// Last edited on 2023-12-27 04:36:48 by stolfi
// Moved Around by jevs

background{ color rgb < 0, 0, 0 > }

#declare tx_torso = 
  texture{
    pigment{ color rgb < 0.10, 0.80, 1.00 > }
    finish{ diffuse 0.8 ambient 0.1 specular 0.5 roughness 0.005 }
  }

#declare tx_membro = 
  texture{
    pigment{ color rgb < 1.0, 1.0, 0.0 > }
    finish{ diffuse 0.8 ambient 0.1 specular 0.5 roughness 0.005 }
  }

#declare tx_tronco = 
  texture{
    pigment{ color rgb < .55, 0.3, 0.08 > }
    finish{ diffuse 0.8 ambient 0.1 specular 0.5 roughness 0.005 }
  }

#declare tx_xadrez =
  texture{
    pigment{ checker color rgb < 0.950, 0.980, 0.900 >, color rgb < 0.900, 0.900, 0.900 > }
    finish{ diffuse 0.9 ambient 0.1 }
    scale 5.0
  }

#macro mao()
  #local hand = cylinder {
    <0, 0, 0>, <0, 0, 1>, 0.25 // center of one end, center of other end, radius    
  }

  object{hand}
#end

#macro antebraco(D5)
  #local forearm = cylinder {
    <0, 0, 0>, <0, 0, 2>, 0.25 // center of one end, center of other end, radius    
  }

  #local hand = object{
    mao()
    rotate <D5, 0, 0> 
    translate <0, 0, 2>
  }

  union{
    object{forearm}
    object{hand}
  }
#end

#macro braco(M4, D5)
  #local arm = cylinder {
    <0, 0, 0>, <0, 0, 3>, 0.25 // center of one end, center of other end, radius    
  }

  #local forearm = object{
    antebraco(D5)
    rotate <M4, 0, 0> // <x°, y°, z°>
    translate <0, 0, 3> // <x, y, z>
  }

  union {
    object{arm}
    object{forearm}
  }

#end

#macro membro(T1, T2, T3, M4, D5)

  #local arm = object{
    braco(M4, D5)
    rotate <T1, T2, T3> // <x°, y°, z°>
  }
  

  object{
    arm
    texture {
      tx_membro
    }
  }

#end

#macro cabeca(T1, T2, T3, M4)

#end

#macro robo(
  rMLTS1,rMLTS2,rMLTS3,rMLTF1,rMLTH1,
  rMRTS1,rMRTS2,rMRTS3,rMRTF1,rMRTH1,
  rMLBS1,rMLBS2,rMLBS3,rMLBF1,rMLBH1,
  rMRBS1,rMRBS2,rMRBS3,rMRBF1,rMRBH1,
  rHH1, rHH2, rHH3, rHN1
)
  #local torso = box {
    <0, 0, 0>, <3, 2, 4> // <x, y, z> near lower left corner, <x, y, z> far upper right corner
    texture {
      tx_torso
    }
  }

  #local leftTop = object{
    membro(rMLTS1,rMLTS2,rMLTS3,rMLTF1,rMLTH1)
    rotate<0,-90,0>
  }

  #local rightTop = object{
    membro( rMRTS1,rMRTS2,rMRTS3,rMRTF1,rMRTH1)
    rotate<0,90,00>
  }
  #local leftBottom = object{
    membro(rMLBS1,rMLBS2,rMLBS3,rMLBF1,rMLBH1)
    rotate <0, -90, 0> // <x°, y°, z°>
    
  }
  #local rightBottom = object{
    membro(rMRBS1,rMRBS2,rMRBS3,rMRBF1,rMRBH1)
    rotate<0,90,0>
  }

  union {
    object{torso}
    object{leftTop translate <0, 1, 3>}
    object{rightTop rotate <180, 0, 0> translate <3, 1, 3>  }
    object{leftBottom translate <0, 1, 1>}
    object{rightBottom rotate <180, 0, 0> translate <3, 1, 1> }
  }
#end

#declare raio = 2.000;
#declare raioIni = 3;

#macro empacota(
  xMLTS1,xMLTS2,xMLTS3,xMLTF1,xMLTH1,
  xMRTS1,xMRTS2,xMRTS3,xMRTF1,xMRTH1,
  xMLBS1,xMLBS2,xMLBS3,xMLBF1,xMLBH1,
  xMRBS1,xMRBS2,xMRBS3,xMRBF1,xMRBH1,
  xHH1, xHH2, xHH3, xHN1
)
  #local P = array[NP]
  #local P[0] = xMLTS1;
  #local P[1] = xMLTS2;
  #local P[2] = xMLTS3;
  #local P[3] = xMLTF1;
  #local P[4] = xMLTH1;
  #local P[5] = xMRTS1;
  #local P[6] = xMRTS2;
  #local P[7] = xMRTS3;
  #local P[8] = xMRTF1;
  #local P[9] = xMRTH1;
  #local P[10] = xMLBS1;
  #local P[11] = xMLBS2;
  #local P[12] = xMLBS3;
  #local P[13] = xMLBF1;
  #local P[14] = xMLBH1;
  #local P[15] = xMRBS1;
  #local P[16] = xMRBS2;
  #local P[17] = xMRBS3;
  #local P[18] = xMRBF1;
  #local P[19] = xMRBH1;
  #local P[20] = xHH1;
  #local P[21] = xHH2;
  #local P[22] = xHH3;
  #local P[23] = xHN1;
  P
#end

#macro acha_quadro(tt, NQ, TQ)
  
  // #declare k = 0;
  // #if(tt = 0.0)
  //   #local k = 0;
  // #end
  // 
  // #if(tt = 0.250)
  //   #local k = 1;
  // #end
  // 
  // #if(tt = 0.500)
  //   #local k = 2;
  // #end
  // 
  // #if(tt = 0.650)
  //   #local k = 3;
  // #end
  // 
  // #if(tt = 1)
  //   #local k = 4;
  // #end
  
  #local k = 0;                    // Prof
  #while((k < NQ) & (tt > TQ[k]))  // Prof
    #local k = k + 1;              // Prof
  #end                             // Prof
  k 

#end

#macro interpola_quadro(
  tt, ta, Pa, tb, Pb,
  MLTS1,MLTS2,MLTS3,MLTF1,MLTH1,
  MRTS1,MRTS2,MRTS3,MRTF1,MRTH1,
  MLBS1,MLBS2,MLBS3,MLBF1,MLBH1,
  MRBS1,MRBS2,MRBS3,MRBF1,MRBH1,
  HH1, HH2, HH3, HN1
  
)
  #local s = (tt - ta)/(tb - ta);

  #declare MLTS1 = (1-s)*Pa[1] + s * Pb[1];
  #declare MLTS2 = (1-s)*Pa[2] + s * Pb[2];
  #declare MLTS3 = (1-s)*Pa[3] + s * Pb[3];
  #declare MLTF1 = (1-s)*Pa[4] + s * Pb[4];
  #declare MLTH1 = (1-s)*Pa[5] + s * Pb[5];
  #declare MRTS1 = (1-s)*Pa[6] + s * Pb[6];
  #declare MRTS2 = (1-s)*Pa[7] + s * Pb[7];
  #declare MRTS3 = (1-s)*Pa[8] + s * Pb[8];
  #declare MRTF1 = (1-s)*Pa[9] + s * Pb[9];
  #declare MRTH1 = (1-s)*Pa[10] + s * Pb[10];  
  #declare MLBS1 = (1-s)*Pa[11] + s * Pb[11];
  #declare MLBS2 = (1-s)*Pa[12] + s * Pb[12];
  #declare MLBS3 = (1-s)*Pa[13] + s * Pb[13];
  #declare MLBF1 = (1-s)*Pa[14] + s * Pb[14];
  #declare MLBH1 = (1-s)*Pa[15] + s * Pb[15];  
  #declare MRBS1 = (1-s)*Pa[16] + s * Pb[16];
  #declare MRBS2 = (1-s)*Pa[17] + s * Pb[17];
  #declare MRBS3 = (1-s)*Pa[18] + s * Pb[18];
  #declare MRBF1 = (1-s)*Pa[19] + s * Pb[19];
  #declare HH1 = (1-s)*Pa[20] + s * Pb[20];
  #declare HH2 = (1-s)*Pa[21] + s * Pb[21];
  #declare HH3 = (1-s)*Pa[22] + s * Pb[22];
  #declare HN1 = (1-s)*Pa[23] + s * Pb[23];
#end

#declare NP = 24;

#include "galho.inc"

#macro cena(tt)
  #local NQ = 6;
  #local TQ = array[NQ+1];
  #local PQ = array[NQ+1];

  #local TQ[0] = 0.000;
  #local PQ[0] = empacota(
    -80,0,0,-30,-60,
    80,0,0,30,60,
    -80,0,0,-30,-60,
    0,0,0,0,0,
    0,0,0,0
  );

  #local TQ[1] = 0.000;
  #local PQ[1] = empacota(
    -80,0,0,-30,-60,
    80,0,0,30,60,
    -80,0,0,-30,-60,
    80,0,0,30,60,
    0,0,0,0
  );

  #local TQ[2] = 0.000;
  #local PQ[2] = empacota(
    -80,0,0,-30,-60,
    80,0,0,30,60,
    -80,0,0,-30,-60,
    80,0,0,30,60,
    0,0,0,0,
  );

  #local TQ[3] = 0.000;
  #local PQ[3] = empacota(
    -80,0,0,-30,-60,
    80,0,0,30,60,
    -80,0,0,-30,-60,
    80,0,0,30,60,
    0,0,0,0,
  );

  #local TQ[4] = 0.000;
  #local PQ[4] = empacota(
    -80,0,0,-30,-60,
    80,0,0,30,60,
    -80,0,0,-30,-60,
    80,0,0,30,60,
    0,0,0,0,
  );

  #local TQ[5] = 0.000;
  #local PQ[5] = empacota(
    -80,0,0,-30,-60,
    80,0,0,30,60,
    -80,0,0,-30,-60,
    80,0,0,30,60,
    0,0,0,0,  
  );

  #local TQ[6] = 1.000;
  #local PQ[6] = PQ[0] // Prof

  #local k = acha_quadro(tt, NQ, TQ); // Prof

  #local MLTS1 = 0; #local MLTS2 = 0; #local MLTS3 = 0; #local MLTF1 = 0; #local MLTH1 = 0;
  #local MRTS1 = 0; #local MRTS2 = 0; #local MRTS3 = 0; #local MRTF1 = 0; #local MRTH1 = 0;
  #local MLBS1 = 0; #local MLBS2 = 0; #local MLBS3 = 0; #local MLBF1 = 0; #local MLBH1 = 0;
  #local MRBS1 = 0; #local MRBS2 = 0; #local MRBS3 = 0; #local MRBF1 = 0; #local MRBH1 = 0;
  #local HH1 = 0; #local HH2 = 0; #local HH3 = 0; #local HN1 = 0;

  #local sloth = robo(
    -80,0,0,-30,-60,
    80,0,0,30,60,
    -80,0,0,-30,-60,
    80,0,0,30,60,
    0,0,0,0,  
  )

  #local Lg = 4; // Deslocamento em 1 ciclo. -- Prof
  
  union{
    object{ sloth rotate 90*x translate -1.5*x }
    object{ galho( < 0, -Lg/2, 0 >, < 0, +Lg/2, 0 >, 1, 0) translate 5*z }
  }

#end

#declare chao = disc { <0, 0, 0>, <0, 0, 1>, 200 texture { tx_xadrez } }

object{ chao translate < 0,0,-5 > }

#include "eixos.inc"
// object{ eixos(10) }

object{ cena(clock) }
  

#include "camlight.inc"
#declare centro_cena = < 0.00, -2.00, +4.00 >;
#declare raio_cena = 8.0;
#declare dir_camera = < 7, 5, 3 >;
#declare dist_camera = 5*raio_cena;
#declare intens_luz = 1.20;
camlight(centro_cena, raio_cena, dir_camera, dist_camera , z, intens_luz)