void display(void)
{
#if 0
    Matrix m1, m2, m3;
    Quaternion q1;

    tball.getRotation().getValue(m3);

    q1.setValue(m3);

    m1.setRotate(q1);
    
    m2.setTranslate( tball.getPosition() );
    
    m1.mult( m2 );

    if(move_obj == true)
    {
        scene_trans->editSFMatrix()->setValue( m1 );
    }
    else
    {
        cam_trans->editSFMatrix()->setValue( m1 );
    }
#endif

    cam_trans->editSFMatrix()->setValue(tball.getFullTrackballMatrix());

#if 0
    fprintf(stderr, "%f %f %f\n", 
            cam_trans->getMatrix()[3][0],
            cam_trans->getMatrix()[3][1],
            cam_trans->getMatrix()[3][2]);
#endif

    OSG::Real32 t = glutGet(GLUT_ELAPSED_TIME);

    for(OSG::UInt32 i = 0; i < 6; ++i)
    {
        if(pAnimTrs[i] != NULL)
        {
            pAnimTrs[i]->editRotation().setValueAsAxisDeg(
                0.f, 1.f, 0.f, 
                t / 50.f);
        }
    }

    OSG::commitChanges();

//    fprintf(stderr, "Frame start\n");
//    fprintf(stderr, "============================================\n");
    

    win->render(rentravact);
}
void key(unsigned char key, int /*x*/, int /*y*/)
{
	switch ( key )
	{
        case 'l':
        {
            loadAnim();
            break;
        }
        case 'c':
        {
            FILE *file=fopen(animName.c_str(),"w");
            fclose(file);
            animOri.clear();
            animPos.clear();
            frameCount = 0;
            animTime = 0;
            break;
        }
        case 's':
        {
            FILE *file=fopen(animName.c_str(),"a");
            OSG::Matrix m=cam_trans->getMatrix();
            OSG::Quaternion q(m);
            OSG::Real32 ax,ay,az,r;
            animPos.push_back(OSG::Vec3f(m[3][0],
                                         m[3][1],
                                         m[3][2]));
            animOri.push_back(q);
            q.getValueAsAxisRad(ax,ay,az,r);
            fprintf(file,"%f %f %f %f,%f %f %f\n",ax,ay,az,r,
                    m[3][0],
                    m[3][1],
                    m[3][2]);
            fclose(file);
            frameCount = 0;
            animTime = 0;
            break;
        }
        case 'S':
        {
            FILE *file=fopen((animName+".wrl").c_str(),"w");
            std::vector<OSG::Quaternion>::iterator qit;
            
            fprintf(file,"DEF OriInter OrientationInterpolator {\n\tkey [");
            for(size_t i = 0; i < animOri.size(); ++i)
            {               
                fprintf(file, "%f", i / OSG::Real32(animOri.size() - 1) );
                if(i < animOri.size() - 1)
                    fprintf(file,", ");
            }
            fprintf(file,"]\n\tkeyValue [");
            for(qit = animOri.begin(); qit != animOri.end(); ++qit)
            {
                OSG::Real32 ax,ay,az,r;
                (*qit).getValueAsAxisRad(ax,ay,az,r);
                
                fprintf(file, "%f %f %f %f", ax, ay, az, r );
                if(qit < animOri.end() - 1)
                    fprintf(file,", ");
            }
            fprintf(file,"]\n}\n\n");

            std::vector<OSG::Vec3f>::iterator vit;
            
            fprintf(file,"DEF PosInter PositionInterpolator {\n\tkey [");
            for(size_t i = 0; i < animPos.size(); ++i)
            {               
                fprintf(file, "%f", i / OSG::Real32(animPos.size() - 1) );
                if(i < animPos.size() - 1)
                    fprintf(file,", ");
            }
            fprintf(file,"]\n\tkeyValue [");
            for(vit = animPos.begin(); vit != animPos.end(); ++vit)
            {
                OSG::Vec3f v = *vit;
                
                fprintf(file, "%f %f %f, ", v[0], v[1], v[2] );
            }
            fprintf(file,"]\n}\n\n");

            fclose(file);
            break;
        }
        case 'j':
            if(sortfirst!=NULL)
            {
                sortfirst->setCompression("JPEG");
            }
            break;
        case 'r':
            if(sortfirst!=NULL)
            {
                sortfirst->setCompression("RLE");
            }
            break;
        case 'n':
            if(sortfirst!=NULL)
            {
                sortfirst->editCompression().erase();
            }
            break;
        case 'i':
            showInfo = !showInfo;
            break;
        case 'w':
            if(polygonChunk->getFrontMode() == GL_FILL)
                polygonChunk->setFrontMode(GL_LINE);
            else
                polygonChunk->setFrontMode(GL_FILL);

            if(polygonChunk->getBackMode() == GL_FILL)
                polygonChunk->setBackMode(GL_LINE);
            else
                polygonChunk->setBackMode(GL_FILL);
            break;
        case 'a':
            if(animate)
            {
                glutIdleFunc(NULL);       
                animate=false;
            }
            else
            {
                glutIdleFunc(display);       
                animate=true;
            }
            frameCount = 0;
            animTime = 0;
            break;
        case 'd':
            // remove tree
            while(root->getNChildren())
            {
                root->subChild(0u);
            }
            break;
        case '+':
            _dsFactor += 0.01f;
            if(_dsFactor > 1.0f)
                _dsFactor = 1.0f;
            setHEyeWallParameter(_dsFactor, _enablecc);
            break;
        case '-':
            _dsFactor -= 0.01f;
            if(_dsFactor <= 0.0f)
                _dsFactor = 0.01f;
            setHEyeWallParameter(_dsFactor, _enablecc);
            break;
        case 'f':
            if(_enablecc)
                _enablecc = false;
            else
                _enablecc = true;
            setHEyeWallParameter(_dsFactor, _enablecc);
            break;
        case 'B':
            if(bkgnd->getColor()[0] == 0.0)
                bkgnd->setColor( OSG::Color3f(1,1,1) );
            else
                bkgnd->setColor( OSG::Color3f(0,0,0) );
            break;
        case 27:	// should kill the clients here
            // exit
            cleanup();
            OSG::osgExit(); 
            exit(0);
	}
	
	glutPostRedisplay();
}