// ======================================================================
// Tamanhos padrão
#declare legRadio = 0.1;
#declare clawLen = 0.5;
#declare tarsusLen = 1.5; 
#declare tibiaLen = 1.0;
#declare femurLen = 0.7;
#declare coxaLen = 0.7;

// ======================================================================
// Constantes
#declare nFrames = 3;
#declare nLegs = 6;
#declare nParam = 7;

// ======================================================================
// Tempos dos keyframes
#declare tk = array[nFrames]
#declare tk[0]=0.0000;
#declare tk[1]=0.5000;
#declare tk[2]=1.000;


// ======================================================================
#declare R = array[nLegs][nParam];
#for (i, 0, nLegs-1)
  #for (k, 0, nParam-1)
    #declare R[i][k] = 0;
  #end
#end

// ======================================================================
// matriz Q
// [numero de quadros][numero de pernas][parametros]
// parametros: angCoxa,angFemur,angTibia,angTarsus,angClaw,transl,reflect
#declare Q = array[nFrames][nLegs][nParam];

//esquerda
//frame 0 perna 0
#declare Q[0][0][0] = 30;
#declare Q[0][0][1] = 60;
#declare Q[0][0][2] = -120;
#declare Q[0][0][3] = -15;
#declare Q[0][0][4] = 60;
#declare Q[0][0][5] = -0.6;
#declare Q[0][0][6] = 1;

//frame 0 perna 0
#declare Q[0][1][0] = 0;
#declare Q[0][1][1] = 60;
#declare Q[0][1][2] = -120;
#declare Q[0][1][3] = -15;
#declare Q[0][1][4] = 60;
#declare Q[0][1][5] = 0;
#declare Q[0][1][6] = 1;

//frame 0 perna 0
#declare Q[0][2][0] = -30;
#declare Q[0][2][1] = 60;
#declare Q[0][2][2] = -120;
#declare Q[0][2][3] = -15;
#declare Q[0][2][4] = 60;
#declare Q[0][2][5] = 0.6;
#declare Q[0][2][6] = 1;

//direita
//frame 0 perna 0
#declare Q[0][3][0] = 30;
#declare Q[0][3][1] = 60;
#declare Q[0][3][2] = -120;
#declare Q[0][3][3] = -15;
#declare Q[0][3][4] = 60;
#declare Q[0][3][5] = -0.6;
#declare Q[0][3][6] = -1;

//frame 0 perna 0
#declare Q[0][4][0] = 0;
#declare Q[0][4][1] = 60;
#declare Q[0][4][2] = -120;
#declare Q[0][4][3] = -15;
#declare Q[0][4][4] = 60;
#declare Q[0][4][5] = 0;
#declare Q[0][4][6] = -1;

//frame 0 perna 0
#declare Q[0][5][0] = -30;
#declare Q[0][5][1] = 60;
#declare Q[0][5][2] = -120;
#declare Q[0][5][3] = -15;
#declare Q[0][5][4] = 60;
#declare Q[0][5][5] = 0.6;
#declare Q[0][5][6] = -1;

//=============================================================================

//esquerda
//frame 0 perna 0
#declare Q[1][0][0] = 30;
#declare Q[1][0][1] = 60;
#declare Q[1][0][2] = -120;
#declare Q[1][0][3] = -15;
#declare Q[1][0][4] = 60;
#declare Q[1][0][5] = -0.6;
#declare Q[1][0][6] = 1;

//frame 0 perna 0
#declare Q[1][1][0] = 0;
#declare Q[1][1][1] = 60;
#declare Q[1][1][2] = -120;
#declare Q[1][1][3] = -15;
#declare Q[1][1][4] = 60;
#declare Q[1][1][5] = 0;
#declare Q[1][1][6] = 1;

//frame 0 perna 0
#declare Q[1][2][0] = -30;
#declare Q[1][2][1] = 80;
#declare Q[1][2][2] = -40;
#declare Q[1][2][3] = -120;
#declare Q[1][2][4] = 30;
#declare Q[1][2][5] = 0.6;
#declare Q[1][2][6] = 1;

//direita
//frame 0 perna 0
#declare Q[1][3][0] = 30;
#declare Q[1][3][1] = 60;
#declare Q[1][3][2] = -120;
#declare Q[1][3][3] = -15;
#declare Q[1][3][4] = 60;
#declare Q[1][3][5] = -0.6;
#declare Q[1][3][6] = -1;

//frame 0 perna 0
#declare Q[1][4][0] = 0;
#declare Q[1][4][1] = 60;
#declare Q[1][4][2] = -120;
#declare Q[1][4][3] = -15;
#declare Q[1][4][4] = 60;
#declare Q[1][4][5] = 0;
#declare Q[1][4][6] = -1;

//frame 0 perna 0
#declare Q[1][5][0] = -30;
#declare Q[1][5][1] = 80;
#declare Q[1][5][2] = -40;
#declare Q[1][5][3] = -120;
#declare Q[1][5][4] = 30;
#declare Q[1][5][5] = 0.6;
#declare Q[1][5][6] = -1;
//=============================================================================
//esquerda
//frame 0 perna 0
#declare Q[2][0][0] = 30;
#declare Q[2][0][1] = 60;
#declare Q[2][0][2] = -120;
#declare Q[2][0][3] = -15;
#declare Q[2][0][4] = 60;
#declare Q[2][0][5] = -0.6;
#declare Q[2][0][6] = 1;

//frame 0 perna 0
#declare Q[2][1][0] = 0;
#declare Q[2][1][1] = 60;
#declare Q[2][1][2] = -120;
#declare Q[2][1][3] = -15;
#declare Q[2][1][4] = 60;
#declare Q[2][1][5] = 0;
#declare Q[2][1][6] = 1;

//frame 0 perna 0
#declare Q[2][2][0] = -30;
#declare Q[2][2][1] = 60;
#declare Q[2][2][2] = -120;
#declare Q[2][2][3] = -15;
#declare Q[2][2][4] = 60;
#declare Q[2][2][5] = 0.6;
#declare Q[2][2][6] = 1;

//direita
//frame 0 perna 0
#declare Q[2][3][0] = 30;
#declare Q[2][3][1] = 60;
#declare Q[2][3][2] = -120;
#declare Q[2][3][3] = -15;
#declare Q[2][3][4] = 60;
#declare Q[2][3][5] = -0.6;
#declare Q[2][3][6] = -1;

//frame 0 perna 0
#declare Q[2][4][0] = 0;
#declare Q[2][4][1] = 60;
#declare Q[2][4][2] = -120;
#declare Q[2][4][3] = -15;
#declare Q[2][4][4] = 60;
#declare Q[2][4][5] = 0;
#declare Q[2][4][6] = -1;

//frame 0 perna 0
#declare Q[2][5][0] = -30;
#declare Q[2][5][1] = 60;
#declare Q[2][5][2] = -120;
#declare Q[2][5][3] = -15;
#declare Q[2][5][4] = 60;
#declare Q[2][5][5] = 0.6;
#declare Q[2][5][6] = -1;