axesOff();

W = 600;

H = 600;

worldX=100;

worldY=100;

worldZ=100;

backgroundColor[0] = 1.0;

backgroundColor[1] = 1.0;

backgroundColor[2] = 1.0;

backgroundColor[3] = 1.0;

// initialize colors

colors[ 0].set(1.0, 0.0, 0.0);

colors[ 1].set(0.0, 1.0, 0.0);

colors[ 2].set(0.0, 0.0, 1.0);

colors[ 3].set(1.0, 1.0, 0.0);

colors[ 4].set(1.0, 0.0, 1.0);

colors[ 5].set(0.0, 1.0, 1.0);

colors[ 6].set(1.0, 0.5, 0.0);

colors[ 7].set(1.0, 0.0, 0.5);

colors[ 8].set(0.5, 1.0, 0.0);

colors[ 9].set(0.0, 1.0, 0.5);

colors[10].set(0.5, 0.0, 1.0);

colors[11].set(0.0, 0.5, 1.0);

colors[12].set(1.0, 1.0, 0.5);

colors[13].set(1.0, 0.5, 1.0);

colors[14].set(0.5, 1.0, 1.0);

colors[15].set(1.0, 0.1, 0.3);

// Initialize the light

light.setPosition(60,60,60);

worldX = size[0];

worldY = size[1];

worldZ = size[2];

strncpy(filename, file, 90);

loadTextures();

reader.read(filename);

model.init();

// Set lighting

light.setLighting();

// Set background color

glClearColor(backgroundColor[0],

backgroundColor[1],

backgroundColor[2],

backgroundColor[3]);

glColor3f(1,1,1);

if (drawAxesOn) drawAxes(-(worldX/2)-5, -(worldY/2)-5, -(worldZ/2)-5);

// Draw real time scene

/*

Thing thing;

unsigned long nObjects = model.get_num_objects();

Vec3 * p = 0;

Vec3 * r = 0;

double * a = 0;

for (unsigned long i=0; i<nObjects; i++) {

model.get_next_object_state(&p,&r,&a);

if (p != 0) {

thing.Cube(p->x, p->y, p->z,

0.4,0.4,0.4,

*a,p->x,p->y,p->z);

}

else { std::cout << "its zero" << std::endl;}

}

*/

// Draw box bounding the world

WireframeCube(0,0,0,

worldX,worldY, worldZ,

0,0,0,0);

// Draw recorded scene

double radius = 1.0;

FrameState * frame = reader.get_next_frame();

if (frame != 0) {

unsigned long nObjects = frame->get_num_objects();

for (unsigned long i=0; i<nObjects; i++) {

Object * o = frame->get_object(i);

if (o != 0) {

// Set color based on id

int origin = o->getID() >> 28;

glColor3f(colors[origin].x, colors[origin].y, colors[origin].z);

// Draw an object from the animation record file

//Cube(o->x(), o->y(), o->z(),

// 0.4,0.4,0.4,

// o->a_r(),o->x_r(),o->y_r(),o->z_r());

Sphere(o->x(), o->y(), o->z(), radius);

}

}

}

{

glPushMatrix();

glTranslated(x,y,z);

double len=15;

glColor3f(1,1,1);

glBegin(GL_LINES);

glVertex3d(0.0,0.0,0.0);

glVertex3d(len,0.0,0.0);

glVertex3d(0.0,0.0,0.0);

glVertex3d(0.0,len,0.0);

glVertex3d(0.0,0.0,0.0);

glVertex3d(0.0,0.0,len);

glEnd();

// Label axes

glRasterPos3d(len,0.0,0.0);

Print("X");

glRasterPos3d(0.0,len,0.0);

Print("Y");

glRasterPos3d(0.0,0.0,len);

Print("Z");

glPopMatrix();

double xLength, double yLength, double zLength,

double th,double rx,double ry,double rz)

{

glPushMatrix();

// Transform

glTranslated(x,y,z);

glRotated(th,rx,ry,rz);

glScaled(xLength/2,yLength/2,zLength/2);

// +x side and -x side and one edge

glBegin(GL_LINE_STRIP);

// +x side and one edge

glVertex3d(1,1,1);

glVertex3d(1,1,-1);

glVertex3d(1,-1,-1);

glVertex3d(1,-1,1);

glVertex3d(1,1,1);

// -x side

glVertex3d(-1,1,1);

glVertex3d(-1,1,-1);

glVertex3d(-1,-1,-1);

glVertex3d(-1,-1,1);

glVertex3d(-1,1,1);

glEnd();

// remaining edges parallel to x-axis

glBegin(GL_LINES);

glVertex3d( 1, 1,-1);

glVertex3d(-1, 1,-1);

glVertex3d( 1,-1,-1);

glVertex3d(-1,-1,-1);

glVertex3d( 1,-1, 1);

glVertex3d(-1,-1, 1);

glEnd();

glPopMatrix();

double inc=45;

glPushMatrix();

glTranslated(x,y,z);

glScaled(radius,radius,radius);

// Begin drawing

glBegin(GL_QUAD_STRIP);

for (double i=0;i<=180;i+=inc)

{

for (double j=0;j<=360;j+=inc)

{

glNormal3f( Cos(j+0 )*Sin(i+0 ), Cos(i+0 ), Sin(j+0 )*Sin(i+0 ));

glTexCoord2f( (j+0 )/360,(i+0 )/180);

glVertex3f( Cos(j+0 )*Sin(i+0 ), Cos(i+0 ), Sin(j+0 )*Sin(i+0 ));

glNormal3f( Cos(j+0 )*Sin(i+inc), Cos(i+inc), Sin(j+0 )*Sin(i+inc));

glTexCoord2f( (j+0 )/360,(i+inc)/180);

glVertex3f( Cos(j+0 )*Sin(i+inc), Cos(i+inc), Sin(j+0 )*Sin(i+inc));

}

}

glEnd();

// Finished drawing

glUseProgram(0);

glPopMatrix();

glDisable(GL_TEXTURE_2D);