// Exemplo de arquivo de descricao de cena para POV-ray
// Last edited on 2021-12-11 04:21:27 by stolfi

// ======================================================================
// CORES E TEXTURAS

background{ color rgb < 0.5, 0.5, 1 > }

#declare tx_dirt =
  texture{
    pigment{ color rgb < 0.2, 0.2, 0.2 > }
    finish{ diffuse 0.8 ambient 0.2 specular 0.1 roughness 0.1}
  }
#declare tx_trunk =
  texture{
    pigment{ color rgb < 0.5, 0.2, 0.1 > }
    finish{ diffuse 0.8 ambient 0.0 specular 0.5 roughness 0.8}
    normal { bumps 1 scale .05  }
  }
#declare tx_leaf =
  texture{
    pigment{ color rgb < 0.4, 1, 0.2 > }
    finish{ diffuse 0.8 ambient 0.0 specular 0.5 roughness 0.5}
  }


#declare tx_ground =
  texture{
    pigment{ color rgb < 0.7, 0.6, 0.2 > }
    finish{ diffuse 0.8 ambient 0.2 roughness 0.1}
    normal { bumps 0.1 scale 1  } 
  }

#declare tx_clank_dark_gray =
  texture{
    pigment{ color rgb < 0.1, 0.1, 0.1 > }
    finish{ diffuse 0.8 specular 0.5 roughness 0.1}
  }
#declare tx_clank_light_gray =
  texture{
    pigment{ color rgb < 0.5, 0.5, 0.5 > }
    finish{ diffuse 0.8 specular 0.5 roughness 0.1}
  }
#declare tx_clank_mid_gray =
  texture{
    pigment{ color rgb < 0.2, 0.2, 0.2 > }
    finish{ diffuse 0.8 specular 0.5 roughness 0.1}
  }

#declare tx_eye = 
  texture{
    pigment{ color rgb < 1, 0.2, 0.2 > }
    finish{ diffuse 1 ambient 0.5 specular 0.5 roughness 0.1}
  }

#declare tx_fire = 
  texture{
    pigment{ color rgb < 1.000, 0.650, 0.200 > }
    finish{ diffuse 0.1 ambient 0.9 }
}

#declare tx_fire_red = 
  texture{
    pigment{ color rgb < 1.000, 0.450, 0.200 > }
    finish{ diffuse 0.1 ambient 0.9 }
}


#declare tx_vidro = 
  texture{
    pigment{ color rgb < 0.85, 0.95, 1.00 > filter 0.70 }
    finish{ diffuse 0.03 reflection 0.25 ambient 1 specular 0.25 roughness 0.005 }
  }

// ======================================================================
// DESCRICAO DA CENA
#declare ground = 
  box{ 
    <-400,-400,-1>, <+400,+400,0> 
    texture{ tx_ground }
  }

#macro clank_chin(head_angle)
  object{
    union{
      difference {
        sphere {
          <0, 0, 0>, 0.05 // <x, y, z>, radius
          texture{ tx_clank_light_gray}
          scale <1,1,1.2>
        }
        box {
          <2, 2, 2>, <-1,-1, 0.0> // <x, y, z> near lower left corner, <x, y, z> far upper right corner
          texture{ tx_clank_dark_gray}
        }
      }
      // neck
      cylinder {
        <0, 0, -0.04>, <0, 0, -0.09>, 0.01 // center of one end, center of other end, radius
        texture{ tx_clank_dark_gray}
      }

      object {
        clank_forehead()
        rotate <0, -head_angle, 0>
        translate <-0.05,0, 0>
      }
    }
    translate <0, 0, 0.05*1.2> // <x, y, z>
  }
#end

#macro clank_forehead()
  object {
    union {
      difference {
        sphere {
          <0, 0, 0>, 0.05 // <x, y, z>, radius
          texture{ tx_clank_light_gray}
          scale <1,1,1.2>
        }
        box {
          <-2, -2, -2>, <2,2, 0.0> // <x, y, z> near lower left corner, <x, y, z> far upper right corner
          texture{ tx_clank_dark_gray}
        }
      }
      // Eye Right 
      cylinder {
        <0, 0.025, 0.025>, <0.05, 0.025, 0.025>, 0.015 // center of one end, center of other end, radius
        texture{ tx_clank_mid_gray}
      }
      sphere {
        <0.05, 0.025, 0.025>, 0.013 // <x, y, z>, radius
        texture{ tx_eye}
      }
      // Eye Left
      cylinder {
        <0, -0.025, 0.025>, <0.05, -0.025, 0.025>, 0.015 // center of one end, center of other end, radius
        texture{ tx_clank_mid_gray}
      }
      sphere {
        <0.05, -0.025, 0.025>, 0.013 // <x, y, z>, radius
        texture{ tx_eye}
      }
    }
    translate <0.05, 0, 0>
  }
#end

#macro clank_top_falange()
  object{
    union {
      box {
        <-0.0095, 0, -0.005>, <0.0095, 0.01, 0.005> // <x, y, z> near lower left corner, <x, y, z> far upper right corner
        texture{ tx_clank_dark_gray}
      }
      box {
        <-0.01, 0.01, -0.005>, <0.01, 0.02, 0.005> // <x, y, z> near lower left corner, <x, y, z> far upper right corner
        texture{ tx_clank_mid_gray}
      }
    }
  }
#end

#macro clank_bot_falange(top_falange_angle)
  object{

    // create finger middle
    union {
      box {
        <-0.0095, 0, -0.005>, <0.0095, 0.01, 0.005> // <x, y, z> near lower left corner, <x, y, z> far upper right corner
        texture{ tx_clank_dark_gray}
      }
      box {
        <-0.01, 0.01, -0.005>, <0.01, 0.02, 0.005> // <x, y, z> near lower left corner, <x, y, z> far upper right corner
        texture{ tx_clank_mid_gray}
      }

      // append top falange
      object {
        clank_top_falange()
        rotate <top_falange_angle, 0, 0> // <x°, y°, z°>
        translate <0, 0.02, 0> // <x, y, z>
      }
    }
  }
#end


#macro clank_hand(thumb_bot_falange_angle, thumb_top_falange_angle,
                  f1_bot_falange_angle, f1_top_falange_angle,
                  f2_bot_falange_angle, f2_top_falange_angle)
  object{
    union {
      // create hand
      object {
        box {
          <-0.02, 0, -0.005>, <0.02, 0.04, 0.005> // <x, y, z> near lower left corner, <x, y, z> far upper right corner
          texture{ tx_clank_light_gray}
        }
      }

      // append fingers
      object{
        union {
          // Finger 1
          object {
            clank_bot_falange(f1_top_falange_angle)
            rotate <f1_bot_falange_angle, 0, 0> // <x°, y°, z°>
            translate <-0.01, 0.04, 0> // <x, y, z>
          }

          // Finger 2
          object {
            clank_bot_falange(f2_top_falange_angle)
            rotate <f2_bot_falange_angle, 0, 0> // <x°, y°, z°>
            translate <0.01, 0.04, 0> // <x, y, z>
          }

          // Thumb
          object {
            clank_bot_falange(thumb_top_falange_angle)
            scale <1.1, 0.5, 1>
            rotate <thumb_bot_falange_angle, 0, -90> // <x°, y°, z°>
            translate <0.02, 0.01, 0> // <x, y, z>
          }
        }
      }
    }
  }
#end
 
#macro clank_forearm(hand_angle,
                  thumb_bot_falange_angle, thumb_top_falange_angle,
                  f1_bot_falange_angle, f1_top_falange_angle,
                  f2_bot_falange_angle, f2_top_falange_angle)
  object{
    union {
      // create forearm
      object {
        union{
          cylinder {
            <0, 0, -0.0045>, <0, 0, 0.0045>, 0.006 // center of one end, center of other end, radius
            texture{ tx_clank_light_gray}
          }
          cylinder {
            <0, 0, -0.0055>, <0, 0, 0.0055>, 0.005 // center of one end, center of other end, radius
            texture{ tx_clank_dark_gray}
          }
          cylinder {
            <0, 0, 0>, <0, 0.03, 0>, 0.004 // center of one end, center of other end, radius
            texture{ tx_clank_dark_gray}
          }
        }
      }

      // append fingers
      object{
          // hand
          object {
            clank_hand(
              thumb_bot_falange_angle, thumb_top_falange_angle,
              f1_bot_falange_angle, f1_top_falange_angle,
              f2_bot_falange_angle, f2_top_falange_angle
            )
            rotate <hand_angle, 0, 0> // <x°, y°, z°>
            translate <0, 0.028, 0> // <x, y, z>
          }
      }
    }
  }
#end

#macro clank_arm(forearm_angle, hand_angle,
                  thumb_bot_falange_angle, thumb_top_falange_angle,
                  f1_bot_falange_angle, f1_top_falange_angle,
                  f2_bot_falange_angle, f2_top_falange_angle)
  object{
    union {
      // create arm
      object {
        union{
          // ombrera
          cylinder {
            <0, 0, -0.005>, <0, 0, 0.005>, 0.015 // center of one end, center of other end, radius
            texture{ tx_clank_light_gray}
          }
          cylinder {
            <0, 0, 0.005>, <0, 0, 0.02>, 0.004 // center of one end, center of other end, radius
            texture{ tx_clank_dark_gray}
          }
          cylinder {
            <0, 0, 0>, <0, 0.03, 0>, 0.004 // center of  one end, center of other end, radius
            translate <0, 0.015, 0> // <x, y, z>
            texture{ tx_clank_dark_gray}
          }
        }
      }

      // append fingers
      object{
        union {
          // hand
          object {
            clank_forearm(
              hand_angle,
              thumb_bot_falange_angle, thumb_top_falange_angle,
              f1_bot_falange_angle, f1_top_falange_angle,
              f2_bot_falange_angle, f2_top_falange_angle
            )
            rotate <0, 0, -forearm_angle> // <x°, y°, z°>
            translate <0, 0.045, 0> // <x, y, z>
          }
        }
      }
    }
  }
#end

#macro clank_propulsor()
  object {
    union {
        cone {
          <0, 0, 0>, 0.03 // <x, y, z>, center & radius of one end
          <0, 0.01, -0.09>, 0 // <x, y, z>, center & radius of the other end
          texture{ tx_fire}
        }
        cone {
          <0, 0, 0>, 0.03 // <x, y, z>, center & radius of one end
          <0.01, 0, -0.09>, 0 // <x, y, z>, center & radius of the other end
          texture{ tx_fire}
        }
        cone {
          <0, 0, 0>, 0.03 // <x, y, z>, center & radius of one end
          <0, -0.01, -0.09>, 0 // <x, y, z>, center & radius of the other end
          texture{ tx_fire}
        }
        cone {
          <0, 0, 0>, 0.03 // <x, y, z>, center & radius of one end
          <-0.01, 0, -0.09>, 0 // <x, y, z>, center & radius of the other end
          texture{ tx_fire}
        }
        cone {
          <0, 0, 0>, 0.038 // <x, y, z>, center & radius of one end
          <0, 0, -0.1>, 0 // <x, y, z>, center & radius of the other end
          texture{ tx_fire_red}
        }
      
    }
  }
#end

#macro robo_vec(PA)
  clank_body(
    PA[0],
    PA[1],
    PA[2],
    PA[3],
    PA[4],
    PA[5],
    PA[6],
    PA[7],
    PA[8],
    PA[9],
    PA[10],
    PA[11],
    PA[12],
    PA[13],
    PA[14],
    PA[15],
    PA[16],
    PA[17],
    PA[18],
    PA[19],
    PA[20],
    PA[21],
    PA[22],
    PA[23]
  )
#end

#macro clank_body(prop_rot, prop_trans,
                  mouth_angle, head_angle,
                  arm_angle1_right, arm_angle_2_right, forearm_angle_right, hand_angle_right,
                  thumb_bot_falange_angle_right, thumb_top_falange_angle_right,
                  f1_bot_falange_angle_right, f1_top_falange_angle_right,
                  f2_bot_falange_angle_right, f2_top_falange_angle_right,
                  arm_angle1_left, arm_angle_2_left, forearm_angle_left, hand_angle_left,
                  thumb_bot_falange_angle_left, thumb_top_falange_angle_left,
                  f1_bot_falange_angle_left, f1_top_falange_angle_left,
                  f2_bot_falange_angle_left, f2_top_falange_angle_left)
  object{
    union {
      // create arm
      object {
        union {
          box {
            <-0.05, -0.05, 0>, <0.05, 0.05, 0.12> // <x, y, z> near lower left corner, <x, y, z> far upper right corner
            texture{ tx_clank_light_gray}
          }
          box {
            <-0.055, -0.04, 0.03>, <0.055, 0.04, 0.1> // <x, y, z> near lower left corner, <x, y, z> far upper right corner
            texture{ tx_clank_dark_gray}
          }
        }
      }

      // append arms
      object{
          // hand
          union {
            object {
              clank_arm(
                forearm_angle_left,hand_angle_left,
                thumb_bot_falange_angle_left, thumb_top_falange_angle_left,
                f1_bot_falange_angle_left, f1_top_falange_angle_left,
                f2_bot_falange_angle_left, f2_top_falange_angle_left
              )
              rotate <-90, arm_angle1_left, -arm_angle_2_left> // <x°, y°, z°>
              translate <0, -0.07, 0.08> // <x, y, z>
            }
            object {
              clank_arm(
                forearm_angle_right,hand_angle_right,
                thumb_bot_falange_angle_right, thumb_top_falange_angle_right,
                f1_bot_falange_angle_right, f1_top_falange_angle_right,
                f2_bot_falange_angle_right, f2_top_falange_angle_right
              )
              scale <1,-1,1>
              rotate <90, arm_angle1_right, arm_angle_2_right> // <x°, y°, z°>
              translate <0, 0.07, 0.08> // <x, y, z>
            }
          }
        }
      // append head
      object {
        clank_chin(mouth_angle)
        rotate <0,0,head_angle>
        translate <0, 0, 0.13> // <x, y, z>
      }

      // Propulsor
      cylinder {
        <0, 0, -0.02>, <0, 0, 0.010>, 0.04 // center of one end, center of other end, radius
        open // remove end caps
        texture{ tx_clank_dark_gray}
      }
      object {
        clank_propulsor()
        rotate <0,0,prop_rot>
        translate <0, 0, prop_trans> // <x, y, z>
      }
      
    }
  }
#end

#include "eixos.inc"

#macro robo_mov(tt)
  #local PP = array[24]
  #local P0 = array[24]
  #local P1 = array[24]
  #local P2 = array[24]
  #local P3 = array[24]

  #local P0[0] = 180; // prop_rot
  #local P0[1] = -0.02; // prop_trans,
  #local P0[2] = 40; // mouth_angle
  #local P0[3] = 60; // head_angle,
  #local P0[4] = -80; // arm_angle1_right
  #local P0[5] = 20; // arm_angle_2_right
  #local P0[6] = 45; // forearm_angle_right
  #local P0[7] = 30; // hand_angle_right,
  #local P0[8] = 45; // thumb_bot_falange_angle_right
  #local P0[9] = 20; // thumb_top_falange_angle_right,
  #local P0[10] = 90; // f1_bot_falange_angle_right
  #local P0[11] = 45; // f1_top_falange_angle_right,
  #local P0[12] = 50; // f2_bot_falange_angle_right
  #local P0[13] = 10; // f2_top_falange_angle_right
  #local P0[14] = 45; // arm_angle1_left
  #local P0[15] = -20; // arm_angle_2_left
  #local P0[16] = 45; // forearm_angle_left
  #local P0[17] = 30; // hand_angle_left,
  #local P0[18] = 45; // thumb_bot_falange_angle_left
  #local P0[19] = 20; // thumb_top_falange_angle_left,
  #local P0[20] = 90; // f1_bot_falange_angle_left
  #local P0[21] = 45; // f1_top_falange_angle_left,
  #local P0[22] = 80; // f2_bot_falange_angle_left
  #local P0[23] = 50; // f2_top_falange_angle_left

  #local P2[0] = -180; // prop_rot
  #local P2[1] = 0.02; // prop_trans,
  #local P2[2] = 40; // mouth_angle
  #local P2[3] = -60; // head_angle,
  #local P2[4] = 45; // arm_angle1_right
  #local P2[5] = -20; // arm_angle_2_right
  #local P2[6] = 45; // forearm_angle_right
  #local P2[7] = 30; // hand_angle_right,
  #local P2[8] = 45; // thumb_bot_falange_angle_right
  #local P2[9] = 20; // thumb_top_falange_angle_right,
  #local P2[10] = 90; // f1_bot_falange_angle_right
  #local P2[11] = 45; // f1_top_falange_angle_right,
  #local P2[12] = 80; // f2_bot_falange_angle_right
  #local P2[13] = 50; // f2_top_falange_angle_right
  #local P2[14] = -80; // arm_angle1_left
  #local P2[15] = 20; // arm_angle_2_left
  #local P2[16] = 45; // forearm_angle_left
  #local P2[17] = 30; // hand_angle_left,
  #local P2[18] = 45; // thumb_bot_falange_angle_left
  #local P2[19] = 20; // thumb_top_falange_angle_left,
  #local P2[20] = 90; // f1_bot_falange_angle_left
  #local P2[21] = 45; // f1_top_falange_angle_left,
  #local P2[22] = 50; // f2_bot_falange_angle_left
  #local P2[23] = 10; // f2_top_falange_angle_left
  
  #local P3[0] = 0; // prop_rot
  #local P3[1] = 0;; // prop_trans,
  #local P3[2] = 0; // mouth_angle
  #local P3[3] = 0; // head_angle,
  #local P3[4] = 0; // arm_angle1_right
  #local P3[5] = 0; // arm_angle_2_right
  #local P3[6] = 0; // forearm_angle_right
  #local P3[7] = 0; // hand_angle_right,
  #local P3[8] = 0; // thumb_bot_falange_angle_right
  #local P3[9] = 0; // thumb_top_falange_angle_right,
  #local P3[10] = 0; // f1_bot_falange_angle_right
  #local P3[11] = 0; // f1_top_falange_angle_right,
  #local P3[12] = 0; // f2_bot_falange_angle_right
  #local P3[13] = 0; // f2_top_falange_angle_right
  #local P3[14] = 0; // arm_angle1_left
  #local P3[15] = 0; // arm_angle_2_left
  #local P3[16] = 0; // forearm_angle_left
  #local P3[17] = 0; // hand_angle_left,
  #local P3[18] = 0; // thumb_bot_falange_angle_left
  #local P3[19] = 0; // thumb_top_falange_angle_left,
  #local P3[20] = 0; // f1_bot_falange_angle_left
  #local P3[21] = 0; // f1_top_falange_angle_left,
  #local P3[22] = 0; // f2_bot_falange_angle_left
  #local P3[23] = 0; // f2_top_falange_angle_left

  #local P1[0] = 0; // prop_rot
  #local P1[1] = 0.02; // prop_trans,
  #local P1[2] = 0; // mouth_angle
  #local P1[3] = 0; // head_angle,
  #local P1[4] = 0; // arm_angle1_right
  #local P1[5] = 0; // arm_angle_2_right
  #local P1[6] = 0; // forearm_angle_right
  #local P1[7] = 0; // hand_angle_right,
  #local P1[8] = 0; // thumb_bot_falange_angle_right
  #local P1[9] = 0; // thumb_top_falange_angle_right,
  #local P1[10] = 0; // f1_bot_falange_angle_right
  #local P1[11] = 0; // f1_top_falange_angle_right,
  #local P1[12] = 0; // f2_bot_falange_angle_right
  #local P1[13] = 0; // f2_top_falange_angle_right
  #local P1[14] = 0; // arm_angle1_left
  #local P1[15] = 0; // arm_angle_2_left
  #local P1[16] = 0; // forearm_angle_left
  #local P1[17] = 0; // hand_angle_left,
  #local P1[18] = 0; // thumb_bot_falange_angle_left
  #local P1[19] = 0; // thumb_top_falange_angle_left,
  #local P1[20] = 0; // f1_bot_falange_angle_left
  #local P1[21] = 0; // f1_top_falange_angle_left,
  #local P1[22] = 0; // f2_bot_falange_angle_left
  #local P1[23] = 0; // f2_top_falange_angle_left

  // object{
  //   union{
  //     object{
  //       robo_vec(P0) 
  //       translate < -0.5, 0, 0.2>
  //     }
  //     object{
  //       robo_vec(P1) 
  //       translate < 0, 0, 0.2>
  //     }
  //     object{
  //       robo_vec(P2) 
  //       translate < 0.5, 0, 0.2>
  //     }
  //     object{
  //       robo_vec(P3) 
  //       translate < 1, 0, 0.2>
  //     }
  //   } 
  // }

  #if (tt<=0.25)
    #local PP[0] = interpola1(tt, 0, 0.25, P0[0], P1[0]);
    #local PP[1] = interpola1(tt, 0, 0.25, P0[1], P1[1]);
    #local PP[2] = interpola1(tt, 0, 0.25, P0[2], P1[2]);
    #local PP[3] = interpola1(tt, 0, 0.25, P0[3], P1[3]);
    #local PP[4] = interpola1(tt, 0, 0.25, P0[4], P1[4]);
    #local PP[5] = interpola1(tt, 0, 0.25, P0[5], P1[5]);
    #local PP[6] = interpola1(tt, 0, 0.25, P0[6], P1[6]);
    #local PP[7] = interpola1(tt, 0, 0.25, P0[7], P1[7]);
    #local PP[8] = interpola1(tt, 0, 0.25, P0[8], P1[8]);
    #local PP[9] = interpola1(tt, 0, 0.25, P0[9], P1[9]);
    #local PP[10] = interpola1(tt, 0, 0.25, P0[10], P1[10]);
    #local PP[11] = interpola1(tt, 0, 0.25, P0[11], P1[11]);
    #local PP[12] = interpola1(tt, 0, 0.25, P0[12], P1[12]);
    #local PP[13] = interpola1(tt, 0, 0.25, P0[13], P1[13]);
    #local PP[14] = interpola1(tt, 0, 0.25, P0[14], P1[14]);
    #local PP[15] = interpola1(tt, 0, 0.25, P0[15], P1[15]);
    #local PP[16] = interpola1(tt, 0, 0.25, P0[16], P1[16]);
    #local PP[17] = interpola1(tt, 0, 0.25, P0[17], P1[17]);
    #local PP[18] = interpola1(tt, 0, 0.25, P0[18], P1[18]);
    #local PP[19] = interpola1(tt, 0, 0.25, P0[19], P1[19]);
    #local PP[20] = interpola1(tt, 0, 0.25, P0[20], P1[20]);
    #local PP[21] = interpola1(tt, 0, 0.25, P0[21], P1[21]);
    #local PP[22] = interpola1(tt, 0, 0.25, P0[22], P1[22]);
    #local PP[23] = interpola1(tt, 0, 0.25, P0[23], P1[23]);
  #end
  #if (tt>0.25 & tt<=0.5)
    #local PP[0] = interpola1(tt, 0.25, 0.5, P1[0], P2[0]);
    #local PP[1] = interpola1(tt, 0.25, 0.5, P1[1], P2[1]);
    #local PP[2] = interpola1(tt, 0.25, 0.5, P1[2], P2[2]);
    #local PP[3] = interpola1(tt, 0.25, 0.5, P1[3], P2[3]);
    #local PP[4] = interpola1(tt, 0.25, 0.5, P1[4], P2[4]);
    #local PP[5] = interpola1(tt, 0.25, 0.5, P1[5], P2[5]);
    #local PP[6] = interpola1(tt, 0.25, 0.5, P1[6], P2[6]);
    #local PP[7] = interpola1(tt, 0.25, 0.5, P1[7], P2[7]);
    #local PP[8] = interpola1(tt, 0.25, 0.5, P1[8], P2[8]);
    #local PP[9] = interpola1(tt, 0.25, 0.5, P1[9], P2[9]);
    #local PP[10] = interpola1(tt, 0.25, 0.5, P1[10], P2[10]);
    #local PP[11] = interpola1(tt, 0.25, 0.5, P1[11], P2[11]);
    #local PP[12] = interpola1(tt, 0.25, 0.5, P1[12], P2[12]);
    #local PP[13] = interpola1(tt, 0.25, 0.5, P1[13], P2[13]);
    #local PP[14] = interpola1(tt, 0.25, 0.5, P1[14], P2[14]);
    #local PP[15] = interpola1(tt, 0.25, 0.5, P1[15], P2[15]);
    #local PP[16] = interpola1(tt, 0.25, 0.5, P1[16], P2[16]);
    #local PP[17] = interpola1(tt, 0.25, 0.5, P1[17], P2[17]);
    #local PP[18] = interpola1(tt, 0.25, 0.5, P1[18], P2[18]);
    #local PP[19] = interpola1(tt, 0.25, 0.5, P1[19], P2[19]);
    #local PP[20] = interpola1(tt, 0.25, 0.5, P1[20], P2[20]);
    #local PP[21] = interpola1(tt, 0.25, 0.5, P1[21], P2[21]);
    #local PP[22] = interpola1(tt, 0.25, 0.5, P1[22], P2[22]);
    #local PP[23] = interpola1(tt, 0.25, 0.5, P1[23], P2[23]);
  #end
  #if (tt>0.5 & tt<=0.75)
    #local PP[0] = interpola1(tt, 0.5, 0.75, P2[0], P3[0]);
    #local PP[1] = interpola1(tt, 0.5, 0.75, P2[1], P3[1]);
    #local PP[2] = interpola1(tt, 0.5, 0.75, P2[2], P3[2]);
    #local PP[3] = interpola1(tt, 0.5, 0.75, P2[3], P3[3]);
    #local PP[4] = interpola1(tt, 0.5, 0.75, P2[4], P3[4]);
    #local PP[5] = interpola1(tt, 0.5, 0.75, P2[5], P3[5]);
    #local PP[6] = interpola1(tt, 0.5, 0.75, P2[6], P3[6]);
    #local PP[7] = interpola1(tt, 0.5, 0.75, P2[7], P3[7]);
    #local PP[8] = interpola1(tt, 0.5, 0.75, P2[8], P3[8]);
    #local PP[9] = interpola1(tt, 0.5, 0.75, P2[9], P3[9]);
    #local PP[10] = interpola1(tt, 0.5, 0.75, P2[10], P3[10]);
    #local PP[11] = interpola1(tt, 0.5, 0.75, P2[11], P3[11]);
    #local PP[12] = interpola1(tt, 0.5, 0.75, P2[12], P3[12]);
    #local PP[13] = interpola1(tt, 0.5, 0.75, P2[13], P3[13]);
    #local PP[14] = interpola1(tt, 0.5, 0.75, P2[14], P3[14]);
    #local PP[15] = interpola1(tt, 0.5, 0.75, P2[15], P3[15]);
    #local PP[16] = interpola1(tt, 0.5, 0.75, P2[16], P3[16]);
    #local PP[17] = interpola1(tt, 0.5, 0.75, P2[17], P3[17]);
    #local PP[18] = interpola1(tt, 0.5, 0.75, P2[18], P3[18]);
    #local PP[19] = interpola1(tt, 0.5, 0.75, P2[19], P3[19]);
    #local PP[20] = interpola1(tt, 0.5, 0.75, P2[20], P3[20]);
    #local PP[21] = interpola1(tt, 0.5, 0.75, P2[21], P3[21]);
    #local PP[22] = interpola1(tt, 0.5, 0.75, P2[22], P3[22]);
    #local PP[23] = interpola1(tt, 0.5, 0.75, P2[23], P3[23]);
  #end
  #if (tt>0.75 & tt<=1)
    #local PP[0] = interpola1(tt, 0.75, 1, P3[0], P0[0]);
    #local PP[1] = interpola1(tt, 0.75, 1, P3[1], P0[1]);
    #local PP[2] = interpola1(tt, 0.75, 1, P3[2], P0[2]);
    #local PP[3] = interpola1(tt, 0.75, 1, P3[3], P0[3]);
    #local PP[4] = interpola1(tt, 0.75, 1, P3[4], P0[4]);
    #local PP[5] = interpola1(tt, 0.75, 1, P3[5], P0[5]);
    #local PP[6] = interpola1(tt, 0.75, 1, P3[6], P0[6]);
    #local PP[7] = interpola1(tt, 0.75, 1, P3[7], P0[7]);
    #local PP[8] = interpola1(tt, 0.75, 1, P3[8], P0[8]);
    #local PP[9] = interpola1(tt, 0.75, 1, P3[9], P0[9]);
    #local PP[10] = interpola1(tt, 0.75, 1, P3[10], P0[10]);
    #local PP[11] = interpola1(tt, 0.75, 1, P3[11], P0[11]);
    #local PP[12] = interpola1(tt, 0.75, 1, P3[12], P0[12]);
    #local PP[13] = interpola1(tt, 0.75, 1, P3[13], P0[13]);
    #local PP[14] = interpola1(tt, 0.75, 1, P3[14], P0[14]);
    #local PP[15] = interpola1(tt, 0.75, 1, P3[15], P0[15]);
    #local PP[16] = interpola1(tt, 0.75, 1, P3[16], P0[16]);
    #local PP[17] = interpola1(tt, 0.75, 1, P3[17], P0[17]);
    #local PP[18] = interpola1(tt, 0.75, 1, P3[18], P0[18]);
    #local PP[19] = interpola1(tt, 0.75, 1, P3[19], P0[19]);
    #local PP[20] = interpola1(tt, 0.75, 1, P3[20], P0[20]);
    #local PP[21] = interpola1(tt, 0.75, 1, P3[21], P0[21]);
    #local PP[22] = interpola1(tt, 0.75, 1, P3[22], P0[22]);
    #local PP[23] = interpola1(tt, 0.75, 1, P3[23], P0[23]);
  #end

  object {
    robo_vec(PP)
  }

#end

// #macro interpola_vec(tt, vec1, vec2):
//   #local i=0;
//   #local vec_interpol = array[24]
//   #while (i < 24)
//     #local vec_interpol[i] = interpola1(tt, vec1[i], vec2[i])
//     #local i = i+1
//   #end

//   vec_interpol;
// #end

#macro interpola1(tt, tt0,tt1, vv0,vv1)
  #local rr = (tt - tt0)/(tt1 - tt0);
  #local vv = (1-rr)*vv0 + rr*vv1;
  vv;
#end

#local p0 = <0.0, 0.0, 0.2>;

#macro robo_line()
  #local ii = 0;
  #local xx = 0;
  #local dii = 1.0/10;
  #while (ii < 1)
    #declare p1 = <xx, 0, 0.2>;
    object {
      robo_mov(ii)
      translate p1
    }
    #local ii = ii + dii;
    #local xx = xx + 0.22;
  #end
#end

// Aqui est� a cena, finalmente:

union{
  object{ground}
  // object{ eixos(0.1) }
  robo_line()
}

#include "camlight.inc"
#declare centro_cena = (p0 + p1)/2 + < 0.10, 0.00, 0.00 >;
#declare raio_cena = 0.45*vlength(p1-p0);
#declare dir_camera = < 1.00, 1.00, 0.20 >;
#declare dist_camera = 5*raio_cena;
#declare intens_luz = 1; 
camlight(centro_cena, raio_cena, dir_camera, dist_camera , z, intens_luz)