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QMK/lib/ugfx/3rdparty/tinygl-0.4-ugfx/examples/mech.c

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initial upload
2020-03-23 10:48:11 +01:00
/**
* program : glutmech V1.1
* author : Simon Parkinson-Bates.
* E-mail : sapb@yallara.cs.rmit.edu.au
* Copyright Simon Parkinson-Bates.
* "source if freely avaliable to anyone to copy as long as they
* acknowledge me in their work."
*
* Funtional features
* ------------------
* * online menu system avaliable by pressing left mouse button
* * online cascading help system avaliable, providing information on
* the several key strokes and what they do.
* * animation sequence coded which makes the mech walk through an
* environment. Shadows will soon be added to make it look
* more realistic.
* * menu control to view mech in wireframe or sold mode.
* * various key strokes avaliable to control idependently the mechs
* many joints.
* * various key strokes avaliable to view mech and environment from
* different angles
* * various key strokes avaliable to alter positioning of the single
* light source.
*
*
* Program features
* ----------------
* * uses double buffering
* * uses display lists
* * uses glut to manage windows, callbacks, and online menu.
* * uses glpolygonfill() to maintain colors in wireframe and solid
* mode.
*
**/
/* start of compilation conditions */
#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 <stdio.h>
#include <math.h>
#define GLUT
#define GLUT_KEY
#define GLUT_SPEC
#include <GL/gl.h>
#include <GL/glx.h>
#include "glu.h"
#include "ui.h"
/* end of header files */
/* 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 rate variables */
#define ANKLE_RATE 3
#define HEEL_RATE 3
#define ROTATE_RATE 10
#define TILT_RATE 10
#define ELBOW_RATE 2
#define SHOULDER_RATE 5
#define LAT_RATE 5
#define CANNON_RATE 40
#define UPPER_LEG_RATE 3
#define UPPER_LEG_RATE_GROIN 10
#define LIGHT_TURN_RATE 10
#define VIEW_TURN_RATE 10
/* end of motion rate variables */
/* start of motion variables */
#ifndef PI
#define PI 3.141592654
#endif
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
GLfloat mat_specular[] =
{0.628281, 0.555802, 0.366065, 1.0};
GLfloat mat_ambient[] =
{0.24725, 0.1995, 0.0745, 1.0};
GLfloat mat_diffuse[] =
{0.75164, 0.60648, 0.22648, 1.0};
GLfloat mat_shininess[] =
{128.0 * 0.4};
GLfloat mat_specular2[] =
{0.508273, 0.508273, 0.508373, 1.0};
GLfloat mat_ambient2[] =
{0.19225, 0.19225, 0.19225, 1.0};
GLfloat mat_diffuse2[] =
{0.50754, 0.50754, 0.50754, 1.0};
GLfloat mat_shininess2[] =
{128.0 * 0.6};
GLfloat mat_specular3[] =
{0.296648, 0.296648, 0.296648, 1.0};
GLfloat mat_ambient3[] =
{0.25, 0.20725, 0.20725, 1.0};
GLfloat mat_diffuse3[] =
{1, 0.829, 0.829, 1.0};
GLfloat mat_shininess3[] =
{128.0 * 0.088};
GLfloat mat_specular4[] =
{0.633, 0.727811, 0.633, 1.0};
GLfloat mat_ambient4[] =
{0.0215, 0.1745, 0.0215, 1.0};
GLfloat mat_diffuse4[] =
{0.07568, 0.61424, 0.07568, 1.0};
GLfloat mat_shininess4[] =
{128 * 0.6};
GLfloat mat_specular5[] =
{0.60, 0.60, 0.50, 1.0};
GLfloat mat_ambient5[] =
{0.0, 0.0, 0.0, 1.0};
GLfloat mat_diffuse5[] =
{0.5, 0.5, 0.0, 1.0};
GLfloat mat_shininess5[] =
{128.0 * 0.25};
#endif
/* end of material definitions */
/* start of the body motion functions */
void
Heel1Add(void)
{
heel1 = (heel1 + HEEL_RATE) % 360;
}
void
Heel1Subtract(void)
{
heel1 = (heel1 - HEEL_RATE) % 360;
}
void
Heel2Add(void)
{
heel2 = (heel2 + HEEL_RATE) % 360;
}
void
Heel2Subtract(void)
{
heel2 = (heel2 - HEEL_RATE) % 360;
}
void
Ankle1Add(void)
{
ankle1 = (ankle1 + ANKLE_RATE) % 360;
}
void
Ankle1Subtract(void)
{
ankle1 = (ankle1 - ANKLE_RATE) % 360;
}
void
Ankle2Add(void)
{
ankle2 = (ankle2 + ANKLE_RATE) % 360;
}
void
Ankle2Subtract(void)
{
ankle2 = (ankle2 - ANKLE_RATE) % 360;
}
void
RotateAdd(void)
{
pivot = (pivot + ROTATE_RATE) % 360;
}
void
RotateSubtract(void)
{
pivot = (pivot - ROTATE_RATE) % 360;
}
void
MechTiltSubtract(void)
{
tilt = (tilt - TILT_RATE) % 360;
}
void
MechTiltAdd(void)
{
tilt = (tilt + TILT_RATE) % 360;
}
void
elbow1Add(void)
{
elbow1 = (elbow1 + ELBOW_RATE) % 360;
}
void
elbow1Subtract(void)
{
elbow1 = (elbow1 - ELBOW_RATE) % 360;
}
void
elbow2Add(void)
{
elbow2 = (elbow2 + ELBOW_RATE) % 360;
}
void
elbow2Subtract(void)
{
elbow2 = (elbow2 - ELBOW_RATE) % 360;
}
void
shoulder1Add(void)
{
shoulder1 = (shoulder1 + SHOULDER_RATE) % 360;
}
void
shoulder1Subtract(void)
{
shoulder1 = (shoulder1 - SHOULDER_RATE) % 360;
}
void
shoulder2Add(void)
{
shoulder2 = (shoulder2 + SHOULDER_RATE) % 360;
}
void
shoulder2Subtract(void)
{
shoulder2 = (shoulder2 - SHOULDER_RATE) % 360;
}
void
shoulder3Add(void)
{
shoulder3 = (shoulder3 + SHOULDER_RATE) % 360;
}
void
shoulder3Subtract(void)
{
shoulder3 = (shoulder3 - SHOULDER_RATE) % 360;
}
void
shoulder4Add(void)
{
shoulder4 = (shoulder4 + SHOULDER_RATE) % 360;
}
void
shoulder4Subtract(void)
{
shoulder4 = (shoulder4 - SHOULDER_RATE) % 360;
}
void
lat1Raise(void)
{
lat1 = (lat1 + LAT_RATE) % 360;
}
void
lat1Lower(void)
{
lat1 = (lat1 - LAT_RATE) % 360;
}
void
lat2Raise(void)
{
lat2 = (lat2 + LAT_RATE) % 360;
}
void
lat2Lower(void)
{
lat2 = (lat2 - LAT_RATE) % 360;
}
void
FireCannon(void)
{
fire = (fire + CANNON_RATE) % 360;
}
void
RaiseLeg1Forward(void)
{
hip11 = (hip11 + UPPER_LEG_RATE) % 360;
}
void
LowerLeg1Backwards(void)
{
hip11 = (hip11 - UPPER_LEG_RATE) % 360;
}
void
RaiseLeg1Outwards(void)
{
hip12 = (hip12 + UPPER_LEG_RATE_GROIN) % 360;
}
void
LowerLeg1Inwards(void)
{
hip12 = (hip12 - UPPER_LEG_RATE_GROIN) % 360;
}
void
RaiseLeg2Forward(void)
{
hip21 = (hip21 + UPPER_LEG_RATE) % 360;
}
void
LowerLeg2Backwards(void)
{
hip21 = (hip21 - UPPER_LEG_RATE) % 360;
}
void
RaiseLeg2Outwards(void)
{
hip22 = (hip22 + UPPER_LEG_RATE_GROIN) % 360;
}
void
LowerLeg2Inwards(void)
{
hip22 = (hip22 - UPPER_LEG_RATE_GROIN) % 360;
}
/* end of body motion functions */
/* start of light source position functions */
void
TurnRight(void)
{
turn = (turn - VIEW_TURN_RATE) % 360;
}
void
TurnLeft(void)
{
turn = (turn + VIEW_TURN_RATE) % 360;
}
void
TurnForwards(void)
{
turn1 = (turn1 - VIEW_TURN_RATE) % 360;
}
void
TurnBackwards(void)
{
turn1 = (turn1 + VIEW_TURN_RATE) % 360;
}
void
LightTurnRight(void)
{
lightturn = (lightturn + LIGHT_TURN_RATE) % 360;
}
void
LightTurnLeft(void)
{
lightturn = (lightturn - LIGHT_TURN_RATE) % 360;
}
void
LightForwards(void)
{
lightturn1 = (lightturn1 + LIGHT_TURN_RATE) % 360;
}
void
LightBackwards(void)
{
lightturn1 = (lightturn1 - LIGHT_TURN_RATE) % 360;
}
/* end of light source position functions */
/* 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(0.785398163) * 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, 1.0, 0.0);
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(0.5, 0.5, 0.5);
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;
GLUquadricObj *hip[2];
glNewList(SOLID_MECH_HIP, GL_COMPILE);
#ifdef LIGHT
SetMaterial(mat_specular, mat_ambient, mat_diffuse, mat_shininess);
#endif
glColor3f(1.0, 1.0, 0.0);
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);
hip[i] = gluNewQuadric();
#ifdef LIGHT
SetMaterial(mat_specular2, mat_ambient2, mat_diffuse2, mat_shininess2);
#endif
glColor3f(0.5, 0.5, 0.5);
if (!solid)
gluQuadricDrawStyle(hip[i], GLU_LINE);
gluSphere(hip[0], 0.2, 16, 16);
glTranslatef(-1.0, 0.0, 0.0);
}
glScalef(-1.0, 1.0, 1.0);
#endif
glEndList();
}
void
Shoulder(char solid)
{
GLUquadricObj *deltoid = gluNewQuadric();
glNewList(SOLID_MECH_SHOULDER, GL_COMPILE);
#ifdef LIGHT
SetMaterial(mat_specular, mat_ambient, mat_diffuse, mat_shininess);
#endif
glColor3f(1.0, 1.0, 0.0);
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(0.5, 0.5, 0.5);
#ifdef SPHERE
if (!solid)
gluQuadricDrawStyle(deltoid, GLU_LINE);
gluSphere(deltoid, 0.6, 16, 16);
#endif
glTranslatef(-0.9, 0.0, 0.0);
glEndList();
}
void
UpperArm(char solid)
{
GLUquadricObj *upper = gluNewQuadric();
GLUquadricObj *joint[2];
GLUquadricObj *joint1[2];
int i;
glNewList(SOLID_MECH_UPPER_ARM, GL_COMPILE);
#ifdef LIGHT
SetMaterial(mat_specular, mat_ambient, mat_diffuse, mat_shininess);
#endif
glColor3f(1.0, 1.0, 0.0);
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(0.5, 0.5, 0.5);
if (!solid)
gluQuadricDrawStyle(upper, GLU_LINE);
gluCylinder(upper, 0.4, 0.4, 1.5, 16, 10);
#ifdef LIGHT
SetMaterial(mat_specular, mat_ambient, mat_diffuse, mat_shininess);
#endif
glColor3f(1.0, 1.0, 0.0);
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++) {
joint[i] = gluNewQuadric();
if (!solid)
gluQuadricDrawStyle(joint[i], GLU_LINE);
if (i)
gluCylinder(joint[i], 0.5, 0.5, 0.8, 16, 10);
else
gluCylinder(joint[i], 0.2, 0.2, 0.8, 16, 10);
}
for (i = 0; i < 2; i++) {
if (i)
glScalef(-1.0, 1.0, 1.0);
joint1[i] = gluNewQuadric();
if (!solid)
gluQuadricDrawStyle(joint1[i], GLU_LINE);
if (i)
glTranslatef(0.0, 0.0, 0.8);
gluDisk(joint1[i], 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;
GLUquadricObj *Barrel[5];
GLUquadricObj *BarrelFace[5];
GLUquadricObj *Barrel2[5];
GLUquadricObj *Barrel3[5];
GLUquadricObj *BarrelFace2[5];
GLUquadricObj *Mount = gluNewQuadric();
GLUquadricObj *Mount_face = gluNewQuadric();
glNewList(SOLID_MECH_VULCAN, GL_COMPILE);
#ifdef LIGHT
SetMaterial(mat_specular2, mat_ambient2, mat_diffuse2, mat_shininess2);
#endif
glColor3f(0.5, 0.5, 0.5);
if (!solid) {
gluQuadricDrawStyle(Mount, GLU_LINE);
gluQuadricDrawStyle(Mount_face, GLU_LINE);
}
gluCylinder(Mount, 0.5, 0.5, 0.5, 16, 10);
glTranslatef(0.0, 0.0, 0.5);
gluDisk(Mount_face, 0.0, 0.5, 16, 10);
for (i = 0; i < 5; i++) {
Barrel[i] = gluNewQuadric();
BarrelFace[i] = gluNewQuadric();
BarrelFace2[i] = gluNewQuadric();
Barrel2[i] = gluNewQuadric();
Barrel3[i] = gluNewQuadric();
glRotatef(72.0, 0.0, 0.0, 1.0);
glTranslatef(0.0, 0.3, 0.0);
if (!solid) {
gluQuadricDrawStyle(Barrel[i], GLU_LINE);
gluQuadricDrawStyle(BarrelFace[i], GLU_LINE);
gluQuadricDrawStyle(BarrelFace2[i], GLU_LINE);
gluQuadricDrawStyle(Barrel2[i], GLU_LINE);
gluQuadricDrawStyle(Barrel3[i], GLU_LINE);
}
gluCylinder(Barrel[i], 0.15, 0.15, 2.0, 16, 10);
gluCylinder(Barrel3[i], 0.06, 0.06, 2.0, 16, 10);
glTranslatef(0.0, 0.0, 2.0);
gluDisk(BarrelFace[i], 0.1, 0.15, 16, 10);
gluCylinder(Barrel2[i], 0.1, 0.1, 0.1, 16, 5);
glTranslatef(0.0, 0.0, 0.1);
gluDisk(BarrelFace2[i], 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(1.0, 1.0, 0.0);
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;
GLUquadricObj *Hamstring = gluNewQuadric();
GLUquadricObj *Knee = gluNewQuadric();
GLUquadricObj *joint[2];
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);
if (!solid) {
gluQuadricDrawStyle(Hamstring, GLU_LINE);
gluQuadricDrawStyle(Knee, 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);
gluCylinder(Hamstring, 0.6, 0.6, 3.0, 16, 10);
#ifdef LIGHT
SetMaterial(mat_specular, mat_ambient, mat_diffuse, mat_shininess);
#endif
glColor3f(1.0, 1.0, 0.0);
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(0.5, 0.5, 0.5);
gluCylinder(Knee, 0.8, 0.8, 1.8, 16, 10);
for (i = 0; i < 2; i++) {
if (i)
glScalef(-1.0, 1.0, 1.0);
joint[i] = gluNewQuadric();
if (!solid)
gluQuadricDrawStyle(joint[i], GLU_LINE);
if (i)
glTranslatef(0.0, 0.0, 1.8);
gluDisk(joint[i], 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(0.5, 0.5, 0.5);
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;
GLUquadricObj *ankle = gluNewQuadric();
GLUquadricObj *ankle_face[2],*joints;
#ifdef LIGHT
SetMaterial(mat_specular, mat_ambient, mat_diffuse, mat_shininess);
#endif
glColor3f(1.0, 1.0, 0.0);
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, 1.0, 0.0);
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(0.5, 0.5, 0.5);
#ifdef SPHERE
joints = gluNewQuadric();
if(!solid)gluQuadricDrawStyle(joints, GLU_LINE);
gluSphere(joints,0.2, 16, 16);
free(joints);
#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, 1.0, 0.0);
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(0.5, 0.5, 0.5);
#ifdef SPHERE
joints = gluNewQuadric();
if(!solid)gluQuadricDrawStyle(joints, GLU_LINE);
gluSphere(joints, 0.2, 16, 16);
#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(1.0, 1.0, 0.0);
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(ankle, GLU_LINE);
gluCylinder(ankle, 0.8, 0.8, 1.8, 16, 10);
for (j = 0; j < 2; j++) {
ankle_face[j] = gluNewQuadric();
if (!solid)
gluQuadricDrawStyle(ankle_face[j], GLU_LINE);
if (j) {
glScalef(-1.0, 1.0, 1.0);
glTranslatef(0.0, 0.0, 1.8);
}
gluDisk(ankle_face[j], 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;
GLUquadricObj *rocket[6];
GLUquadricObj *rocket1[6];
glNewList(SOLID_MECH_ROCKET, GL_COMPILE);
#ifdef LIGHT
SetMaterial(mat_specular2, mat_ambient2, mat_diffuse2, mat_shininess2);
#endif
glColor3f(0.5, 0.5, 0.5);
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++) {
rocket[k] = gluNewQuadric();
rocket1[k] = gluNewQuadric();
if (!solid) {
gluQuadricDrawStyle(rocket[k], GLU_LINE);
gluQuadricDrawStyle(rocket1[k], 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(rocket[k], 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(rocket1[k], 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(0.0, 1.0, 0.0);
Box(20.0, 0.5, 30.0, solid);
SetMaterial(mat_specular4, mat_ambient3, mat_diffuse2, mat_shininess);
glColor3f(0.6, 0.6, 0.6);
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);
/* glEnable(GL_FLAT); */
/* 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);
/* glEnable(GL_CULL_FACE); */
}
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);
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();
glFlush();
tkSwapBuffers();
}
void
init(void)
{
char i = 1;
#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
reshape(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) {
/* for(frame=3.0; frame<=21.0; frame=frame+3.0){ */
if (frame >= 0.0 && frame <= 21.0) {
if (frame == 0.0)
frame = 3.0;
angle = (180 / PI) * (acos(((cos((PI / 180) * frame) * 2.043) + 1.1625) / 3.2059));
if (frame > 0) {
elevation = -(3.2055 - (cos((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) {
/* for(x=21.0; x>=0.0; x=x-3.0){ */
if (frame <= 21.0 && frame >= 0.0) {
angle = (180 / PI) * (acos(((cos((PI / 180) * frame) * 2.043) + 1.1625) / 3.2029));
if (frame > 0)
elevation = -(3.2055 - (cos((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;
}
void
animation(void)
{
animation_walk();
}
#endif
GLenum key(int key, GLenum mask)
{
int i = 0;
switch (key) {
/* start arm control functions */
case 'q':{
shoulder2Subtract();
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 */
/* start of misc functions */
case 't':
Toggle();
break;
case KEY_LEFT:
TurnLeft();
break;
case KEY_RIGHT:
TurnRight();
break;
case KEY_UP:
TurnBackwards();
break;
case KEY_DOWN:
TurnForwards();
break;
case ' ':
FireCannon();
}
return 0;
}
void printHelp(void)
{
printf("at the shoulders:");
printf("forward : q,w");
printf("backwards : a,s");
printf("outwards : z,x");
printf("inwards : Z,X");
#if 0
glut_menu[6] = glutCreateMenu(null_select);
printf("upwards : Q,W\n");
printf("downwards : A,S\n");
printf("outwards : 1,2\n");
printf("inwards : 3,4\n");
glut_menu[1] = glutCreateMenu(null_select);
printf(" : Page_up\n");
glut_menu[8] = glutCreateMenu(null_select);
printf("forward : y,u\n");
printf("backwards : h.j\n");
printf("outwards : Y,U\n");
printf("inwards : H,J\n");
glut_menu[9] = glutCreateMenu(null_select);
printf("forward : n,m\n");
printf("backwards : N,M\n");
glut_menu[9] = glutCreateMenu(null_select);
printf("forward : n,m\n");
printf("backwards : N,M\n");
glut_menu[10] = glutCreateMenu(null_select);
printf("toes up : K,L\n");
printf("toes down : k,l\n");
glut_menu[11] = glutCreateMenu(null_select);
printf("right : right arrow\n");
printf("left : left arrow\n");
printf("down : up arrow\n");
printf("up : down arrow\n");
glut_menu[12] = glutCreateMenu(null_select);
printf("right : p\n");
printf("left : i\n");
printf("up : 9\n");
printf("down : o\n");
glut_menu[4] = glutCreateMenu(NULL);
glutAddSubMenu("at the elbows?", glut_menu[6]);
glut_menu[7] = glutCreateMenu(NULL);
glutAddSubMenu("at the hip? ", glut_menu[8]);
glutAddSubMenu("at the knees?", glut_menu[9]);
glutAddSubMenu("at the ankles? ", glut_menu[10]);
printf("turn left : d\n");
printf("turn right : g\n");
glut_menu[3] = glutCreateMenu(null_select);
printf("tilt backwards : f\n");
printf("tilt forwards : r\n");
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 hip?", 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
printf("Start Walk", 1);
printf("Stop Walk", 2);
#endif
printf("Toggle Wireframe", 3);
glutAddSubMenu("How do I ..", glut_menu[0]);
printfy("Quit", 4);
glutAttachMenu(GLUT_LEFT_BUTTON);
glutAttachMenu(GLUT_RIGHT_BUTTON);
#endif
}
void idle( void )
{
/* animate the mech */
animation();
/* draw the Mech */
display();
}
/* #define PROFILE */
#ifdef PROFILE
extern int count_triangles;
#endif
// #define LINUX_TEST_FLOAT
#ifdef LINUX_TEST_FLOAT
#include <fpu_control.h>
#endif
int
main(int argc, char **argv)
{
#ifdef LINUX_TEST_FLOAT
/* for debuging floating point errors under Linux */
__setfpucw ( 0x1372 );
#endif
Toggle();
return ui_loop(argc, argv, "mech");
}
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