/*
* These one-liners draw particular objects, fetching appropriate
* information from the above globals. They are just thin wrappers
* for the FreeGLUT objects.
*/
static void drawSolidTetrahedron(void) { glutSolidTetrahedron (); }
static void drawWireTetrahedron(void) { glutWireTetrahedron (); }
static void drawSolidCube(void) { glutSolidCube(orad); } /* orad doubles as size input */
static void drawWireCube(void) { glutWireCube(orad); } /* orad doubles as size input */
static void drawSolidOctahedron(void) { glutSolidOctahedron (); }
static void drawWireOctahedron(void) { glutWireOctahedron (); }
static void drawSolidDodecahedron(void) { glutSolidDodecahedron (); }
static void drawWireDodecahedron(void) { glutWireDodecahedron (); }
static void drawSolidRhombicDodecahedron(void) { glutSolidRhombicDodecahedron (); }
static void drawWireRhombicDodecahedron(void) { glutWireRhombicDodecahedron (); }
static void drawSolidIcosahedron(void) { glutSolidIcosahedron (); }
static void drawWireIcosahedron(void) { glutWireIcosahedron (); }
static void drawSolidSierpinskiSponge(void) { glutSolidSierpinskiSponge (depth, offset, orad);} /* orad doubles as size input */
static void drawWireSierpinskiSponge(void) { glutWireSierpinskiSponge (depth, offset, orad); } /* orad doubles as size input */
static void drawSolidTorus(void) { glutSolidTorus(irad,orad,slices,stacks); }
static void drawWireTorus(void) { glutWireTorus (irad,orad,slices,stacks); }
static void drawSolidSphere(void) { glutSolidSphere(orad,slices,stacks); } /* orad doubles as size input */
static void drawWireSphere(void) { glutWireSphere(orad,slices,stacks); } /* orad doubles as size input */
static void drawSolidCone(void) { glutSolidCone(orad,orad,slices,stacks); } /* orad doubles as size input */
static void drawWireCone(void) { glutWireCone(orad,orad,slices,stacks); } /* orad doubles as size input */
static void drawSolidCylinder(void) { glutSolidCylinder(orad,orad,slices,stacks); } /* orad doubles as size input */
static void drawWireCylinder(void) { glutWireCylinder(orad,orad,slices,stacks); } /* orad doubles as size input */
/*
* These one-liners draw particular objects, fetching appropriate
* information from the above globals. They are just thin wrappers
* for the FreeGLUT objects.
*/
static void drawSolidTetrahedron(void) { glutSolidTetrahedron (); }
static void drawWireTetrahedron(void) { glutWireTetrahedron (); }
static void drawSolidCube(void) { glutSolidCube(orad); } /* orad doubles as size input */
static void drawWireCube(void) { glutWireCube(orad); } /* orad doubles as size input */
static void drawSolidOctahedron(void) { glutSolidOctahedron (); }
static void drawWireOctahedron(void) { glutWireOctahedron (); }
static void drawSolidDodecahedron(void) { glutSolidDodecahedron (); }
static void drawWireDodecahedron(void) { glutWireDodecahedron (); }
static void drawSolidRhombicDodecahedron(void) { glutSolidRhombicDodecahedron (); }
static void drawWireRhombicDodecahedron(void) { glutWireRhombicDodecahedron (); }
static void drawSolidIcosahedron(void) { glutSolidIcosahedron (); }
static void drawWireIcosahedron(void) { glutWireIcosahedron (); }
static void drawSolidSierpinskiSponge(void) { glutSolidSierpinskiSponge (depth, offset, orad);} /* orad doubles as size input */
static void drawWireSierpinskiSponge(void) { glutWireSierpinskiSponge (depth, offset, orad); } /* orad doubles as size input */
static void drawSolidTorus(void) { glutSolidTorus(irad,orad,slices,stacks); }
static void drawWireTorus(void) { glutWireTorus (irad,orad,slices,stacks); }
static void drawSolidSphere(void) { glutSolidSphere(orad,slices,stacks); } /* orad doubles as size input */
static void drawWireSphere(void) { glutWireSphere(orad,slices,stacks); } /* orad doubles as size input */
static void drawSolidCone(void) { glutSolidCone(irad,orad,slices,stacks); } /* irad doubles as base input, and orad as height input */
static void drawWireCone(void) { glutWireCone(irad,orad,slices,stacks); } /* irad doubles as base input, and orad as height input */
static void drawSolidCylinder(void) { glutSolidCylinder(irad,orad,slices,stacks); } /* irad doubles as radius input, and orad as height input */
static void drawWireCylinder(void) { glutWireCylinder(irad,orad,slices,stacks); } /* irad doubles as radius input, and orad as height input */
static void drawWireCylinder(void)
{ glutWireCylinder(1,1,slices,stacks); }
/*!*****************************************************************************
*******************************************************************************
\note myDrawGLElement
\date August 7, 1992
\remarks
draws a GL element of a particular length in z direction
*******************************************************************************
Function Parameters: [in]=input,[out]=output
\param[in] num : ID number of element (just for info)
\param[in] length: length of element
\param[in] flag : draw joint element (yes, not)
******************************************************************************/
static void
myDrawGLElement(int num, double length, int flag)
{
static int firsttime = TRUE;
double width=0.03;
double head_width = 0.3;
double hand_width = 0.07;
double foot_width = 0.1;
double torso_width = 0.3;
double belly_width = 0.25;
double thumb_width = 0.02;
double shoulder_width = 0.4;
static int pelvis,b_tr,b_taa,b_tfe;
static int l_haa, l_hfe, l_hfr, l_kfe, l_ar, l_afe, l_aaa;
static int r_haa, r_hfe, r_hfr, r_kfe, r_ar, r_afe, r_aaa;
static int b_hn, b_ht, b_hr;
static int head,left_eye,right_eye;
static int r_sfe, r_saa, r_hr, r_eb, r_wr, r_wfe, r_waa;
static int l_sfe, l_saa, l_hr, l_eb, l_wr, l_wfe, l_waa;
GLfloat gray[4]={(float)0.8,(float)0.8,(float)0.8,(float)opacity};
GLfloat green[4]={(float)0.1,(float)0.5,(float)0.5,(float)opacity};
GLfloat red[4]={(float)1.0,(float)0.25,(float)0.25,(float)opacity};
GLfloat blue[4]={(float)0.1,(float)0.1,(float)1.0,(float)opacity};
GLfloat black[4]={(float)0.,(float)0.,(float)0.0,(float)opacity};
GLfloat white[4]={(float)1.,(float)1.,(float)1.0,(float)opacity};
GLfloat yellow[4]={(float)1.0,(float)0.8,(float)0.7,(float)opacity};
int isphere = 10;
if (solid)
glPolygonMode( GL_FRONT_AND_BACK, GL_FILL );
else
glPolygonMode( GL_FRONT_AND_BACK, GL_LINE );
if (firsttime) {
firsttime = FALSE;
char *lab_root;
char fname[300];
lab_root = getenv("LAB_ROOT");
sprintf(fname,"%s/hermesCore/3D/Pelvis.obj",lab_root);
pelvis = displayListFromObjFileFlag(fname,0.0256,TRUE);
sprintf(fname,"%s/hermesCore/3D/B_TR.obj",lab_root);
b_tr = displayListFromObjFileFlag(fname,0.0256,TRUE);
sprintf(fname,"%s/hermesCore/3D/B_TAA.obj",lab_root);
b_taa = displayListFromObjFileFlag(fname,0.0256,TRUE);
sprintf(fname,"%s/hermesCore/3D/B_TFE.obj",lab_root);
b_tfe = displayListFromObjFileFlag(fname,0.0256,TRUE);
sprintf(fname,"%s/hermesCore/3D/L_HFE.obj",lab_root);
l_hfe = displayListFromObjFileFlag(fname,0.0256,TRUE);
sprintf(fname,"%s/hermesCore/3D/L_HAA.obj",lab_root);
l_haa = displayListFromObjFileFlag(fname,0.0256,TRUE);
sprintf(fname,"%s/hermesCore/3D/L_HFR.obj",lab_root);
l_hfr = displayListFromObjFileFlag(fname,0.0256,TRUE);
sprintf(fname,"%s/hermesCore/3D/L_KFE.obj",lab_root);
l_kfe = displayListFromObjFileFlag(fname,0.0256,TRUE);
sprintf(fname,"%s/hermesCore/3D/L_AR.obj",lab_root);
l_ar = displayListFromObjFileFlag(fname,0.0256,TRUE);
sprintf(fname,"%s/hermesCore/3D/L_AFE.obj",lab_root);
l_afe = displayListFromObjFileFlag(fname,0.0256,TRUE);
sprintf(fname,"%s/hermesCore/3D/L_AAA.obj",lab_root);
l_aaa = displayListFromObjFileFlag(fname,0.0256,FALSE);
sprintf(fname,"%s/hermesCore/3D/L_HFE.obj",lab_root);
r_hfe = displayListFromObjFileFlag(fname,0.0256,TRUE);
sprintf(fname,"%s/hermesCore/3D/L_HAA.obj",lab_root);
r_haa = displayListFromObjFileFlag(fname,0.0256,TRUE);
sprintf(fname,"%s/hermesCore/3D/L_HFR.obj",lab_root);
r_hfr = displayListFromObjFileFlag(fname,0.0256,TRUE);
sprintf(fname,"%s/hermesCore/3D/L_KFE.obj",lab_root);
r_kfe = displayListFromObjFileFlag(fname,0.0256,TRUE);
sprintf(fname,"%s/hermesCore/3D/L_AR.obj",lab_root);
r_ar = displayListFromObjFileFlag(fname,0.0256,TRUE);
sprintf(fname,"%s/hermesCore/3D/L_AFE.obj",lab_root);
r_afe = displayListFromObjFileFlag(fname,0.0256,TRUE);
sprintf(fname,"%s/hermesCore/3D/R_AAA.obj",lab_root);
r_aaa = displayListFromObjFileFlag(fname,0.0256,FALSE);
sprintf(fname,"%s/hermesCore/3D/B_HN.obj",lab_root);
b_hn = displayListFromObjFileFlag(fname,0.0256,TRUE);
sprintf(fname,"%s/hermesCore/3D/B_HT.obj",lab_root);
b_ht = displayListFromObjFileFlag(fname,0.0256,TRUE);
sprintf(fname,"%s/hermesCore/3D/B_HR.obj",lab_root);
b_hr = displayListFromObjFileFlag(fname,0.0256,TRUE);
sprintf(fname,"%s/hermesCore/3D/humanoidHeadLeftEye.obj",lab_root);
left_eye = displayListFromObjFile(fname,0.0256);
sprintf(fname,"%s/hermesCore/3D/humanoidHeadRightEye.obj",lab_root);
right_eye = displayListFromObjFile(fname,0.0256);
sprintf(fname,"%s/hermesCore/3D/humanoidHead.obj",lab_root);
head = displayListFromObjFile(fname,0.0256);
sprintf(fname,"%s/hermesCore/3D/R_SFE.obj",lab_root);
r_sfe = displayListFromObjFileFlag(fname,0.0256,TRUE);
sprintf(fname,"%s/hermesCore/3D/R_SAA.obj",lab_root);
r_saa = displayListFromObjFileFlag(fname,0.0256,TRUE);
sprintf(fname,"%s/hermesCore/3D/R_HR.obj",lab_root);
r_hr = displayListFromObjFileFlag(fname,0.0256,TRUE);
sprintf(fname,"%s/hermesCore/3D/R_EB.obj",lab_root);
r_eb = displayListFromObjFileFlag(fname,0.0256,TRUE);
sprintf(fname,"%s/hermesCore/3D/R_WR.obj",lab_root);
r_wr = displayListFromObjFileFlag(fname,0.0256,TRUE);
sprintf(fname,"%s/hermesCore/3D/R_WFE.obj",lab_root);
r_wfe = displayListFromObjFileFlag(fname,0.0256,TRUE);
sprintf(fname,"%s/hermesCore/3D/R_WAA.obj",lab_root);
l_waa = displayListFromObjFileFlag(fname,0.0256,TRUE);
sprintf(fname,"%s/hermesCore/3D/L_SFE.obj",lab_root);
l_sfe = displayListFromObjFileFlag(fname,0.0256,TRUE);
sprintf(fname,"%s/hermesCore/3D/L_SAA.obj",lab_root);
l_saa = displayListFromObjFileFlag(fname,0.0256,TRUE);
sprintf(fname,"%s/hermesCore/3D/L_HR.obj",lab_root);
l_hr = displayListFromObjFileFlag(fname,0.0256,TRUE);
sprintf(fname,"%s/hermesCore/3D/L_EB.obj",lab_root);
l_eb = displayListFromObjFileFlag(fname,0.0256,TRUE);
sprintf(fname,"%s/hermesCore/3D/L_WR.obj",lab_root);
l_wr = displayListFromObjFileFlag(fname,0.0256,TRUE);
sprintf(fname,"%s/hermesCore/3D/L_WFE.obj",lab_root);
l_wfe = displayListFromObjFileFlag(fname,0.0256,TRUE);
sprintf(fname,"%s/hermesCore/3D/L_WAA.obj",lab_root);
r_waa = displayListFromObjFileFlag(fname,0.0256,TRUE);
}
if (flag==1 && num != 35 && num != 37) {
glTranslated(0.0,0.0,length);
if (num==999) {/* the base coordinate system */
glMaterialfv(GL_FRONT, GL_AMBIENT_AND_DIFFUSE, blue);
glColor4fv(blue);
} else if (num > 38) {
glMaterialfv(GL_FRONT, GL_AMBIENT_AND_DIFFUSE, gray);
glColor4fv(gray);
} else {
glMaterialfv(GL_FRONT, GL_AMBIENT_AND_DIFFUSE, green);
glColor4fv(green);
}
if (num == B_HN || num == B_HT) {
if (solid)
glutSolidSphere(0.25*width,isphere,isphere);
else
glutWireSphere(0.25*width,isphere,isphere);
} else {
if (solid)
glutSolidSphere(0.25*width,isphere,isphere);
else
glutWireSphere(0.25*width,isphere,isphere);
}
glTranslated(0.0,0.0,-length);
}
switch (num) {
case BASE:
break;
case L_SAA: /* L_SFE */
glMaterialfv(GL_FRONT, GL_AMBIENT_AND_DIFFUSE, gray);
glColor4fv(gray);
glRotated((GLdouble)135.,(GLdouble)0.,(GLdouble)1.,(GLdouble)0.);
glRotated((GLdouble)180.,(GLdouble)0.,(GLdouble)0.,(GLdouble)1.);
glTranslated(-0.002,-0.005,0.290);
glCallList(l_sfe);
break;
case L_HR: /* L_SAA */
glMaterialfv(GL_FRONT, GL_AMBIENT_AND_DIFFUSE, gray);
glColor4fv(gray);
glRotated((GLdouble)90.,(GLdouble)0.,(GLdouble)0.,(GLdouble)1.);
glRotated((GLdouble)-90.,(GLdouble)0.,(GLdouble)1.,(GLdouble)0.);
glRotated((GLdouble)180.,(GLdouble)1.,(GLdouble)0.,(GLdouble)0.);
glTranslated(-0.2,-0.005,0.490);
glCallList(l_saa);
break;
case L_EB: /* L_HR */
glMaterialfv(GL_FRONT, GL_AMBIENT_AND_DIFFUSE, gray);
glColor4fv(gray);
//glRotated((GLdouble)90.,(GLdouble)0.,(GLdouble)0.,(GLdouble)1.);
//glRotated((GLdouble)90.,(GLdouble)0.,(GLdouble)1.,(GLdouble)0.);
glTranslated(-0.222,-0.005,0.495);
glCallList(l_hr);
break;
case L_WR: /* L_EB */
glMaterialfv(GL_FRONT, GL_AMBIENT_AND_DIFFUSE, gray);
glColor4fv(gray);
glRotated((GLdouble)90.,(GLdouble)0.,(GLdouble)0.,(GLdouble)1.);
glRotated((GLdouble)-90.,(GLdouble)0.,(GLdouble)1.,(GLdouble)0.);
glTranslated(-0.223,-0.005,0.240);
glCallList(l_eb);
break;
case L_WFE: /* L_WR */
glMaterialfv(GL_FRONT, GL_AMBIENT_AND_DIFFUSE, gray);
glColor4fv(gray);
glRotated((GLdouble)180.,(GLdouble)0.,(GLdouble)0.,(GLdouble)1.);
//glRotated((GLdouble)-90.,(GLdouble)0.,(GLdouble)1.,(GLdouble)0.);
glTranslated(-0.223,-0.000,0.2150);
glCallList(l_wr);
break;
case L_WAA: /* L_WFE */
glMaterialfv(GL_FRONT, GL_AMBIENT_AND_DIFFUSE, gray);
glColor4fv(gray);
glRotated((GLdouble)90.,(GLdouble)0.,(GLdouble)0.,(GLdouble)1.);
glRotated((GLdouble)-90.,(GLdouble)1.,(GLdouble)0.,(GLdouble)0.);
glTranslated(-0.22,-0.000,-0.017);
glCallList(l_wfe);
break;
case 108: /* L_WAA */
glMaterialfv(GL_FRONT, GL_AMBIENT_AND_DIFFUSE, gray);
glColor4fv(gray);
glRotated((GLdouble)-90.,(GLdouble)0.,(GLdouble)0.,(GLdouble)1.);
//glRotated((GLdouble)90.,(GLdouble)0.,(GLdouble)1.,(GLdouble)0.);
glTranslated(0.220,-0.020,-0.017);
glCallList(l_waa);
break;
case R_SAA: /* R_SFE */
glMaterialfv(GL_FRONT, GL_AMBIENT_AND_DIFFUSE, gray);
glColor4fv(gray);
glRotated((GLdouble)135.,(GLdouble)0.,(GLdouble)1.,(GLdouble)0.);
glTranslated(0.0,-0.005,0.290);
glCallList(r_sfe);
break;
case R_HR: /* R_SAA */
glMaterialfv(GL_FRONT, GL_AMBIENT_AND_DIFFUSE, gray);
glColor4fv(gray);
glRotated((GLdouble)90.,(GLdouble)0.,(GLdouble)0.,(GLdouble)1.);
glRotated((GLdouble)90.,(GLdouble)0.,(GLdouble)1.,(GLdouble)0.);
glTranslated(0.2,-0.005,0.490);
glCallList(r_saa);
break;
case R_EB: /* R_HR */
glMaterialfv(GL_FRONT, GL_AMBIENT_AND_DIFFUSE, gray);
glColor4fv(gray);
//glRotated((GLdouble)90.,(GLdouble)0.,(GLdouble)0.,(GLdouble)1.);
//glRotated((GLdouble)90.,(GLdouble)0.,(GLdouble)1.,(GLdouble)0.);
glTranslated(0.222,-0.005,0.490);
glCallList(r_hr);
break;
case R_WR: /* R_EB */
glMaterialfv(GL_FRONT, GL_AMBIENT_AND_DIFFUSE, gray);
glColor4fv(gray);
glRotated((GLdouble)90.,(GLdouble)0.,(GLdouble)0.,(GLdouble)1.);
glRotated((GLdouble)-90.,(GLdouble)0.,(GLdouble)1.,(GLdouble)0.);
glTranslated(0.223,-0.005,0.2350);
glCallList(r_eb);
break;
case R_WFE: /* R_WR */
glMaterialfv(GL_FRONT, GL_AMBIENT_AND_DIFFUSE, gray);
glColor4fv(gray);
glRotated((GLdouble)0.,(GLdouble)0.,(GLdouble)0.,(GLdouble)1.);
//glRotated((GLdouble)-90.,(GLdouble)0.,(GLdouble)1.,(GLdouble)0.);
glTranslated(0.223,-0.000,0.2150);
glCallList(r_wr);
break;
case R_WAA: /* R_WFE */
glMaterialfv(GL_FRONT, GL_AMBIENT_AND_DIFFUSE, gray);
glColor4fv(gray);
glRotated((GLdouble)-90.,(GLdouble)0.,(GLdouble)0.,(GLdouble)1.);
glRotated((GLdouble)90.,(GLdouble)1.,(GLdouble)0.,(GLdouble)0.);
glTranslated(0.22,-0.000,-0.017);
glCallList(r_wfe);
break;
case 115: /* R_WAA */
glMaterialfv(GL_FRONT, GL_AMBIENT_AND_DIFFUSE, gray);
glColor4fv(gray);
glRotated((GLdouble)90.,(GLdouble)0.,(GLdouble)0.,(GLdouble)1.);
//glRotated((GLdouble)90.,(GLdouble)0.,(GLdouble)1.,(GLdouble)0.);
glTranslated(-0.220,-0.020,-0.017);
glCallList(r_waa);
break;
break;
case B_TR: /* pelvis */
glPushMatrix();
glMaterialfv(GL_FRONT, GL_AMBIENT_AND_DIFFUSE, gray);
glColor4fv(gray);
glRotated((GLdouble)180.,(GLdouble)0.,(GLdouble)1.,(GLdouble)0.);
//glTranslated(0.0,0.0,0.1);
glCallList(pelvis);
glPopMatrix();
// draw IMU
glTranslated(-IMU_X_OFFSET,IMU_Y_OFFSET,0.0);
glMaterialfv(GL_FRONT, GL_AMBIENT_AND_DIFFUSE, red);
glColor4fv(red);
glScaled(0.02,0.01,0.04);
if (solid)
glutSolidCube(1.0);
else
glutWireCube(1.0);
break;
case B_TAA: /* B_TR */
glMaterialfv(GL_FRONT, GL_AMBIENT_AND_DIFFUSE, gray);
glColor4fv(gray);
//glRotated((GLdouble)180.,(GLdouble)0.,(GLdouble)1.,(GLdouble)0.);
glTranslated(0.0,0.0,0.1725);
glCallList(b_tr);
break;
case B_TFE: /* B_TAA */
glMaterialfv(GL_FRONT, GL_AMBIENT_AND_DIFFUSE, gray);
glColor4fv(gray);
glRotated((GLdouble)90.,(GLdouble)0.,(GLdouble)1.,(GLdouble)0.);
glRotated((GLdouble)90.,(GLdouble)0.,(GLdouble)0.,(GLdouble)1.);
glTranslated(0.0,0.0,0.1725);
glCallList(b_taa);
break;
case B_HN: /* B_TFE */
glMaterialfv(GL_FRONT, GL_AMBIENT_AND_DIFFUSE, gray);
glColor4fv(gray);
glRotated((GLdouble)180.,(GLdouble)0.,(GLdouble)1.,(GLdouble)0.);
glRotated((GLdouble)180.,(GLdouble)0.,(GLdouble)0.,(GLdouble)1.);
glTranslated(-0.004,-0.005,0.1725); // strange lateral offset ....
glCallList(b_tfe);
break;
case L_HFE: /* L_HAA */
glMaterialfv(GL_FRONT, GL_AMBIENT_AND_DIFFUSE, gray);
glColor4fv(gray);
glRotated((GLdouble)90.,(GLdouble)1.,(GLdouble)0.,(GLdouble)0.);
glRotated((GLdouble)90.,(GLdouble)0.,(GLdouble)1.,(GLdouble)0.);
glTranslated(0.09,0.0,0.0);
glCallList(l_haa);
break;
case L_HFR: /* L_HFE */
glMaterialfv(GL_FRONT, GL_AMBIENT_AND_DIFFUSE, gray);
glColor4fv(gray);
glRotated((GLdouble)90,(GLdouble)1.,(GLdouble)0.,(GLdouble)0.);
//glRotated((GLdouble)90.,(ppGLdouble)0.,(GLdouble)1.,(GLdouble)0.);
glTranslated(0.09,0.0,0.0);
glCallList(l_hfe);
break;
case L_KFE: /* L_HFR */
glMaterialfv(GL_FRONT, GL_AMBIENT_AND_DIFFUSE, gray);
glColor4fv(gray);
glRotated((GLdouble)-90.,(GLdouble)0.,(GLdouble)0.,(GLdouble)1.);
glRotated((GLdouble)-8.5,(GLdouble)1.,(GLdouble)0.,(GLdouble)0.);
glTranslated(0.09,-0.06,-0.01);
glCallList(l_hfr);
break;
case L_AR: /* L_KFE */
glMaterialfv(GL_FRONT, GL_AMBIENT_AND_DIFFUSE, gray);
glColor4fv(gray);
glRotated((GLdouble)90.,(GLdouble)1.,(GLdouble)0.,(GLdouble)0.);
glRotated((GLdouble)-90.,(GLdouble)0.,(GLdouble)0.,(GLdouble)1.);
glTranslated(0.09,0.0,-0.404);
glCallList(l_kfe);
break;
case L_AFE: /* L_AR */
glMaterialfv(GL_FRONT, GL_AMBIENT_AND_DIFFUSE, gray);
glColor4fv(gray);
glRotated((GLdouble)-90.,(GLdouble)0.,(GLdouble)0.,(GLdouble)1.);
//glRotated((GLdouble)-90.,(GLdouble)0.,(GLdouble)0.,(GLdouble)1.);
glTranslated(0.09,0.0,-0.404);
glCallList(l_ar);
break;
case L_AAA: /* L_AFE */
glMaterialfv(GL_FRONT, GL_AMBIENT_AND_DIFFUSE, gray);
glColor4fv(gray);
glRotated((GLdouble)90.,(GLdouble)0.,(GLdouble)1.,(GLdouble)0.);
glRotated((GLdouble)180.,(GLdouble)0.,(GLdouble)0.,(GLdouble)1.);
glTranslated(0.09,0.0,-0.784);
glCallList(l_afe);
break;
case 128: /* L_AAA */
glMaterialfv(GL_FRONT, GL_AMBIENT_AND_DIFFUSE, gray);
glColor4fv(gray);
glRotated((GLdouble)-90.,(GLdouble)0.,(GLdouble)0.,(GLdouble)1.);
//glRotated((GLdouble)180.,(GLdouble)0.,(GLdouble)0.,(GLdouble)1.);
glScaled(MAG,MAG,1.0);
glTranslated(0.08,0.0,-0.78);
glCallList(l_aaa);
break;
case R_HFE: /* R_HAA */
glMaterialfv(GL_FRONT, GL_AMBIENT_AND_DIFFUSE, gray);
glColor4fv(gray);
glRotated((GLdouble)-90.,(GLdouble)1.,(GLdouble)0.,(GLdouble)0.);
glRotated((GLdouble)90.,(GLdouble)0.,(GLdouble)1.,(GLdouble)0.);
glTranslated(0.095,0.0,0.0);
glCallList(r_haa);
break;
case R_HFR: /* R_HFE */
glMaterialfv(GL_FRONT, GL_AMBIENT_AND_DIFFUSE, gray);
glColor4fv(gray);
glRotated((GLdouble)90,(GLdouble)1.,(GLdouble)0.,(GLdouble)0.);
//glRotated((GLdouble)90.,(ppGLdouble)0.,(GLdouble)1.,(GLdouble)0.);
glTranslated(0.09,0.0,0.0);
glCallList(r_hfe);
break;
case R_KFE: /* R_HFR */
glMaterialfv(GL_FRONT, GL_AMBIENT_AND_DIFFUSE, gray);
glColor4fv(gray);
glRotated((GLdouble)90.,(GLdouble)0.,(GLdouble)0.,(GLdouble)1.);
glRotated((GLdouble)-8.5,(GLdouble)1.,(GLdouble)0.,(GLdouble)0.);
glTranslated(0.09,-0.06,-0.01);
glCallList(r_hfr);
break;
case R_AR: /* R_KFE */
glMaterialfv(GL_FRONT, GL_AMBIENT_AND_DIFFUSE, gray);
glColor4fv(gray);
glRotated((GLdouble)90.,(GLdouble)1.,(GLdouble)0.,(GLdouble)0.);
glRotated((GLdouble)-90.,(GLdouble)0.,(GLdouble)0.,(GLdouble)1.);
glTranslated(0.09,0.0,-0.404);
glCallList(r_kfe);
break;
case R_AFE: /* R_AR */
glMaterialfv(GL_FRONT, GL_AMBIENT_AND_DIFFUSE, gray);
glColor4fv(gray);
glRotated((GLdouble)-90.,(GLdouble)0.,(GLdouble)0.,(GLdouble)1.);
//glRotated((GLdouble)-90.,(GLdouble)0.,(GLdouble)0.,(GLdouble)1.);
glTranslated(0.09,0.0,-0.404);
glCallList(r_ar);
break;
case R_AAA: /* R_AFE */
glMaterialfv(GL_FRONT, GL_AMBIENT_AND_DIFFUSE, gray);
glColor4fv(gray);
glRotated((GLdouble)90.,(GLdouble)0.,(GLdouble)1.,(GLdouble)0.);
glRotated((GLdouble)180.,(GLdouble)0.,(GLdouble)0.,(GLdouble)1.);
glTranslated(0.09,0.0,-0.784);
glCallList(r_afe);
break;
case 135: /* R_AAA */
glMaterialfv(GL_FRONT, GL_AMBIENT_AND_DIFFUSE, gray);
glColor4fv(gray);
glRotated((GLdouble)90.,(GLdouble)0.,(GLdouble)0.,(GLdouble)1.);
//glRotated((GLdouble)180.,(GLdouble)0.,(GLdouble)0.,(GLdouble)1.);
glScaled(MAG,MAG,1.0);
glTranslated(-.08,0.0,-0.78);
glCallList(r_aaa);
break;
case B_HT: /* B_HN */
glMaterialfv(GL_FRONT, GL_AMBIENT_AND_DIFFUSE, gray);
glColor4fv(gray);
glRotated((GLdouble)-90.,(GLdouble)0.,(GLdouble)0.,(GLdouble)1.);
glRotated((GLdouble)180.,(GLdouble)0.,(GLdouble)1.,(GLdouble)0.);
glTranslated(-0.004,-0.006,0.56);
glCallList(b_hn);
break;
case B_HR: /* B_HT */
glMaterialfv(GL_FRONT, GL_AMBIENT_AND_DIFFUSE, gray);
glColor4fv(gray);
//glRotated((GLdouble)-90.,(GLdouble)0.,(GLdouble)0.,(GLdouble)1.);
glRotated((GLdouble)-90.,(GLdouble)1.,(GLdouble)0.,(GLdouble)0.);
glTranslated(-0.004,-0.006,0.56);
glCallList(b_ht);
break;
case 138: /* the head */
glMaterialfv(GL_FRONT, GL_AMBIENT_AND_DIFFUSE, white);
glColor4fv(white);
glRotated((GLdouble)90.,(GLdouble)1.,(GLdouble)0.,(GLdouble)0.);
glTranslated(-0.035,-0.04+.12,-0.065);
glCallList(head);
break;
case 35: /* dummies */
case 37: /* dummies */
break;
case 137: /* the right eye */
glMaterialfv(GL_FRONT, GL_AMBIENT_AND_DIFFUSE, gray);
glColor4fv(gray);
glRotated((GLdouble)90.,(GLdouble)0.,(GLdouble)0.,(GLdouble)1.);
glRotated((GLdouble)180.,(GLdouble)1.,(GLdouble)0.,(GLdouble)0.);
glTranslated(-0.072,-0.0545,0.00);
glCallList(right_eye);
glTranslated(0.072,0.0545,-.022);
glPushMatrix();
glScaled(0.02,0.02,0.001);
glColor4fv(black);
glMaterialfv(GL_FRONT, GL_AMBIENT_AND_DIFFUSE, black);
if (solid)
glutSolidCylinder(1.0,1.0,isphere*2,1);
else
glutWireCylinder(1.0,1.0,isphere*2,1);
glPopMatrix();
glTranslated(0.0,0.0,-0.001);
glPushMatrix();
glScaled(0.007,0.007,0.001);
glColor4fv(white);
glMaterialfv(GL_FRONT, GL_AMBIENT_AND_DIFFUSE, white);
if (solid)
glutSolidCylinder(1.0,1.0,isphere*2,1);
else
glutWireCylinder(1.0,1.0,isphere*2,1);
glPopMatrix();
glTranslated(0.0,-0.017,0.0);
glPushMatrix();
glScaled(0.006,0.006,0.01);
glColor4fv(gray);
glMaterialfv(GL_FRONT, GL_AMBIENT_AND_DIFFUSE, gray);
if (solid)
glutSolidCylinder(1.0,1.0,isphere*2,1);
else
glutWireCylinder(1.0,1.0,isphere*2,1);
glPopMatrix();
break;
case 139: /* the left eye */
glMaterialfv(GL_FRONT, GL_AMBIENT_AND_DIFFUSE, gray);
glColor4fv(gray);
glRotated((GLdouble)90.,(GLdouble)0.,(GLdouble)0.,(GLdouble)1.);
glRotated((GLdouble)180.,(GLdouble)1.,(GLdouble)0.,(GLdouble)0.);
glTranslated(0.00,-0.0545,0.0);
glCallList(left_eye);
glTranslated(0.0,0.0545,-0.022);
glPushMatrix();
glScaled(0.02,0.02,0.001);
glColor4fv(black);
glMaterialfv(GL_FRONT, GL_AMBIENT_AND_DIFFUSE, black);
if (solid)
glutSolidCylinder(1.0,1.0,isphere*2,1);
else
glutWireCylinder(1.0,1.0,isphere*2,1);
glPopMatrix();
glTranslated(0.0,0.0,-0.001);
glPushMatrix();
glScaled(0.007,0.007,0.001);
glColor4fv(white);
glMaterialfv(GL_FRONT, GL_AMBIENT_AND_DIFFUSE, white);
if (solid)
glutSolidCylinder(1.0,1.0,isphere*2,1);
else
glutWireCylinder(1.0,1.0,isphere*2,1);
glPopMatrix();
glTranslated(0.0,-0.017,0.0);
glPushMatrix();
glScaled(0.006,0.006,0.01);
glColor4fv(gray);
glMaterialfv(GL_FRONT, GL_AMBIENT_AND_DIFFUSE, gray);
if (solid)
glutSolidCylinder(1.0,1.0,isphere*2,1);
else
glutWireCylinder(1.0,1.0,isphere*2,1);
glPopMatrix();
break;
case 129: /* dummies of feet */
case 130:
case 131:
case 132:
case 133:
case 134:
case 122:
case 123:
case 124:
case 125:
case 126:
case 127:
/*
glScaled(width/2.,width/2.,length);
glTranslated(0.0,0.0,0.5);
glColor4fv(gray);
if (solid)
glutSolidCube(1.0);
else
glutWireCube(1.0);
*/
break;
case 152:
case 155:
case 158:
case 161:
case 164:
case 166:
case 169:
case 172:
case 175:
case 178:
glPushMatrix();
glTranslated(0.0,0.0,length);
if (solid)
glutSolidSphere(0.25*width,isphere,isphere);
else
glutWireSphere(0.25*width,isphere,isphere);
glPopMatrix();
default:
glScaled(width/4,width/4,length);
glColor4fv(gray);
if (solid)
glutSolidCylinder(1.0,1.0,isphere,1);
else
glutWireCylinder(1.0,1.0,isphere,1);
}
}
