/* Interactive Figure Program from Chapter 8 using cylinders (quadrics) */
/* Style similar to robot program but here we must traverse tree to display */
/* Cylinders are displayed as filled and light/material properties */
/* are set as in sphere approximation program */

#define NULL 0

#include <GL/glut.h>

#define TORSO_HEIGHT 5.0
#define UPPER_ARM_HEIGHT 3.0
#define LOWER_ARM_HEIGHT 2.0
#define UPPER_LEG_RADIUS  0.5
#define LOWER_LEG_RADIUS  0.5
#define LOWER_LEG_HEIGHT 2.0
#define UPPER_LEG_HEIGHT 3.0
#define UPPER_LEG_RADIUS  0.5
#define TORSO_RADIUS 1.0
#define UPPER_ARM_RADIUS  0.5
#define LOWER_ARM_RADIUS  0.5
#define HEAD_HEIGHT 1.5
#define HEAD_RADIUS 1.0

void head();
void torso();
void left_upper_arm();
void right_upper_arm();
void left_upper_leg();
void right_upper_leg();

typedef float point[3];


typedef struct treenode
{
  GLfloat m[16];
  void (*f)();
  struct treenode *sibling;
  struct treenode *child;
}treenode; 

typedef treenode* t_ptr;


static GLfloat theta[11] = {0.0,0.0,0.0,0.0,0.0,0.0,0.0,
            180.0,0.0,180.0,0.0}; /* initial joint angles */
static GLint angle = 2;

GLUquadricObj *t, *h, *lua, *lla, *rua, *rla, *lll, *rll, *rul, *lul;

double size=1.0;

treenode torso_node, head_node, lua_node, rua_node, lll_node, rll_node,
				lla_node, rla_node, rul_node, lul_node;


void traverse(treenode* root)
{
   if(root==NULL) return;
   glPushMatrix();
   glMultMatrixf(root->m);
   root->f();
   if(root->child!=NULL) traverse(root->child);
   glPopMatrix();
   if(root->sibling!=NULL) traverse(root->sibling);
}

void torso()
{
   glPushMatrix();
   glRotatef(-90.0, 1.0, 0.0, 0.0);
   gluCylinder(t,TORSO_RADIUS, TORSO_RADIUS, TORSO_HEIGHT,10,10);
   glPopMatrix();
}

void head()
{
   glPushMatrix();
   glTranslatef(0.0, 0.5*HEAD_HEIGHT,0.0);
   glScalef(HEAD_RADIUS, HEAD_HEIGHT, HEAD_RADIUS);
   gluSphere(h,1.0,10,10);
   glPopMatrix();
}

void left_upper_arm()
{
   glPushMatrix();
   glRotatef(-90.0, 1.0, 0.0, 0.0);
   gluCylinder(lua,UPPER_ARM_RADIUS, UPPER_ARM_RADIUS, UPPER_ARM_HEIGHT,10,10);
   glPopMatrix();
}

void left_lower_arm()
{
   glPushMatrix();
   glRotatef(-90.0, 1.0, 0.0, 0.0);
   gluCylinder(lla,LOWER_ARM_RADIUS, LOWER_ARM_RADIUS, LOWER_ARM_HEIGHT,10,10);
   glPopMatrix();
}

void right_upper_arm()
{
   glPushMatrix();
   glRotatef(-90.0, 1.0, 0.0, 0.0);
   gluCylinder(rua,UPPER_ARM_RADIUS, UPPER_ARM_RADIUS, UPPER_ARM_HEIGHT,10,10);
   glPopMatrix();
}

void right_lower_arm()
{
   glPushMatrix();
   glRotatef(-90.0, 1.0, 0.0, 0.0);
   gluCylinder(rla,LOWER_ARM_RADIUS, LOWER_ARM_RADIUS, LOWER_ARM_HEIGHT,10,10);
   glPopMatrix();
}

void left_upper_leg()
{
   glPushMatrix();
   glRotatef(-90.0, 1.0, 0.0, 0.0);
   gluCylinder(lul,UPPER_LEG_RADIUS, UPPER_LEG_RADIUS, UPPER_LEG_HEIGHT,10,10);
   glPopMatrix();
}

void left_lower_leg()
{
   glPushMatrix();
   glRotatef(-90.0, 1.0, 0.0, 0.0);
   gluCylinder(lll,LOWER_LEG_RADIUS, LOWER_LEG_RADIUS, LOWER_LEG_HEIGHT,10,10);
   glPopMatrix();
}

void right_upper_leg()
{
   glPushMatrix();
   glRotatef(-90.0, 1.0, 0.0, 0.0);
   gluCylinder(rul,UPPER_LEG_RADIUS, UPPER_LEG_RADIUS, UPPER_LEG_HEIGHT,10,10);
   glPopMatrix();
}

void right_lower_leg()
{
   glPushMatrix();
   glRotatef(-90.0, 1.0, 0.0, 0.0);
   gluCylinder(rll,LOWER_LEG_RADIUS, LOWER_LEG_RADIUS, LOWER_LEG_HEIGHT,10,10);
   glPopMatrix();
}

void 
display(void)
{

    glClear(GL_COLOR_BUFFER_BIT|GL_DEPTH_BUFFER_BIT);
    glLoadIdentity();
    glColor3f(1.0, 0.0, 0.0);

    traverse(&torso_node);

    glutSwapBuffers();
}



void mouse(int btn, int state, int x, int y)
{
	if(btn==GLUT_LEFT_BUTTON && state == GLUT_DOWN) 
        {
        theta[angle] += 5.0;
        if( theta[angle] > 360.0 ) theta[angle] -= 360.0;
        }
	if(btn==GLUT_RIGHT_BUTTON && state == GLUT_DOWN) 
        {
        theta[angle] -= 5.0;
        if( theta[angle] < 360.0 ) theta[angle] += 360.0;
        }
	glPushMatrix();
	switch(angle)
	{

	case 0 :
		glLoadIdentity();
        glRotatef(theta[0], 0.0, 1.0, 0.0);
		glGetFloatv(GL_MODELVIEW_MATRIX,torso_node.m);
		break;

	case 1 : case 2 :
		glLoadIdentity();
        glTranslatef(0.0, TORSO_HEIGHT+0.5*HEAD_HEIGHT, 0.0);
        glRotatef(theta[1], 1.0, 0.0, 0.0);
        glRotatef(theta[2], 0.0, 1.0, 0.0);
        glTranslatef(0.0, -0.5*HEAD_HEIGHT, 0.0);
		glGetFloatv(GL_MODELVIEW_MATRIX,head_node.m);
		break;

	case 3 :
		glLoadIdentity();
        glTranslatef(-(TORSO_RADIUS+UPPER_ARM_RADIUS), 0.9*TORSO_HEIGHT, 0.0);
        glRotatef(theta[3], 1.0, 0.0, 0.0);
		glGetFloatv(GL_MODELVIEW_MATRIX,lua_node.m);
		break;

	case 5 :
		glLoadIdentity();
        glTranslatef(TORSO_RADIUS+UPPER_ARM_RADIUS, 0.9*TORSO_HEIGHT, 0.0);
        glRotatef(theta[5], 1.0, 0.0, 0.0);
		glGetFloatv(GL_MODELVIEW_MATRIX,rua_node.m);
		break;

	case 9 :
		glLoadIdentity();
        glTranslatef(TORSO_RADIUS+UPPER_LEG_RADIUS, 0.1*UPPER_LEG_HEIGHT, 0.0);
        glRotatef(theta[9], 1.0, 0.0, 0.0);
		glGetFloatv(GL_MODELVIEW_MATRIX,rul_node.m);
		break;

	case 7 :
		glLoadIdentity();
        glTranslatef(-(TORSO_RADIUS+UPPER_LEG_RADIUS), 0.1*UPPER_LEG_HEIGHT, 0.0);
        glRotatef(theta[7], 1.0, 0.0, 0.0);
		glGetFloatv(GL_MODELVIEW_MATRIX,lul_node.m);
		break;

	case 4 :
		glLoadIdentity();
        glTranslatef(0.0, UPPER_ARM_HEIGHT, 0.0);
        glRotatef(theta[4], 1.0, 0.0, 0.0);
		glGetFloatv(GL_MODELVIEW_MATRIX,lla_node.m);
		break;

	case 8 :
		glLoadIdentity();
        glTranslatef(0.0, UPPER_LEG_HEIGHT, 0.0);
        glRotatef(theta[8], 1.0, 0.0, 0.0);
		glGetFloatv(GL_MODELVIEW_MATRIX,lll_node.m);
		break;

	case 10 :
		glLoadIdentity();
        glTranslatef(0.0, UPPER_LEG_HEIGHT, 0.0);
        glRotatef(theta[10], 1.0, 0.0, 0.0);
		glGetFloatv(GL_MODELVIEW_MATRIX,rll_node.m);
		break;

	case 6 :
		glLoadIdentity();
        glTranslatef(0.0, UPPER_ARM_HEIGHT, 0.0);
        glRotatef(theta[6], 1.0, 0.0, 0.0);
		glGetFloatv(GL_MODELVIEW_MATRIX,rla_node.m);
		break;
	}
	glPopMatrix();
    glutPostRedisplay();
}

void menu(int id)
{
   if(id <11 ) angle=id;
   if(id ==11 ) exit(0);
}

void 
myReshape(int w, int h)
{
    glViewport(0, 0, w, h);
    glMatrixMode(GL_PROJECTION);
    glLoadIdentity();
    if (w <= h)
        glOrtho(-10.0, 10.0, -10.0 * (GLfloat) h / (GLfloat) w,
            10.0 * (GLfloat) h / (GLfloat) w, -10.0, 10.0);
    else
        glOrtho(-10.0 * (GLfloat) w / (GLfloat) h,
            10.0 * (GLfloat) w / (GLfloat) h, 0.0, 10.0, -10.0, 10.0);
    glMatrixMode(GL_MODELVIEW);
    glLoadIdentity();
}

void myinit()
{

        GLfloat mat_specular[]={1.0, 1.0, 1.0, 1.0};
        GLfloat mat_diffuse[]={1.0, 1.0, 1.0, 1.0};
        GLfloat mat_ambient[]={1.0, 1.0, 1.0, 1.0};
        GLfloat mat_shininess={100.0};
        GLfloat light_ambient[]={0.0, 0.0, 0.0, 1.0};
        GLfloat light_diffuse[]={1.0, 0.0, 0.0, 1.0};
        GLfloat light_specular[]={1.0, 1.0, 1.0, 1.0};
        GLfloat light_position[]={10.0, 10.0, 10.0, 0.0};

        glLightfv(GL_LIGHT0, GL_POSITION, light_position);
        glLightfv(GL_LIGHT0, GL_AMBIENT, light_ambient);
        glLightfv(GL_LIGHT0, GL_DIFFUSE, light_diffuse);
        glLightfv(GL_LIGHT0, GL_SPECULAR, light_specular);

        glMaterialfv(GL_FRONT, GL_SPECULAR, mat_specular);
        glMaterialfv(GL_FRONT, GL_AMBIENT, mat_ambient);
        glMaterialfv(GL_FRONT, GL_DIFFUSE, mat_diffuse);
        glMaterialf(GL_FRONT, GL_SHININESS, mat_shininess);

        glShadeModel(GL_SMOOTH);
        glEnable(GL_LIGHTING); 
        glEnable(GL_LIGHT0);
        glDepthFunc(GL_LEQUAL);
        glEnable(GL_DEPTH_TEST); 

        glClearColor(1.0, 1.0, 1.0, 1.0);
        glColor3f(1.0, 0.0, 0.0);

/* allocate quadrics with filled drawing style */

        h=gluNewQuadric();
        gluQuadricDrawStyle(h, GLU_FILL);
        t=gluNewQuadric();
        gluQuadricDrawStyle(t, GLU_FILL);
        lua=gluNewQuadric();
        gluQuadricDrawStyle(lua, GLU_FILL);
        lla=gluNewQuadric();
        gluQuadricDrawStyle(lla, GLU_FILL);
        rua=gluNewQuadric();
        gluQuadricDrawStyle(rua, GLU_FILL);
        rla=gluNewQuadric();
        gluQuadricDrawStyle(rla, GLU_FILL);
        lul=gluNewQuadric();
        gluQuadricDrawStyle(lul, GLU_FILL);
        lll=gluNewQuadric();
        gluQuadricDrawStyle(lll, GLU_FILL);
        rul=gluNewQuadric();
        gluQuadricDrawStyle(rul, GLU_FILL);
        rll=gluNewQuadric();
        gluQuadricDrawStyle(rll, GLU_FILL);

/* Set up tree */

		glLoadIdentity();
        glRotatef(theta[0], 0.0, 1.0, 0.0);
		glGetFloatv(GL_MODELVIEW_MATRIX,torso_node.m);
		torso_node.f = torso;
		torso_node.sibling = NULL;
		torso_node.child =  &head_node;

		glLoadIdentity();
        glTranslatef(0.0, TORSO_HEIGHT+0.5*HEAD_HEIGHT, 0.0);
        glRotatef(theta[1], 1.0, 0.0, 0.0);
        glRotatef(theta[2], 0.0, 1.0, 0.0);
        glTranslatef(0.0, -0.5*HEAD_HEIGHT, 0.0);
		glGetFloatv(GL_MODELVIEW_MATRIX,head_node.m);
		head_node.f = head;
		head_node.sibling = &lua_node;
		head_node.child = NULL;

		glLoadIdentity();
        glTranslatef(-(TORSO_RADIUS+UPPER_ARM_RADIUS), 0.9*TORSO_HEIGHT, 0.0);
        glRotatef(theta[3], 1.0, 0.0, 0.0);
		glGetFloatv(GL_MODELVIEW_MATRIX,lua_node.m);
		lua_node.f = left_upper_arm;
		lua_node.sibling =  &rua_node;
		lua_node.child = &lla_node;

		glLoadIdentity();
        glTranslatef(TORSO_RADIUS+UPPER_ARM_RADIUS, 0.9*TORSO_HEIGHT, 0.0);
        glRotatef(theta[5], 1.0, 0.0, 0.0);
		glGetFloatv(GL_MODELVIEW_MATRIX,rua_node.m);
		rua_node.f = right_upper_arm;
		rua_node.sibling =  &lul_node;
		rua_node.child = &rla_node;

		glLoadIdentity();
        glTranslatef(-(TORSO_RADIUS+UPPER_LEG_RADIUS), 0.1*UPPER_LEG_HEIGHT, 0.0);
        glRotatef(theta[7], 1.0, 0.0, 0.0);
		glGetFloatv(GL_MODELVIEW_MATRIX,lul_node.m);
		lul_node.f = left_upper_leg;
		lul_node.sibling =  &rul_node;
		lul_node.child = &lll_node;

		glLoadIdentity();
        glTranslatef(TORSO_RADIUS+UPPER_LEG_RADIUS, 0.1*UPPER_LEG_HEIGHT, 0.0);
        glRotatef(theta[9], 1.0, 0.0, 0.0);
		glGetFloatv(GL_MODELVIEW_MATRIX,rul_node.m);
		rul_node.f = right_upper_leg;
		rul_node.sibling =  NULL;
		rul_node.child = &rll_node;

		glLoadIdentity();
        glTranslatef(0.0, UPPER_ARM_HEIGHT, 0.0);
        glRotatef(theta[4], 1.0, 0.0, 0.0);
		glGetFloatv(GL_MODELVIEW_MATRIX,lla_node.m);
		lla_node.f = left_lower_leg;
		lla_node.sibling =  NULL;
		lla_node.child = NULL;

		glLoadIdentity();
        glTranslatef(0.0, UPPER_ARM_HEIGHT, 0.0);
        glRotatef(theta[6], 1.0, 0.0, 0.0);
		glGetFloatv(GL_MODELVIEW_MATRIX,rla_node.m);
		rla_node.f = right_lower_arm;
		rla_node.sibling =  NULL;
		rla_node.child = NULL;

		glLoadIdentity();
        glTranslatef(0.0, UPPER_LEG_HEIGHT, 0.0);
        glRotatef(theta[8], 1.0, 0.0, 0.0);
		glGetFloatv(GL_MODELVIEW_MATRIX,lll_node.m);
		lll_node.f = left_lower_leg;
		lll_node.sibling =  NULL;
		lll_node.child = NULL;

		glLoadIdentity();
        glTranslatef(0.0, UPPER_LEG_HEIGHT, 0.0);
        glRotatef(theta[10], 1.0, 0.0, 0.0);
		glGetFloatv(GL_MODELVIEW_MATRIX,rll_node.m);
		rll_node.f = right_lower_leg;
		rll_node.sibling =  NULL;
		rll_node.child = NULL;

		glLoadIdentity();
		
}

void main(int argc, char **argv)
{
    glutInit(&argc, argv);
    glutInitDisplayMode(GLUT_DOUBLE | GLUT_RGB | GLUT_DEPTH);
    glutInitWindowSize(500, 500);
    glutCreateWindow("robot");
    myinit();
    glutReshapeFunc(myReshape);
    glutDisplayFunc(display);
    glutMouseFunc(mouse);

    glutCreateMenu(menu);
    glutAddMenuEntry("torso", 0);
    glutAddMenuEntry("head1", 1);
    glutAddMenuEntry("head2", 2);
    glutAddMenuEntry("right_upper_arm", 3);
    glutAddMenuEntry("right_lower_arm", 4);
    glutAddMenuEntry("left_upper_arm", 5);
    glutAddMenuEntry("left_lower_arm", 6);
    glutAddMenuEntry("right_upper_leg", 7);
    glutAddMenuEntry("right_lower_leg", 8);
    glutAddMenuEntry("left_upper_leg", 9);
    glutAddMenuEntry("left_lower_leg", 10);
    glutAddMenuEntry("quit", 11);
    glutAttachMenu(GLUT_MIDDLE_BUTTON);

    glutMainLoop();
}