR8x13,"M.Axe visee     : %6.3f %6.3f %6.3f %6.3f",axe[0],axe[1],axe[2],axe[3]) ;
  pos += 1.0F;
  glColor4fv(couleurJaune());
  placeFontCursor(5.0F,-pos*20.0F,0.0F) ;
  simpleBitmapOutput(1,REGULAR8x13,"Matrice M'=M.T=R2.R1.T") ;
  pos += 1.0F;
  for ( i = 0 ; i < 4 ; i++ ) {
    placeFontCursor(5.0F,-pos*20.0F,0.0F) ;
    simpleBitmapOutput(1,REGULAR8x13,"                  %6.3f %6.3f %6.3f %6.3f",m[i][0],m[i][1],m[i][2],m[i][3]) ;
    pos += 1.0F; }
  placeFontCursor(5.0F,-pos*20.0F,0.0F) ;
  glColor4fv(couleurMagenta());
  simpleBitmapOutput(1,REGULAR8x13,"M'.Pv           : %6.3f %6.3f %6.3f %6.3f",p[0],p[1],p[2],p[3]) ;
  pos += 1.0F;
  placeFontCursor(5.0F,-pos*20.0F,0.0F) ;
  glColor4fv(couleurJaune());
  simpleBitmapOutput(1,REGULAR8x13,"Matrice calculee MC") ;
  pos += 1.0F;
  for ( i = 0 ; i < 4 ; i++ ) {
    placeFontCursor(5.0F,-pos*20.0F,0.0F) ;
    simpleBitmapOutput(1,REGULAR8x13,"                  %6.3f %6.3f %6.3f %6.3f",mc[i][0],mc[i][1],mc[i][2],mc[i][3]) ;
    pos += 1.0F; }
  glPopMatrix();
  glutSwapBuffers();
}

void reshapeScene(int w,int h) {
  glViewport(0,0,w,h);
  glMatrixMode(GL_PROJECTION);
  glLoadIdentity();
  glOrtho(w*-2.0F/h,w*2.0F/h,-2.0,2.0F,-10.0,10.0); 
  glMatrixMode(GL_MODELVIEW);
  glLoadIdentity();
  gluLookAt(po[0],po[1],po[2],pv[0],pv[1],pv[2],0.0,1.0,0.0);
}

void displayScene() {
  glClear(GL_DEPTH_BUFFER_BIT|GL_COLOR_BUFFER_BIT);
  glPushMatrix();
  scene();
  glPopMatrix();
  glutSwapBuffers();
}

int main(int argc,char **argv) {
  calculParametresVisualisation();
  glutInit(&argc,argv);
  glutInitDisplayMode(GLUT_RGBA|GLUT_DEPTH|GLUT_DOUBLE);
  glutInitWindowSize(470,250); 
  glutInitWindowPosition(40,50); 
  f1 = glutCreateWindow("Les parametres de visualisation"); 
  myinit(couleurGrisMoyen());
  creationMenuBasique();
  setParametresOrthoBasique(-3.0,3.0,-3.0,3.0,-50.0,50.0);
  setManipulateurDistance(1.0F);
  setManipulateurClavierAngle(20.0,-40.0,0.0);
  glutReshapeFunc(reshapeOrthoBasique);
  glutKeyboardFunc(key);
  glutSpecialFunc(specialBasique);
  glutMotionFunc(motionBasique);
  glutMouseFunc(sourisBasique);
  glutDisplayFunc(display0);
  glutInitWindowSize(470,490);
  glutInitWindowPosition(40,340);
  glutInitDisplayMode(GLUT_RGBA|GLUT_DEPTH|GLUT_DOUBLE);
  f2 = glutCreateWindow("Valeurs");
  creationMenuBasique();
  glutDisplayFunc(displayValeurs);
  glutReshapeFunc(reshapeValeurs);
  glutKeyboardFunc(key);
  glutSpecialFunc(specialBasique);
  glutInitWindowSize(470,250);
  glutInitWindowPosition(530,50);
  glutInitDisplayMode(GLUT_RGBA|GLUT_DEPTH|GLUT_DOUBLE);
  f3 = glutCreateWindow("Scene");
  myinit(couleurNoir());
  creationMenuBasique();
  glutDisplayFunc(displayScene);
  glutReshapeFunc(reshapeScene);
  glutKeyboardFunc(key);
  glutSpecialFunc(specialBasique);
  glutMainLoop();
  return(0);
}