// robo.c.cpp : Defines the entry point for the console application.

//

#include "stdafx.h"
#define SPHERE
#define COLOR
#define LIGHT
#define TORSO
#define HIP
#define SHOULDER
#define UPPER_ARM
#define LOWER_ARM
#define ROCKET_POD
#define UPPER_LEG
#define LOWER_LEG
#define NO_NORM
#define ANIMATION
#define DRAW_MECH
#define DRAW_ENVIRO
#define MOVE_LIGHT
/* end of compilation conditions */

/* start various header files needed */

#include <stdlib.h>
#include <math.h>
#include<string.h>
#define GLUT
#define GLUT_KEY
#define GLUT_SPEC
#include <glut.h>
/* end of header files */
#define TEXTID 19
void DrawTextXY(double,double,double,double,char *);
/* start of display list definitions */
#define SOLID_MECH_TORSO 1
#define SOLID_MECH_HIP 2
#define SOLID_MECH_SHOULDER 3
#define SOLID_MECH_UPPER_ARM 4
#define SOLID_MECH_FOREARM 5
#define SOLID_MECH_UPPER_LEG 6
#define SOLID_MECH_FOOT 7
#define SOLID_MECH_ROCKET 8
#define SOLID_MECH_VULCAN 9
#define SOLID_ENVIRO 10
/* end of display list definitions */
/* start of motion variables */
#ifndef M_PI
#define M_PI 3.14
#endif

GLUquadricObj *qobj;

char leg = 0;

int shoulder1 = 0, shoulder2 = 0, shoulder3 = 0, shoulder4 = 0, lat1 = 20, lat2 =

20,
elbow1 = 0, elbow2 = 0, pivot = 0, tilt = 10, ankle1 = 0, ankle2 = 0, heel1 = 0,
heel2 = 0, hip11 = 0, hip12 = 10, hip21 = 0, hip22 = 10, fire = 0, solid_part =
0,
 anim = 0, turn = 0, turn1 = 0, lightturn = 0, lightturn1 = 0;

float elevation = 0.0, distance = 0.0, frame = 3.0

/* foot1v[] = {} foot2v[] = {} */ ;

/* end of motion variables */

/* start of material definitions */

#ifdef LIGHT // to change the color of robot box
GLfloat mat_specular[] = {0.0, 0.0, 1.0, 1.0};
GLfloat mat_ambient[] ={0.0, 0.0, 1.0, 1.0};
GLfloat mat_diffuse[] ={0.0, 0.0, 1.0, 1.0};
GLfloat mat_shininess[] ={128.0 * 0.4};

GLfloat mat_specular2[] ={0.508273, 0.508273, 0.508373};

GLfloat mat_ambient2[] ={0.19225, 0.19225, 0.19225};
GLfloat mat_diffuse2[] ={0.50754, 0.50754, 0.50754};
GLfloat mat_shininess2[] ={128.0 * 0.6};
//to change the wall colorfffffffff
GLfloat mat_specular3[] = {1.0, 1.0, 0.0};
GLfloat mat_ambient3[] ={1.0, 1.0, 0.0};
GLfloat mat_diffuse3[] ={1.0, 1.0, 0.0};
GLfloat mat_shininess3[] ={0.0 * 0.0};
//to change the plateform color
GLfloat mat_specular4[] = {0.633, 0.727811, 0.633};
GLfloat mat_ambient4[] = {0.0215, 0.1745, 0.0215};
GLfloat mat_diffuse4[] = {0.07568, 0.61424, 0.07568};
GLfloat mat_shininess4[] = {128 * 0.6};

GLfloat mat_specular5[] =
{0.60, 0.60, 0.50};
GLfloat mat_ambient5[] =
{0.0, 0.0, 0.0};
GLfloat mat_diffuse5[] =
{0.5, 0.5, 0.0};
GLfloat mat_shininess5[] =
{128.0 * 0.25};
#endif
/* end of material definitions */

/* start of the body motion functions */

void Heel1Add(void)
{
heel1 = (heel1 + 3) % 360;
}
void Heel1Subtract(void)
{
heel1 = (heel1 - 3) % 360;
}
void Heel2Add(void)
{
heel2 = (heel2 + 3) % 360;
}
void Heel2Subtract(void)
{
heel2 = (heel2 - 3) % 360;
}
void Ankle1Add(void)
{
 ankle1 = (ankle1 + 3) % 360;
}
void Ankle1Subtract(void)
{
ankle1 = (ankle1 - 3) % 360;
}
void Ankle2Add(void)
{
ankle2 = (ankle2 + 3) % 360;
}
void Ankle2Subtract(void)
{
ankle2 = (ankle2 - 3) % 360;
}
void RotateAdd(void)
{
pivot = (pivot + 3) % 360;
}
void RotateSubtract(void)
{
pivot = (pivot - 10) % 360;
}
void MechTiltSubtract(void)
{
tilt = (tilt - 10) % 360;
}
void MechTiltAdd(void)
{
tilt = (tilt + 10) % 360;
}
void elbow1Add(void)
{
elbow1 = (elbow1 + 2) % 360;
}
void elbow1Subtract(void)
{
elbow1 = (elbow1 - 2) % 360;
}
void elbow2Add(void)
{
elbow2 = (elbow2 + 2) % 360;
}
void elbow2Subtract(void)
{
elbow2 = (elbow2 - 2) % 360;
}
void shoulder1Add(void)
{
shoulder1 = (shoulder1 + 5) % 360;
}
void shoulder1Subtract(void)
{
shoulder1 = (shoulder1 - 5) % 360;
}
void shoulder2Add(void)
{
shoulder2 = (shoulder2 + 5) % 360;
}
void shoulder2Subtract(void)
{
shoulder2 = (shoulder2 - 5) % 360;
}
void shoulder3Add(void)
{
shoulder3 = (shoulder3 + 5) % 360;
}
void shoulder3Subtract(void)
{
shoulder3 = (shoulder3 - 5) % 360;
}
void shoulder4Add(void)
{
shoulder4 = (shoulder4 + 5) % 360;
}
void shoulder4Subtract(void)
{
shoulder4 = (shoulder4 - 5) % 360;
}
void lat1Raise(void)
{
lat1 = (lat1 + 5) % 360;
}
void lat1Lower(void)
{
lat1 = (lat1 - 5) % 360;
}
void lat2Raise(void)
{
lat2 = (lat2 + 5) % 360;
}
void lat2Lower(void)
{
lat2 = (lat2 - 5) % 360;
}
void FireCannon(void)
{
fire = (fire + 20) % 360;
}
void RaiseLeg1Forward(void)
{
hip11 = (hip11 + 3) % 360;
}
void LowerLeg1Backwards(void)
{
hip11 = (hip11 - 3) % 360;
}
void RaiseLeg1Outwards(void)
{
hip12 = (hip12 + 10) % 360;
}
void LowerLeg1Inwards(void)
{
hip12 = (hip12 - 10) % 360;
}
void RaiseLeg2Forward(void)
{
hip21 = (hip21 + 3) % 360;
}
void LowerLeg2Backwards(void)
{
hip21 = (hip21 - 3) % 360;
}
void RaiseLeg2Outwards(void)
{
hip22 = (hip22 + 10) % 360;
}
void LowerLeg2Inwards(void)
{
hip22 = (hip22 - 10) % 360;
}
/* end of body motion functions */

/* start of light source position functions */

void TurnRight(void)
{
turn = (turn - 10) % 360;
}

void TurnLeft(void)
{
turn = (turn + 10) % 360;
}

void TurnForwards(void)
{
turn1 = (turn1 - 10) % 360;
}

void TurnBackwards(void)
{
turn1 = (turn1 + 10) % 360;
}
void LightTurnRight(void)
{
lightturn = (lightturn + 10) % 360;
}

void LightTurnLeft(void)
{
lightturn = (lightturn - 10) % 360;
}

void LightForwards(void)
{
lightturn1 = (lightturn1 + 10) % 360;
}

void LightBackwards(void)
{
lightturn1 = (lightturn1 - 10) % 360;
}

/* end of light source position functions */

void DrawTextXY(double x,double y,double z,double scale,char *s)
{
int i;
 glPushMatrix();
glTranslatef(x,y,z);
glScalef(scale,scale,scale);
for (i=0;i<strlen(s);i++)
glutStrokeCharacter(GLUT_STROKE_ROMAN,s[i]);
glPopMatrix();
}
/* start of geometric shape functions */
void Box(float width, float height, float depth, char solid)
{
char i, j = 0;
float x = width / 2.0, y = height / 2.0, z = depth / 2.0;

for (i = 0; i < 4; i++) {

glRotatef(90.0, 0.0, 0.0, 1.0);
if (j) {
if (!solid)
glBegin(GL_LINE_LOOP);
else
glBegin(GL_QUADS);
glNormal3f(-1.0, 0.0, 0.0);
glVertex3f(-x, y, z);
glVertex3f(-x, -y, z);
glVertex3f(-x, -y, -z);
glVertex3f(-x, y, -z);
glEnd();
if (solid) {
glBegin(GL_TRIANGLES);
glNormal3f(0.0, 0.0, 1.0);
glVertex3f(0.0, 0.0, z);
glVertex3f(-x, y, z);
glVertex3f(-x, -y, z);
glNormal3f(0.0, 0.0, -1.0);
glVertex3f(0.0, 0.0, -z);
glVertex3f(-x, -y, -z);
glVertex3f(-x, y, -z);
glEnd();
}
j = 0;
} else {
if (!solid)
glBegin(GL_LINE_LOOP);
else
glBegin(GL_QUADS);
glNormal3f(-1.0, 0.0, 0.0);
glVertex3f(-y, x, z);
glVertex3f(-y, -x, z);
glVertex3f(-y, -x, -z);
glVertex3f(-y, x, -z);
glEnd();
if (solid) {
glBegin(GL_TRIANGLES);
glNormal3f(0.0, 0.0, 1.0);
glVertex3f(0.0, 0.0, z);
glVertex3f(-y, x, z);
glVertex3f(-y, -x, z);
glNormal3f(0.0, 0.0, -1.0);
glVertex3f(0.0, 0.0, -z);
glVertex3f(-y, -x, -z);
 glVertex3f(-y, x, -z);
glEnd();
}
j = 1;
}
}
}

void Octagon(float side, float height, char solid)

{
char j;
float x = sin(0.7) * side, y = side / 2.0, z = height / 2.0, c;

c = x + y;
for (j = 0; j < 8; j++) {
glTranslatef(-c, 0.0, 0.0);
if (!solid)
glBegin(GL_LINE_LOOP);
else
glBegin(GL_QUADS);
glNormal3f(-1.0, 0.0, 0.0);
glVertex3f(0.0, -y, z);
glVertex3f(0.0, y, z);
glVertex3f(0.0, y, -z);
glVertex3f(0.0, -y, -z);
glEnd();
glTranslatef(c, 0.0, 0.0);
if (solid) {
glBegin(GL_TRIANGLES);
glNormal3f(0.0, 0.0, 1.0);
glVertex3f(0.0, 0.0, z);
glVertex3f(-c, -y, z);
glVertex3f(-c, y, z);
glNormal3f(0.0, 0.0, -1.0);
glVertex3f(0.0, 0.0, -z);
glVertex3f(-c, y, -z);
glVertex3f(-c, -y, -z);
glEnd();
}
glRotatef(45.0, 0.0, 0.0, 1.0);
}
}

/* end of geometric shape functions */

#ifdef NORM
void Normalize(float v[3])
{
GLfloat d = sqrt(v[1] * v[1] + v[2] * v[2] + v[3] * v[3]);

if (d == 0.0) {
printf("zero length vector");
return;
}
v[1] /= d;
v[2] /= d;
v[3] /= d;
}

void NormXprod(float v1[3], float v2[3], float v[3], float out[3])

{
GLint i, j;
GLfloat length;

out[0] = v1[1] * v2[2] - v1[2] * v2[1];

out[1] = v1[2] * v2[0] - v1[0] * v2[2];
out[2] = v1[0] * v2[1] - v1[1] * v2[0];
Normalize(out);
}

#endif

void SetMaterial(GLfloat spec[], GLfloat amb[], GLfloat diff[], GLfloat shin[])

{

glMaterialfv(GL_FRONT, GL_SPECULAR, spec);

glMaterialfv(GL_FRONT, GL_SHININESS, shin);
glMaterialfv(GL_FRONT, GL_AMBIENT, amb);
glMaterialfv(GL_FRONT, GL_DIFFUSE, diff);
}

void MechTorso(char solid)

{
glNewList(SOLID_MECH_TORSO, GL_COMPILE);
#ifdef LIGHT
SetMaterial(mat_specular, mat_ambient, mat_diffuse, mat_shininess);
#endif
glColor3f(1.0, 0.0, 0.0);//torso red color
Box(1.0, 1.0, 3.0, solid);
glTranslatef(0.75, 0.0, 0.0);
#ifdef LIGHT
SetMaterial(mat_specular2, mat_ambient2, mat_diffuse2, mat_shininess2);
#endif
glColor3f(0.0, 0.0, 1.0);//torso blue color
Box(0.5, 0.6, 2.0, solid);
glTranslatef(-1.5, 0.0, 0.0);
Box(0.5, 0.6, 2.0, solid);
glTranslatef(0.75, 0.0, 0.0);
glEndList();
}

void MechHip(char solid)

{
int i;

glNewList(SOLID_MECH_HIP, GL_COMPILE);
#ifdef LIGHT
SetMaterial(mat_specular, mat_ambient, mat_diffuse, mat_shininess);
#endif
glColor3f(0.0, 1.0, 0.0);//hip lines form green
Octagon(0.7, 0.5, solid);
#ifdef SPHERE
for (i = 0; i < 2; i++) {
if (i)
glScalef(-1.0, 1.0, 1.0);
glTranslatef(1.0, 0.0, 0.0);
#ifdef LIGHT
SetMaterial(mat_specular2, mat_ambient2, mat_diffuse2, mat_shininess2);
#endif
 glColor3f(0.0, 1.0, 0.0);//hip line form green
if (!solid)
gluQuadricDrawStyle(qobj, GLU_LINE);
gluSphere(qobj, 0.2, 16, 16);
glTranslatef(-1.0, 0.0, 0.0);
}
glScalef(-1.0, 1.0, 1.0);
#endif
glEndList();
}

void Shoulder(char solid)

{
glNewList(SOLID_MECH_SHOULDER, GL_COMPILE);
#ifdef LIGHT
SetMaterial(mat_specular, mat_ambient, mat_diffuse, mat_shininess);
#endif
glColor3f(0.0, 1.0, 0.0);//sholder color green
Box(1.0, 0.5, 0.5, solid);
glTranslatef(0.9, 0.0, 0.0);
#ifdef LIGHT
SetMaterial(mat_specular2, mat_ambient2, mat_diffuse2, mat_shininess2);
#endif
glColor3f(0.0, 1.0, 0.0);// sholder color green
#ifdef SPHERE
if (!solid)
gluQuadricDrawStyle(qobj, GLU_LINE);
gluSphere(qobj, 0.6, 16, 16);
#endif
glTranslatef(-0.9, 0.0, 0.0);
glEndList();
}

void UpperArm(char solid)

{
int i;

glNewList(SOLID_MECH_UPPER_ARM, GL_COMPILE);
#ifdef LIGHT
SetMaterial(mat_specular, mat_ambient, mat_diffuse, mat_shininess);
#endif
glColor3f(1.0, 0.0, 0.0);//arm red
Box(1.0, 2.0, 1.0, solid);
glTranslatef(0.0, -0.95, 0.0);
glRotatef(90.0, 1.0, 0.0, 0.0);
#ifdef LIGHT
SetMaterial(mat_specular2, mat_ambient2, mat_diffuse2, mat_shininess2);
#endif
glColor3f(1.0, 0.0, 0.0);//arm red
if (!solid)
gluQuadricDrawStyle(qobj, GLU_LINE);
gluCylinder(qobj, 0.4, 0.4, 1.5, 16, 10);
#ifdef LIGHT
SetMaterial(mat_specular, mat_ambient, mat_diffuse, mat_shininess);
#endif
glColor3f(0.0, 1.0, 0.0);// arm joint green
glRotatef(-90.0, 1.0, 0.0, 0.0);
glTranslatef(-0.4, -1.85, 0.0);
glRotatef(90.0, 0.0, 1.0, 0.0);
 for (i = 0; i < 2; i++) {
if (!solid)
gluQuadricDrawStyle(qobj, GLU_LINE);
if (i)
gluCylinder(qobj, 0.5, 0.5, 0.8, 16, 10);
else
gluCylinder(qobj, 0.2, 0.2, 0.8, 16, 10);
}
for (i = 0; i < 2; i++) {
if (i)
glScalef(-1.0, 1.0, 1.0);
if (!solid)
gluQuadricDrawStyle(qobj, GLU_LINE);
if (i)
glTranslatef(0.0, 0.0, 0.8);
gluDisk(qobj, 0.2, 0.5, 16, 10);
if (i)
glTranslatef(0.0, 0.0, -0.8);
}
glScalef(-1.0, 1.0, 1.0);
glRotatef(-90.0, 0.0, 1.0, 0.0);
glTranslatef(0.4, 2.9, 0.0);
glEndList();
}

void VulcanGun(char solid)

{
int i;

glNewList(SOLID_MECH_VULCAN, GL_COMPILE);

#ifdef LIGHT
SetMaterial(mat_specular2, mat_ambient2, mat_diffuse2, mat_shininess2);
#endif
glColor3f(0.0, 0.0, 1.0);//gun color

if (!solid) {
gluQuadricDrawStyle(qobj, GLU_LINE);
}
gluCylinder(qobj, 0.5, 0.5, 0.5, 16, 10);

glTranslatef(0.0, 0.0, 0.5);

gluDisk(qobj, 0.0, 0.5, 16, 10);

for (i = 0; i < 5; i++) {

glRotatef(72.0, 0.0, 0.0, 1.0);

glTranslatef(0.0, 0.3, 0.0);

if (!solid) {
gluQuadricDrawStyle(qobj, GLU_LINE);
}
gluCylinder(qobj, 0.15, 0.15, 2.0, 16, 10);
gluCylinder(qobj, 0.06, 0.06, 2.0, 16, 10);
glTranslatef(0.0, 0.0, 2.0);
gluDisk(qobj, 0.1, 0.15, 16, 10);
gluCylinder(qobj, 0.1, 0.1, 0.1, 16, 5);
glTranslatef(0.0, 0.0, 0.1);
 gluDisk(qobj, 0.06, 0.1, 16, 5);
glTranslatef(0.0, -0.3, -2.1);
}
glEndList();
}

void ForeArm(char solid)

{
char i;

glNewList(SOLID_MECH_FOREARM, GL_COMPILE);
#ifdef LIGHT
SetMaterial(mat_specular, mat_ambient, mat_diffuse, mat_shininess);
#endif
glColor3f(0.0, 1.0, 1.0);//fore arm light green
for (i = 0; i < 5; i++) {
glTranslatef(0.0, -0.1, -0.15);
Box(0.6, 0.8, 0.2, solid);
glTranslatef(0.0, 0.1, -0.15);
Box(0.4, 0.6, 0.1, solid);
}
glTranslatef(0.0, 0.0, 2.45);
Box(1.0, 1.0, 2.0, solid);
glTranslatef(0.0, 0.0, -1.0);
glEndList();
}

void UpperLeg(char solid)

{
int i;

glNewList(SOLID_MECH_UPPER_LEG, GL_COMPILE);
#ifdef LIGHT
SetMaterial(mat_specular, mat_ambient, mat_diffuse, mat_shininess);
#endif
glColor3f(1.0, 1.0, 0.0);//color yellow
if (!solid) {
gluQuadricDrawStyle(qobj, GLU_LINE);
}
glTranslatef(0.0, -1.0, 0.0);
Box(0.4, 1.0, 0.7, solid);
glTranslatef(0.0, -0.65, 0.0);
for (i = 0; i < 5; i++) {
Box(1.2, 0.3, 1.2, solid);
glTranslatef(0.0, -0.2, 0.0);
Box(1.0, 0.1, 1.0, solid);
glTranslatef(0.0, -0.2, 0.0);
}
glTranslatef(0.0, -0.15, -0.4);
Box(2.0, 0.5, 2.0, solid);
glTranslatef(0.0, -0.3, -0.2);
glRotatef(90.0, 1.0, 0.0, 0.0);
#ifdef LIGHT
SetMaterial(mat_specular2, mat_ambient2, mat_diffuse2, mat_shininess2);
#endif
glColor3f(0.5, 0.5, 0.5);//leg joints grey
gluCylinder(qobj, 0.6, 0.6, 3.0, 16, 10);
#ifdef LIGHT
SetMaterial(mat_specular, mat_ambient, mat_diffuse, mat_shininess);
#endif
glColor3f(0.0, 1.0, 0.0);//above the leg joint n below the fore leg
glRotatef(-90.0, 1.0, 0.0, 0.0);
glTranslatef(0.0, -1.5, 1.0);
Box(1.5, 3.0, 0.5, solid);
glTranslatef(0.0, -1.75, -0.8);
Box(2.0, 0.5, 2.0, solid);
glTranslatef(0.0, -0.9, -0.85);
#ifdef LIGHT
SetMaterial(mat_specular2, mat_ambient2, mat_diffuse2, mat_shininess2);
#endif
glColor3f(1.0, 0.0, 0.0);//leg joints between fore leg and leg
gluCylinder(qobj, 0.8, 0.8, 1.8, 16, 10);
for (i = 0; i < 2; i++) {
if (i)
glScalef(-1.0, 1.0, 1.0);
if (!solid)
gluQuadricDrawStyle(qobj, GLU_LINE);
if (i)
glTranslatef(0.0, 0.0, 1.8);
gluDisk(qobj, 0.0, 0.8, 16, 10);
if (i)
glTranslatef(0.0, 0.0, -1.8);
}
glScalef(-1.0, 1.0, 1.0);
glEndList();
}

void Foot(char solid)

{

glNewList(SOLID_MECH_FOOT, GL_COMPILE);
#ifdef LIGHT
SetMaterial(mat_specular2, mat_ambient2, mat_diffuse2, mat_shininess2);
#endif
glColor3f(1.0, 0.0, 0.0);// color foot
glRotatef(90.0, 1.0, 0.0, 0.0);
Octagon(1.5, 0.6, solid);
glRotatef(-90.0, 1.0, 0.0, 0.0);
glEndList();
}

void LowerLeg(char solid)

{
float k, l;

#ifdef LIGHT
SetMaterial(mat_specular, mat_ambient, mat_diffuse, mat_shininess);
#endif
glColor3f(1.0, 0.0, 0.0);//leg joint
for (k = 0.0; k < 2.0; k++) {
for (l = 0.0; l < 2.0; l++) {
glPushMatrix();
glTranslatef(k, 0.0, l);
#ifdef LIGHT
SetMaterial(mat_specular, mat_ambient, mat_diffuse, mat_shininess);
#endif
glColor3f(1.0, 0.0, 0.0);//red
Box(1.0, 0.5, 1.0, solid);
 glTranslatef(0.0, -0.45, 0.0);
#ifdef LIGHT
SetMaterial(mat_specular2, mat_ambient2, mat_diffuse2, mat_shininess2);
#endif
glColor3f(1.0, 0.0, 0.0);
#ifdef SPHERE
if (!solid)
glutWireSphere(0.2, 16, 10);
else
glutSolidSphere(0.2, 16, 10);
#endif
if (leg)
glRotatef((GLfloat) heel1, 1.0, 0.0, 0.0);
else
glRotatef((GLfloat) heel2, 1.0, 0.0, 0.0);
/* glTranslatef(0.0, -0.2, 0.0); */
glTranslatef(0.0, -1.7, 0.0);
#ifdef LIGHT
SetMaterial(mat_specular, mat_ambient, mat_diffuse, mat_shininess);
#endif
glColor3f(1.0, 0.0, 0.0);//color of the below leg( pillers)
Box(0.25, 3.0, 0.25, solid);
glTranslatef(0.0, -1.7, 0.0);
#ifdef LIGHT
SetMaterial(mat_specular2, mat_ambient2, mat_diffuse2, mat_shininess2);
#endif
glColor3f(0.0, 0.0, 1.0);//joints
#ifdef SPHERE
if (!solid)
glutWireSphere(0.2, 16, 10);
else
glutSolidSphere(0.2, 16, 10);
#endif
if (leg)
glRotatef((GLfloat) - heel1, 1.0, 0.0, 0.0);
else
glRotatef((GLfloat) - heel2, 1.0, 0.0, 0.0);
glTranslatef(0.0, -0.45, 0.0);
#ifdef LIGHT
SetMaterial(mat_specular, mat_ambient, mat_diffuse, mat_shininess);
#endif
glColor3f(0.0, 1.0, 0.0);// leg n foot joints color
Box(1.0, 0.5, 1.0, solid);
if (!k && !l) {
int j;

glTranslatef(-0.4, -0.8, 0.5);

if (leg)
glRotatef((GLfloat) ankle1, 1.0, 0.0, 0.0);
else
glRotatef((GLfloat) ankle2, 1.0, 0.0, 0.0);
glRotatef(90.0, 0.0, 1.0, 0.0);
if (!solid)
gluQuadricDrawStyle(qobj, GLU_LINE);
gluCylinder(qobj, 0.8, 0.8, 1.8, 16, 10);
for (j = 0; j < 2; j++) {
if (!solid)
gluQuadricDrawStyle(qobj, GLU_LINE);
if (j) {
 glScalef(-1.0, 1.0, 1.0);
glTranslatef(0.0, 0.0, 1.8);
}
gluDisk(qobj, 0.0, 0.8, 16, 10);
if (j)
glTranslatef(0.0, 0.0, -1.8);
}
glScalef(-1.0, 1.0, 1.0);
glRotatef(-90.0, 0.0, 1.0, 0.0);
glTranslatef(0.95, -0.8, 0.0);
glCallList(SOLID_MECH_FOOT);
}
glPopMatrix();
}
}
}

void RocketPod(char solid)

{

int i, j, k = 0;

glNewList(SOLID_MECH_ROCKET, GL_COMPILE);
#ifdef LIGHT
SetMaterial(mat_specular2, mat_ambient2, mat_diffuse2, mat_shininess2);
#endif
glColor3f(0.0, 1.0, 0.0);//rocket port color
glScalef(0.4, 0.4, 0.4);
glRotatef(45.0, 0.0, 0.0, 1.0);
glTranslatef(1.0, 0.0, 0.0);
Box(2.0, 0.5, 3.0, solid);
glTranslatef(1.0, 0.0, 0.0);
glRotatef(45.0, 0.0, 0.0, 1.0);
glTranslatef(0.5, 0.0, 0.0);
Box(1.2, 0.5, 3.0, solid);
glTranslatef(2.1, 0.0, 0.0);
glRotatef(-90.0, 0.0, 0.0, 1.0);
#ifdef LIGHT
SetMaterial(mat_specular, mat_ambient, mat_diffuse, mat_shininess);
#endif
glColor3f(1.0, 1.0, 0.0);
Box(2.0, 3.0, 4.0, solid);
glTranslatef(-0.5, -1.0, 1.3);
for (i = 0; i < 2; i++) {
for (j = 0; j < 3; j++) {
if (!solid) {
gluQuadricDrawStyle(qobj, GLU_LINE);
}
glTranslatef(i, j, 0.6);
#ifdef LIGHT
SetMaterial(mat_specular3, mat_ambient3, mat_diffuse3, mat_shininess3);
#endif
glColor3f(1.0, 1.0, 1.0);
gluCylinder(qobj, 0.4, 0.4, 0.3, 16, 10);
glTranslatef(0.0, 0.0, 0.3);
#ifdef LIGHT
SetMaterial(mat_specular4, mat_ambient4, mat_diffuse4, mat_shininess4);
#endif
glColor3f(0.0, 1.0, 0.0);
 gluCylinder(qobj, 0.4, 0.0, 0.5, 16, 10);
k++;
glTranslatef(-i, -j, -0.9);
}
}
glEndList();
}

void Enviro(char solid)

{

int i, j;

glNewList(SOLID_ENVIRO, GL_COMPILE);
SetMaterial(mat_specular4, mat_ambient4, mat_diffuse4, mat_shininess4);
glColor3f(1.0, 1.0, 0.0);//out line of the walking path
Box(20.0, 0.5, 30.0, solid);
SetMaterial(mat_specular4, mat_ambient3, mat_diffuse2, mat_shininess);
glColor3f(1.0, 0.0, 0.0);//the surrounding area color
glTranslatef(0.0, 0.0, -10.0);
for (j = 0; j < 6; j++) {
for (i = 0; i < 2; i++) {
if (i)
glScalef(-1.0, 1.0, 1.0);
glTranslatef(10.0, 4.0, 0.0);
Box(4.0, 8.0, 2.0, solid);
glTranslatef(0.0, -1.0, -3.0);
Box(4.0, 6.0, 2.0, solid);
glTranslatef(-10.0, -3.0, 3.0);
}
glScalef(-1.0, 1.0, 1.0);
glTranslatef(0.0, 0.0, 5.0);
}
glEndList();
}

void Toggle(void)
{
if (solid_part)
solid_part = 0;
else
solid_part = 1;
}

void disable(void)
{
glDisable(GL_LIGHTING);
glDisable(GL_DEPTH_TEST);
glDisable(GL_NORMALIZE);
glPolygonMode(GL_FRONT_AND_BACK, GL_LINE);
}

void lighting(void)
{

GLfloat position[] =
{0.0, 0.0, 2.0, 1.0};

#ifdef MOVE_LIGHT
 glRotatef((GLfloat) lightturn1, 1.0, 0.0, 0.0);
glRotatef((GLfloat) lightturn, 0.0, 1.0, 0.0);
glRotatef(0.0, 1.0, 0.0, 0.0);
#endif
glEnable(GL_LIGHTING);
glEnable(GL_LIGHT0);
glEnable(GL_NORMALIZE);
glDepthFunc(GL_LESS);
glPolygonMode(GL_FRONT_AND_BACK, GL_FILL);

glLightfv(GL_LIGHT0, GL_POSITION, position);

glLightf(GL_LIGHT0, GL_SPOT_CUTOFF, 80.0);

glTranslatef(0.0, 0.0, 2.0);

glDisable(GL_LIGHTING);
Box(0.1, 0.1, 0.1, 0);
glEnable(GL_LIGHTING);
}

void DrawMech(void)
{
int i, j;

glScalef(0.5, 0.5, 0.5);

glPushMatrix();
glTranslatef(0.0, -0.75, 0.0);
glRotatef((GLfloat) tilt, 1.0, 0.0, 0.0);

glRotatef(90.0, 1.0, 0.0, 0.0);

#ifdef HIP
glCallList(SOLID_MECH_HIP);
#endif
glRotatef(-90.0, 1.0, 0.0, 0.0);

glTranslatef(0.0, 0.75, 0.0);

glPushMatrix();
glRotatef((GLfloat) pivot, 0.0, 1.0, 0.0);
glPushMatrix();
#ifdef TORSO
glCallList(SOLID_MECH_TORSO);
#endif
glPopMatrix();
glPushMatrix();
glTranslatef(0.5, 0.5, 0.0);
#ifdef ROCKET_POD
glCallList(SOLID_MECH_ROCKET);
#endif
glPopMatrix();
for (i = 0; i < 2; i++) {
glPushMatrix();
if (i)
glScalef(-1.0, 1.0, 1.0);
glTranslatef(1.5, 0.0, 0.0);
#ifdef SHOULDER
glCallList(SOLID_MECH_SHOULDER);
#endif
glTranslatef(0.9, 0.0, 0.0);
if (i) {
glRotatef((GLfloat) lat1, 0.0, 0.0, 1.0);
 glRotatef((GLfloat) shoulder1, 1.0, 0.0, 0.0);
glRotatef((GLfloat) shoulder3, 0.0, 1.0, 0.0);
} else {
glRotatef((GLfloat) lat2, 0.0, 0.0, 1.0);
glRotatef((GLfloat) shoulder2, 1.0, 0.0, 0.0);
glRotatef((GLfloat) shoulder4, 0.0, 1.0, 0.0);
}
glTranslatef(0.0, -1.4, 0.0);
#ifdef UPPER_ARM
glCallList(SOLID_MECH_UPPER_ARM);
#endif
glTranslatef(0.0, -2.9, 0.0);
if (i)
glRotatef((GLfloat) elbow1, 1.0, 0.0, 0.0);
else
glRotatef((GLfloat) elbow2, 1.0, 0.0, 0.0);
glTranslatef(0.0, -0.9, -0.2);
#ifdef LOWER_ARM
glCallList(SOLID_MECH_FOREARM);
glPushMatrix();
glTranslatef(0.0, 0.0, 2.0);
glRotatef((GLfloat) fire, 0.0, 0.0, 1.0);
glCallList(SOLID_MECH_VULCAN);
glPopMatrix();
#endif
glPopMatrix();
}
glPopMatrix();

glPopMatrix();

for (j = 0; j < 2; j++) {

glPushMatrix();
if (j) {
glScalef(-0.5, 0.5, 0.5);
leg = 1;
} else {
glScalef(0.5, 0.5, 0.5);
leg = 0;
}
glTranslatef(2.0, -1.5, 0.0);
if (j) {
glRotatef((GLfloat) hip11, 1.0, 0.0, 0.0);
glRotatef((GLfloat) hip12, 0.0, 0.0, 1.0);
} else {
glRotatef((GLfloat) hip21, 1.0, 0.0, 0.0);
glRotatef((GLfloat) hip22, 0.0, 0.0, 1.0);
}
glTranslatef(0.0, 0.3, 0.0);
#ifdef UPPER_LEG
glPushMatrix();
glCallList(SOLID_MECH_UPPER_LEG);
glPopMatrix();
#endif
glTranslatef(0.0, -8.3, -0.4);
if (j)
glRotatef((GLfloat) - hip12, 0.0, 0.0, 1.0);
else
glRotatef((GLfloat) - hip22, 0.0, 0.0, 1.0);
 glTranslatef(-0.5, -0.85, -0.5);
#ifdef LOWER_LEG
LowerLeg(1);
#endif
glPopMatrix();
}
}

void display(void)
{
glClearColor(0.0, 0.0, 0.0, 0.0);
//glClearColor(1.0, 1.0, 1.0, 1.0);
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
glEnable(GL_DEPTH_TEST);
glPushMatrix();
glRotatef((GLfloat) turn, 0.0, 1.0, 0.0);
glRotatef((GLfloat) turn1, 1.0, 0.0, 0.0);
#ifdef LIGHT
if (solid_part) {
glPushMatrix();
lighting();
glPopMatrix();
} else
disable();
#endif
#ifdef DRAW_MECH
glPushMatrix();
glTranslatef(0.0, elevation, 0.0);
DrawMech();
glPopMatrix();
#endif
#ifdef DRAW_ENVIRO
glPushMatrix();
if (distance >= 20.136)
distance = 0.0;
glTranslatef(0.0, -5.0, -distance);
glCallList(SOLID_ENVIRO);
glTranslatef(0.0, 0.0, 10.0);
glCallList(SOLID_ENVIRO);
glPopMatrix();
#endif
glPopMatrix();

glLoadName(TEXTID);
glColor3f(1,1,0);
DrawTextXY(-2.5,0.2,2.0,0.0015,"2gj16cs003");
DrawTextXY(-2.5,0.5,2.0,0.0015,"Akshata");
DrawTextXY(2.5,2.2,-2.0,0.0025,"2gj16cs003");
DrawTextXY(2.5,2.7,-2.0,0.0030,"Akshata");
glFlush();
glutSwapBuffers();

void myinit(void)
{
char i = 1;
 qobj = gluNewQuadric();
#ifdef LIGHT
SetMaterial(mat_specular2, mat_ambient2, mat_diffuse2, mat_shininess2);
#endif
glEnable(GL_DEPTH_TEST);
MechTorso(i);
MechHip(i);
Shoulder(i);
RocketPod(i);
UpperArm(i);
ForeArm(i);
UpperLeg(i);
Foot(i);
VulcanGun(i);
Enviro(i);
}

void myReshape(int w, int h)

{
glViewport(0, 0, w, h);
glMatrixMode(GL_PROJECTION);
glLoadIdentity();
gluPerspective(65.0, (GLfloat) w / (GLfloat) h, 1.0, 20.0);
glMatrixMode(GL_MODELVIEW);
glLoadIdentity();
glTranslatef(0.0, 1.2, -5.5); /* viewing transform */
}

#ifdef ANIMATION
void animation_walk(void)

{
float angle;
static int step;

if (step == 0 || step == 2) {

if (frame >= 0.0 && frame <= 21.0) {

if (frame == 0.0)
frame = 3.0;
angle = (180 / M_PI) * (acos(((cos((M_PI / 180) * frame) * 2.043) + 1.1625) /
3.2059));
if (frame > 0) {
elevation = -(3.2055 - (cos((M_PI / 180) * angle) * 3.2055));
} else
elevation = 0.0;
if (step == 0) {
hip11 = -(frame * 1.7);
if (1.7 * frame > 15)
heel1 = frame * 1.7;
heel2 = 0;
ankle1 = frame * 1.7;
if (frame > 0)
hip21 = angle;
else
hip21 = 0;
ankle2 = -hip21;
shoulder1 = frame * 1.5;
shoulder2 = -frame * 1.5;
 elbow1 = frame;
elbow2 = -frame;
} else {
hip21 = -(frame * 1.7);
if (1.7 * frame > 15)
heel2 = frame * 1.7;
heel1 = 0;
ankle2 = frame * 1.7;
if (frame > 0)
hip11 = angle;
else
hip11 = 0;
ankle1 = -hip11;
shoulder1 = -frame * 1.5;
shoulder2 = frame * 1.5;
elbow1 = -frame;
elbow2 = frame;
}
if (frame == 21)
step++;
if (frame < 21)
frame = frame + 3.0;
}
}
if (step == 1 || step == 3) {

if (frame <= 21.0 && frame >= 0.0) {

angle = (180 / M_PI) * (acos(((cos((M_PI / 180) * frame) * 2.043) + 1.1625) /
3.2029));
if (frame > 0)
elevation = -(3.2055 - (cos((M_PI / 180) * angle) * 3.2055));
else
elevation = 0.0;
if (step == 1) {
elbow2 = hip11 = -frame;
elbow1 = heel1 = frame;
heel2 = 15;
ankle1 = frame;
if (frame > 0)
hip21 = angle;
else
hip21 = 0;
ankle2 = -hip21;
shoulder1 = 1.5 * frame;
shoulder2 = -frame * 1.5;
} else {
elbow1 = hip21 = -frame;
elbow2 = heel2 = frame;
heel1 = 15;
ankle2 = frame;
if (frame > 0)
hip11 = angle;
else
hip11 = 0;
ankle1 = -hip11;
shoulder1 = -frame * 1.5;
shoulder2 = frame * 1.5;
}
if (frame == 0.0)
 step++;
if (frame > 0)
frame = frame - 3.0;
}
}
if (step == 4)
step = 0;
distance += 0.1678;
glutPostRedisplay();
}

void animation(void)
{
animation_walk();
}

#endif

#ifdef GLUT
#ifdef GLUT_KEY
/* ARGSUSED1 */
void keyboard(unsigned char key, int x, int y)
{

int i = 0;
if (key == 27) exit (0);
switch (key) {
/* start arm control functions */
case 'q':{
shoulder2Subtract();
i++;
i++;
}
break;
case 'a':{
shoulder2Add();
i++;
}
break;
case 'w':{
shoulder1Subtract();
i++;
}
break;
case 's':{
shoulder1Add();
i++;
}
break;
case '2':{
shoulder3Add();
i++;
}
break;
case '1':{
shoulder4Add();
i++;
}
break;
case '4':{
shoulder3Subtract();
i++;
}
break;
case '3':{
shoulder4Subtract();
i++;
}
break;

case 'z':{
lat2Raise();
i++;
}
break;
case 'Z':{
lat2Lower();
i++;
}
break;
case 'x':{
lat1Raise();
i++;
}
break;
case 'X':{
lat1Lower();
i++;
}
break;

case 'A':{
elbow2Add();
i++;
}
break;
case 'Q':{
elbow2Subtract();
i++;
}
break;
case 'S':{
elbow1Add();
i++;
}
break;
case 'W':{
elbow1Subtract();
i++;
}
break;
/* end of arm control functions */

/* start of torso control functions */

case 'd':{
RotateAdd();
i++;
}
 break;
case 'g':{
RotateSubtract();
i++;
}
break;
case 'r':{
MechTiltAdd();
i++;
}
break;
case 'f':{
MechTiltSubtract();
i++;
}
break;
/* end of torso control functions */

/* start of leg control functions */

case 'h':{
RaiseLeg2Forward();
i++;
}
break;
case 'y':{
LowerLeg2Backwards();
i++;
}
break;
case 'Y':{
RaiseLeg2Outwards();
i++;
}
break;
case 'H':{
LowerLeg2Inwards();
i++;
}
break;

case 'j':{
RaiseLeg1Forward();
i++;
}
break;
case 'u':{
LowerLeg1Backwards();
i++;
}
break;
case 'U':{
RaiseLeg1Outwards();
i++;
}
break;
case 'J':{
LowerLeg1Inwards();
i++;
}
 break;

case 'N':{
Heel2Add();
i++;
}
break;
case 'n':{
Heel2Subtract();
i++;
}
break;
case 'M':{
Heel1Add();
i++;
}
break;
case 'm':{
Heel1Subtract();
i++;
}
break;

case 'k':{
Ankle2Add();
i++;
}
break;
case 'K':{
Ankle2Subtract();
i++;
}
break;
case 'l':{
Ankle1Add();
i++;
}
break;
case 'L':{
Ankle1Subtract();
i++;
}
break;
/* end of leg control functions */

/* start of light source position functions */

case 'p':{
LightTurnRight();
i++;
}
break;
case 'i':{
LightTurnLeft();
i++;
}
break;
case 'o':{
LightForwards();
i++;
 }
break;
case '9':{
LightBackwards();
i++;
}
break;

/* end of light source position functions */

}
if (i)
glutPostRedisplay();
}

#endif

#ifdef GLUT_SPEC
/* ARGSUSED1 */
void special(int key, int x, int y)
{

int i = 0;

switch (key) {
/* start of view position functions */
case GLUT_KEY_RIGHT:{
TurnRight();
i++;
}
break;
case GLUT_KEY_LEFT:{
TurnLeft();
i++;
}
break;
case GLUT_KEY_DOWN:{
TurnForwards();
i++;
}
break;
case GLUT_KEY_UP:{
TurnBackwards();
i++;
}
break;
/* end of view postions functions */
/* start of miseclleneous functions */
case GLUT_KEY_PAGE_UP:{
FireCannon();
i++;
}
break;
/* end of miscelleneous functions */

}
if (i)
glutPostRedisplay();
}
#endif
#endif
void menu_select(int mode)
{
switch (mode) {
#ifdef ANIMATION
case 1:
glutIdleFunc(animation);
break;
#endif
case 2:
glutIdleFunc(NULL);
break;
case 3:
Toggle();
glutPostRedisplay();
break;
case 4:
exit(EXIT_SUCCESS);

}
}

/* ARGSUSED */
void null_select(int mode)
{
}

void glutMenu(void)
{

int glut_menu[13];

glut_menu[5] = glutCreateMenu(null_select);
glutAddMenuEntry("forward : q,w", 0);
glutAddMenuEntry("backwards : a,s", 0);
glutAddMenuEntry("outwards : z,x", 0);
glutAddMenuEntry("inwards : Z,X", 0);

glut_menu[6] = glutCreateMenu(null_select);
glutAddMenuEntry("upwards : Q,W", 0);
glutAddMenuEntry("downwards : A,S", 0);
glutAddMenuEntry("outwards : 1,2", 0);
glutAddMenuEntry("inwards : 3,4", 0);

glut_menu[1] = glutCreateMenu(null_select);
glutAddMenuEntry(" : Page_up", 0);

glut_menu[8] = glutCreateMenu(null_select);
glutAddMenuEntry("forward : y,u", 0);
glutAddMenuEntry("backwards : h.j", 0);
glutAddMenuEntry("outwards : Y,U", 0);
glutAddMenuEntry("inwards : H,J", 0);

glut_menu[9] = glutCreateMenu(null_select);
glutAddMenuEntry("forward : n,m", 0);
glutAddMenuEntry("backwards : N,M", 0);
 glut_menu[10] = glutCreateMenu(null_select);
glutAddMenuEntry("toes up : K,L", 0);
glutAddMenuEntry("toes down : k,l", 0);

glut_menu[11] = glutCreateMenu(null_select);
glutAddMenuEntry("right : right arrow", 0);
glutAddMenuEntry("left : left arrow", 0);
glutAddMenuEntry("down : up arrow", 0);
glutAddMenuEntry("up : down arrow", 0);

glut_menu[12] = glutCreateMenu(null_select);
glutAddMenuEntry("right : p", 0);
glutAddMenuEntry("left : i", 0);
glutAddMenuEntry("up : 9", 0);
glutAddMenuEntry("down : o", 0);

glut_menu[4] = glutCreateMenu(NULL);
glutAddSubMenu("at the shoulders? ", glut_menu[5]);
glutAddSubMenu("at the elbows?", glut_menu[6]);

glut_menu[7] = glutCreateMenu(NULL);
glutAddSubMenu("at the bottompart? ", glut_menu[8]);
glutAddSubMenu("at the knees?", glut_menu[9]);
glutAddSubMenu("at the ankles? ", glut_menu[10]);

glut_menu[2] = glutCreateMenu(null_select);
glutAddMenuEntry("turn left : d", 0);
glutAddMenuEntry("turn right : g", 0);
glutAddMenuEntry("Rocketpod : v", 0);

glut_menu[3] = glutCreateMenu(null_select);
glutAddMenuEntry("tilt backwards : f", 0);
glutAddMenuEntry("tilt forwards : r", 0);

glut_menu[0] = glutCreateMenu(NULL);
glutAddSubMenu("move the arms.. ", glut_menu[4]);
glutAddSubMenu("fire the vulcan guns?", glut_menu[1]);
glutAddSubMenu("move the legs.. ", glut_menu[7]);
glutAddSubMenu("move the torso?", glut_menu[2]);
glutAddSubMenu("move the upper portion?", glut_menu[3]);
glutAddSubMenu("rotate the scene..", glut_menu[11]);
#ifdef MOVE_LIGHT
glutAddSubMenu("rotate the light source..", glut_menu[12]);
#endif

glutCreateMenu(menu_select);
#ifdef ANIMATION
glutAddMenuEntry("Start Walk", 1);
glutAddMenuEntry("Stop Walk", 2);
#endif
glutAddMenuEntry("Toggle Wireframe", 3);
glutAddSubMenu("How do I ..", glut_menu[0]);
glutAddMenuEntry("Quit", 4);
glutAttachMenu(GLUT_LEFT_BUTTON);
glutAttachMenu(GLUT_RIGHT_BUTTON);
}

int main(int argc, char **argv)

{
#ifdef GLUT
/* start of glut windowing and control functions */
glutInit(&argc, argv);
glutInitDisplayMode(GLUT_DOUBLE | GLUT_RGBA | GLUT_DEPTH);
glutInitWindowSize(1000, 1000);
glutCreateWindow("glutmech: Vulcan Gunner");
myinit();
glutDisplayFunc(display);
glutReshapeFunc(myReshape);
#ifdef GLUT_KEY
glutKeyboardFunc(keyboard);
#endif
#ifdef GLUT_SPEC
glutSpecialFunc(special);
#endif
glutMenu();
glPointSize(2.0);
glutMainLoop();
/* end of glut windowing and control functions */
#endif
return 0; /* ANSI C requires main to return int. */
}