{

public:

double x;

double y;

double z;

point()

{

x=0; y=0; z=0;

}

point(double a,double b,double c)

{

x=a; y=b; z=c;

}

{

private:

point HeadNeckJoint;

point NeckBustJoint;

point LeftShoulder_LeftUpperArmFront_Joint;

point RightShoulder_RightUpperArmFront_Joint;

point Bust_Hip_Joint;

point Hip_LeftUpperLeg_Joint;

point Hip_RightUpperLeg_Joint;

point LeftShoulder_Bust_Joint;

point RightShoulder_Bust_Joint;

point LeftUpperArmFront_LeftLowerArmFront_Joint;

point RightUpperArmFront_RightLowerArmFront_Joint;

point LeftLowerArmFront_LeftFrontHand_Joint;

point RightLowerArmFront_RightFrontHand_Joint;

point LeftFrontHand_LeftBehindHand_Joint;

point RightFrontHand_RightBehindHand_Joint;

point LeftUpperArmFront_LeftUpperArmBehind_Joint;

point LeftLowerArmFront_LeftLowerArmBehind_Joint;

point RightUpperArmFront_RightUpperArmBehind_Joint;

point RightLowerArmFront_RightLowerArmBehind_Joint;

point LeftUpperLeg_LeftLowerLeg_Joint;

point RightUpperLeg_RightLowerLeg_Joint;

point LeftLowerLeg_LeftFoot_Joint;

point RightLowerLeg_RightFoot_Joint;

point Bust_Lower_Point;

point Neck_Lower_Point;

point Head_Lower_Point;

point Left_Shoulder_Lower_Point;

point Right_Shoulder_Lower_Point;

point LeftUpperArmFront_Upper_Point;

point LeftLowerArmFront_Upper_Point;

point RightUpperArmFront_Upper_Point;

point RightLowerArmFront_Upper_Point;

point LeftUpperArmBehind_Right_Point;

point LeftLowerArmBehind_Right_Point;

point RightUpperArmBehind_Left_Point;

point RightLowerArmBehind_Left_Point;

point LeftFrontHand_Upper_Point;

point RightFrontHand_Upper_Point;

point LeftBehindHand_Upper_Point;

point RightBehindHand_Upper_Point;

point LeftUpperLeg_Upper_Point;

point LeftLowerLeg_Upper_Point;

point RightUpperLeg_Upper_Point;

point RightLowerLeg_Upper_Point;

point LeftFoot_Behind_Point;

point RightFoot_Behind_Point;

int behindArmAngle;

//Some more structural constraints and structural parameters.

GLuint Hip;

GLuint Bust;

GLuint Neck;

GLuint Head;

GLuint LeftShoulder;

GLuint RightShoulder;

GLuint LeftUpperArmFront;

GLuint LeftLowerArmFront;

GLuint RightUpperArmFront;

GLuint RightLowerArmFront;

GLuint LeftUpperArmBehind;

GLuint LeftLowerArmBehind;

GLuint RightUpperArmBehind;

GLuint RightLowerArmBehind;

GLuint LeftFrontHand;

GLuint RightFrontHand;

GLuint LeftBehindHand;

GLuint RightBehindHand;

GLuint LeftUpperLeg;

GLuint RightUpperLeg;

GLuint LeftLowerLeg;

GLuint RightLowerLeg;

GLuint LeftFoot;

GLuint RightFoot;

GLuint* texture;

enum {LOGO,BLUE,RED,HEAD,WHEEL,HIP,BUST_LEFT,

RIGHT_FOOT_RIGHT};

public:

SpotLight Head_light1;

SpotLight Head_light2;

KeyControls keys;

Robot()

{

initStructuralConstraints();

initTexture();

initLights();

initHip();

initBust();

initNeck();

initHead();

initLeftShoulder();

initRightShoulder();

initLeftUpperArmFront();

initLeftLowerArmFront();

initRightUpperArmFront();

initRightLowerArmFront();

initLeftUpperArmBehind();

initLeftLowerArmBehind();

initRightUpperArmBehind();

initRightLowerArmBehind();

initLeftFrontHand();

initRightFrontHand();

initLeftBehindHand();

initRightBehindHand();

initLeftUpperLeg();

initLeftLowerLeg();

initRightUpperLeg();

initRightLowerLeg();

initLeftFoot();

initRightFoot();

behindArmAngle=0;

keys = KeyControls();

}

void initTexture();

void initLights();

void setLights();

void setRobotProperties();

void initStructuralConstraints();

//initilize Hip structure

void initHip();

//initilize Bust structure

void initBust();

void initNeck();

void initHead();

void initLeftShoulder();

void initRightShoulder();

void initLeftUpperArmFront();

void initLeftLowerArmFront();

void initRightUpperArmFront();

void initRightLowerArmFront();

void initLeftUpperArmBehind();

void initLeftLowerArmBehind();

void initRightUpperArmBehind();

void initRightLowerArmBehind();

void initLeftFrontHand();

void initRightFrontHand();

void initLeftBehindHand();

void initRightBehindHand();

void initLeftUpperLeg();

void initLeftLowerLeg();

void initRightUpperLeg();

void initRightLowerLeg();

void initLeftFoot();

void initRightFoot();

void makeHip(double tx,double ty,double tz,double angle_x,double angle_y,double angle_z);

void makeBust(double angle_x,double angle_y,double angle_z);

void makeNeck(void);

void makeHead(double angle_x,double angle_y,double angle_z);

void makeLeftShoulder();

void makeRightShoulder();

void makeLeftUpperArmFront(double angle_x,double angle_y,double angle_z);

void makeLeftLowerArmFront(double angle_x);

void makeRightUpperArmFront(double angle_x,double angle_y,double angle_z);

void makeRightLowerArmFront(double angle_x);

void makeLeftUpperArmBehind(double angle_y);

void makeLeftLowerArmBehind(double angle_y);

void makeRightUpperArmBehind(double angle_y);

void makeRightLowerArmBehind(double angle_y);

void makeLeftFrontHand(double angle_x);

void makeRightFrontHand(double angle_x);

void makeLeftBehindHand(double angle_y);

void makeRightBehindHand(double angle_y);

void makeLeftUpperLeg(double angle_x,double angle_y,double angle_z);

void makeLeftLowerLeg(double angle_x);

void makeRightUpperLeg(double angle_x,double angle_y,double angle_z);

void makeRightLowerLeg(double angle_x);

void makeLeftFoot(double angle_x);

void makeRightFoot(double angle_x);

void makeRobot(void);

void setFrameConstraints();

void transform();

std::string getHeadLightVector();

void setHeadLightVector(std::string);