// Trabalho prático 09
// ======================================================================

//Includes 
#include "eixos.inc"
#include "dados.inc"

// CORES E TEXTURAS

background{ color rgb < 0.75, 0.80, 0.85 > }

#declare tex = 
  texture{
    pigment{ color rgb < 1.00, 0.80, 0.10 > }
    finish{ diffuse 0.9 ambient 0.1 }
}

// ======================================================================
// DESCRIÇÃO DA CENA
#declare body =
difference{ 
  cylinder{
    <-2,0,0>,
    <2,0,0>,
    0.5
    texture {tex}
  } 
  box{
    <-2.1,-0.5,0>,
    <2.1,0.5,-0.5>
    texture {tex}
  }
}
// ======================================================================
// ======================================================================
// ======================================================================
// Claw
#declare Claw = 
union{
  sphere{
    <0,0,0>, 
    legRadio 
    texture {tex}
  }
  cylinder{
    <0,legRadio,0>,
    <0,clawLen,0>,
    legRadio
    texture {tex}
  }
}

// ======================================================================
// Tarsus
#macro Tarsus(angClaw)
union{
  sphere{
    <0,0,0>, 
    legRadio 
    texture {tex}
  }
  cylinder{
    <0,legRadio,0>,
    <0,tarsusLen,0>,
    legRadio
    texture {tex}
  }
  object{Claw rotate<angClaw,0,0> translate <0,legRadio+tarsusLen,0>}
}
#end

// ======================================================================
// Tibia
#macro Tibia(angTarsus,angClaw)
union{
  sphere{
    <0,0,0>, 
    legRadio 
    texture {tex}
  }
  cylinder{
    <0,legRadio,0>,
    <0,tibiaLen,0>,
    legRadio
    texture {tex}
  }
  object{Tarsus(angClaw) rotate<angTarsus,0,0> translate <0,legRadio+tibiaLen,0>}
}
#end

// ======================================================================
// Femur
#macro Femur(angTibia,angTarsus,angClaw)
union{
  sphere{
    <0,0,0>, 
    legRadio 
    texture {tex}
  }
  cylinder{
    <0,legRadio,0>,
    <0,femurLen,0>,
    legRadio
    texture {tex}
  }
  object{Tibia(angTarsus,angClaw) rotate<angTibia,0,0> translate <0,legRadio+femurLen,0>}
}
#end

// ======================================================================
// Coxa
#macro Coxa(angFemur,angTibia,angTarsus,angClaw)
union{
  sphere{
    <0,0,0>, 
    legRadio 
    texture {tex}
  }
  cylinder{
    <0,legRadio,0>,
    <0,coxaLen,0>,
    legRadio
    texture {tex}
  }
  object{Femur(angTibia,angTarsus,angClaw) rotate<angFemur,0,0> translate <0,legRadio+coxaLen,0>}
}
#end

// ======================================================================
// Leg
#macro Leg(angCoxa,angFemur,angTibia,angTarsus,angClaw,transl,reflect)
  object{Coxa(angFemur,angTibia,angTarsus,angClaw) rotate<0,0,angCoxa> translate < transl,0,0 > scale<1,reflect,1>}
#end

// ======================================================================
// macro Dragon
#macro Dragon(dragon)
  #local f=0;
  #for(l,0,nLegs-1)
    object{body translate <0,0,0.1>}
    object{Leg(
      dragon[l][0],
      dragon[l][1],
      dragon[l][2],
      dragon[l][3],
      dragon[l][4],
      dragon[l][5],
      dragon[l][6])}
  #end
#end

// ======================================================================
// ======================================================================
// ======================================================================
//macro interp1 KeyFrame
//Numero de Pernas
//Numero de Angulos
//matriz Q[frame][perna][angulo]
#macro interp1KeyFrame (NP,NA,Q,k0,t0,t1,tt,R)
  #for (i, 0, NP-1, 1)
    #for (k, 0, NA-1, 1)
      #declare R[i][k] = interp1(Q[k0][i][k], Q[k0+1][i][k], t0, t1, tt);
    #end
  #end
#end


// ======================================================================
// macro interp1
#macro interp1 (v0, v1, t0, t1, tt)
	#local rr = (tt - t0) / (t1 - t0);
	#local ss = 1 - rr;
	#local vv = ss * v0 + rr * v1;
	vv
#end

// ======================================================================
// macro busca tempo
#macro busca_tempo(clk, nk, tk)
  //devolve k tal que
  //tk[k] <= clk <= tk[k+1]
  #local result = -1;
  #for (k, 0, nk-2, 1)
    #if ((tk[k] <= clk) & (clk < tk[k+1]))
      #local result = k;
    #end
  #end
  
  #if (result = -1)
    #local result = nk-1;
  #end
  result
#end
// ======================================================================
// ======================================================================
// ======================================================================

//#declare frame = busca_tempo(0.100, nFrames, tk);
// CENA
object{ eixos(3.00) translate < 0,0,0 > }
object{ eixos(1.0) }


#declare frame = busca_tempo(clock, nFrames, tk);
interp1KeyFrame(nLegs,nParam,Q,frame,0,1,clock,R)
Dragon(R)

// ILUMINACAO E CAMERA
#include "camlight.inc"
#declare centro_cena = < 0, 3, 0>;
#declare raio_cena = 7.0;
#declare dir_camera = < 10, -5, 5 >;
#declare dist_camera = 5*raio_cena;
#declare intens_luz = 1.20;
camlight(centro_cena, raio_cena, dir_camera, dist_camera , z, intens_luz)