//****************************************************
// Simple init function
//****************************************************
void initScene(){
glPolygonMode( GL_FRONT_AND_BACK, GL_LINE );
glEnable(GL_DEPTH_TEST);
//glEnable(GL_LIGHTING);
glLightfv(GL_LIGHT0, GL_AMBIENT, lights[0]);
glLightfv(GL_LIGHT0, GL_DIFFUSE, lights[0]);
glLightfv(GL_LIGHT0, GL_SPECULAR, lights[0]);
GLfloat pos[] = {2000,2000,2000};
glLightfv(GL_LIGHT0, GL_POSITION, pos);
glEnable(GL_LIGHT0);
glShadeModel(GL_FLAT);
object = glGenLists(1);
for (int i = 0; i < appendages.size(); i++) {
test.solveFK(appendages[i],0, 0.001, 0);
}
glNewList(object, GL_COMPILE);
glLineWidth(1);
glBegin(GL_LINES);
glColor3f(1, 0, 0);
glVertex3f(0,0,0);
glVertex3f(100,0,0);
glColor3f(0, 1, 0);
glVertex3f(0,0,0);
glVertex3f(0,100,0);
glColor3f(0, 0, 1);
glVertex3f(0,0,0);
glVertex3f(0,0,100);
glEnd();
glBegin(GL_LINE_STRIP);
float t = 0.0f;
while (t<16) {
Eigen::Vector3d temp = coolShapes[shape](t);
glVertex3f(temp[0], temp[1], temp[2]);
t += 0.01f;
}
glEnd();
if (octopus) {
glPushMatrix();
glScalef(1.0f,1.0f,1.5f);
glutSolidSphere(1, 10, 10);
glPopMatrix();
}
glEndList();
glClearColor(0.0, 0.0, 0.0, 0.0);
}
