// CORES E TEXTURAS
#include "eixos.inc"
background{ color rgb < 0.75, 0.80, 0.85 > }


#declare random = seed (1153);

#declare tx_plastico = 
  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_fosca = 
  texture{
    pigment{ color rgb < 0, 0.80, 0> }
    finish{ diffuse 0.9 ambient 0.1 }
  }

#declare tx_verde = 
  texture{
    pigment{ color rgb < 0, 0.80, 0> }
    finish{ diffuse 0.9 ambient 0.1 }
  }

#declare tx_azul = 
  texture{
    pigment{ color rgb < 0, 0, 1> }
    finish{ diffuse 0.9 ambient 0.1 }
  }

#declare tx_laranja = 
  texture{
    pigment{ color rgb < 0.9, 0.5, 0.2> }
    finish{ diffuse 0.9 ambient 0.1 }
  }


#declare tx_marrom = 
  texture{
    pigment{ color rgb < 0.6, 0.3, 0> }
    finish{ diffuse 0.9 ambient 0.1 }
  }

#declare tx_espelho = 
  texture{
    pigment{ color rgb < 1.00, 0.85, 0.30 > }
    finish{ diffuse 0.2 reflection 0.7*< 1.00, 0.85, 0.30 > ambient 0.1 }
  }

#declare tx_vidro = 
  texture{
    pigment{ color rgb < 0.85, 0.95, 1.00 > filter 0.70 }
    finish{ diffuse 0.03 reflection 0.25 ambient 0.02 specular 0.25 roughness 0.005 }
  }


#declare tx_xadrez =
  texture{
    pigment{ checker color rgb < 0.10, 0.32, 0.60 >, color rgb < 1.00, 0.97, 0.90 > }
    finish{ diffuse 0.9 ambient 0.1 }
    scale 2.0
  }


#declare roleta = seed(1);

#declare chao = 
  box{ <-20,-20,-2>, <+20,+20,-3> texture{tx_xadrez}}

#declare cilindro_corpo = 
  cylinder{
    < 0.00, 0.00, 0.00>,
    < 0.00, 0.00, 8.00>,
    1.5
    texture{ tx_azul }
  }

#declare cilindro_braco =
  cylinder{
    <0.00, 0.00, 0.00>,
    <3.5, 0.00, 0.00>,
    0.5
    texture {tx_laranja}
  }

#declare articulacao = 
  sphere{
    <0,0,0>
    0.5
    texture {tx_azul}
  }

#declare cilindro_ante_braco =
  cylinder{
    <0.00, 0.00, 0.00>,
    <3, 0.00, 0.00>,
    0.5
    texture {tx_laranja}
  }

#declare esfera_mao = 
  sphere{
    <0,0,0>
    0.75
    texture {tx_azul}
  }

#declare cone_garra = 
  cone{
    <0,0,0>, 0.3
    <1.5,0,0>, 0
    texture {tx_laranja}
  }

#declare cilindro_perna =
  cylinder{
    <0,0,0>,
    <0,0,-3.5>,
    0.5
    texture {tx_laranja}
  }

#declare cilindro_pe =
  cylinder{
    <0,0,0>,
    <0,0,-2>,
    0.3
    texture {tx_azul}
  }

#declare cilindro_pescoco =
  cylinder{
    <0,0,0>,
    <0,0,1>,
    0.3
    texture {tx_laranja}
  }

#declare esfera_cabeca =
  sphere{
    <0,0,0>,
    1
    texture {tx_laranja}
  }

#declare cone_nariz =
  cone{
    <0,0,0>, 0.2,
    <0,0.5,0>, 0
    texture {tx_azul}
  }


#macro antebraco(rotMao, rotGarra)
  union{
    object {articulacao}
    object {cilindro_ante_braco translate <0.5,0,0>}
    object {mao(rotGarra) rotate rotMao translate <4,0,0>}
  }
#end

#macro braco(rotAntebraco, rotMao, rotGarra)
  union {
    object {cilindro_braco}
    object {antebraco(rotMao, rotGarra) rotate rotAntebraco translate <4,0,0>}
  }
#end

#macro mao(rotGarra)
  union{
    object {articulacao}
    object {esfera_mao translate <1,0,0>}
    object {cone_garra translate <1.5,0,0>}
    object {cone_garra rotate<0,-rotGarra,0> translate <1.5,0,0.25>}
  }
#end

#macro perna(rotPe)
  union{
    object {articulacao}
    object {cilindro_perna translate <0,0,-0.5>}
    object {pe() rotate <rotPe, 0, 0> translate<0,0,-4.5>}
  }
#end

#macro pe()
  union{
    object {articulacao}
    object {cilindro_pe translate <0,0,-0.5>}
  }
#end

#macro cabeca()
  union{
    object{cilindro_pescoco}
    object{esfera_cabeca translate<0,0,2>}
    object{cone_nariz translate<0,1,2>}
  }
#end

#macro robo(rotAntebracoD, rotAntebracoE, rotMaoD, rotMaoE, rotGarraD, rotGarraE, rotPernaD, rotPernaE, rotPeD, rotPeE, rotCabeca)
  union{
    object{cilindro_corpo}
    object{braco(rotAntebracoD, rotMaoD, rotGarraD) translate<1.5,0,5>}
    object{braco(rotAntebracoE, rotMaoE, rotGarraE) rotate <0,180,0> translate<-1.5,0,5>}
    object{perna(rotPeD) rotate rotPernaD translate<0.75,0, -0.25>}
    object{perna(rotPeE) rotate rotPernaE translate<-0.75,0, -0.25>}
    object{cabeca() rotate <0,0,rotCabeca> translate<0,0,8>}
  }
#end

#macro quadro_inter1(tt)

  #local PA = array[18];
  #local PA[0] = 0;
  #local PA[1] = -90;
  #local PA[2] = 0;
  #local PA[3] = 0;
  #local PA[4] = 60;
  #local PA[5] = 0;
  #local PA[6] = 0;
  #local PA[7] = 0;
  #local PA[8] = 0;
  #local PA[9] = 60;
  #local PA[10] = 0;
  #local PA[11] = 0;
  #local PA[12] = 60;
  #local PA[13] = 0;
  #local PA[14] = 0;
  #local PA[15] = -60;
  #local PA[16] = 0;
  #local PA[17] = 0;

  #local PB = array[18];
  #local PB[0] = 0;
  #local PB[1] = -45;
  #local PB[2] = 0;
  #local PB[3] = 0;
  #local PB[4] = 45;
  #local PB[5] = 0;
  #local PB[6] = 0;
  #local PB[7] = 0;
  #local PB[8] = 60;
  #local PB[9] = 0;
  #local PB[10] = 0;
  #local PB[11] = 0;
  #local PB[12] = -50;
  #local PB[13] = 0;
  #local PB[14] = 60;
  #local PB[15] = 0;
  #local PB[16] = -40;
  #local PB[17] = 0;

  #local PC = array[18];
  #local PC[0] = 50;
  #local PC[1] = 0;
  #local PC[2] = 0;
  #local PC[3] = 0;
  #local PC[4] = -20;
  #local PC[5] = 0;
  #local PC[6] = 0;
  #local PC[7] = 0;
  #local PC[8] = 60;
  #local PC[9] = 0;
  #local PC[10] = 0;
  #local PC[11] = 0;
  #local PC[12] = -60;
  #local PC[13] = 0;
  #local PC[14] = 0;
  #local PC[15] = 60;
  #local PC[16] = 0;
  #local PC[17] = 0;

  #local PD = array[18];
  #local PD[0] = 0;
  #local PD[1] = -45;
  #local PD[2] = 0;
  #local PD[3] = 0;
  #local PD[4] = 45;
  #local PD[5] = 0;
  #local PD[6] = 0;
  #local PD[7] = 60;
  #local PD[8] = 0;
  #local PD[9] = 40;
  #local PD[10] = 0;
  #local PD[11] = -80;
  #local PD[12] = 0;
  #local PD[13] = 0;
  #local PD[14] = 30;
  #local PD[15] = 0;
  #local PD[16] = 0;
  #local PD[17] = 0;

  #local PF = PA

  #local N = 18;
  #local T0 = 0.00;
  #local T1 = 0.25;
  #local T2 = 0.50;
  #local T3 = 0.80;
  #local T4 = 1.00;

  #if(tt >= T0 & tt <= T1)
    #local qd = param_interpola1(tt, T0, T1, PA, PB);
  
  #elseif(tt > T1 & tt <= T2)
    #local qd = param_interpola1(tt, T1, T2, PB, PC);

  #elseif(tt > T2 & tt <= T3)
    #local qd = param_interpola1(tt, T2, T3, PC, PD);

  #elseif(tt > T3 & tt <= T4)
    #local qd = param_interpola1(tt, T3, T4, PD, PF);
  #end

  robo_vet(qd)
#end

#macro quadro_inter3(tf)
  #local PA = array[18];
  #local PA[0] = 0;
  #local PA[1] = -90;
  #local PA[2] = 0;
  #local PA[3] = 0;
  #local PA[4] = 60;
  #local PA[5] = 0;
  #local PA[6] = 0;
  #local PA[7] = 0;
  #local PA[8] = 0;
  #local PA[9] = 0;
  #local PA[10] = 0;
  #local PA[11] = 0;
  #local PA[12] = 60;
  #local PA[13] = 0;
  #local PA[14] = 0;
  #local PA[15] = -60;
  #local PA[16] = 0;
  #local PA[17] = 0;

  #local PB = array[18];
  #local PB[0] = 0;
  #local PB[1] = -45;
  #local PB[2] = 0;
  #local PB[3] = 0;
  #local PB[4] = 45;
  #local PB[5] = 0;
  #local PB[6] = 0;
  #local PB[7] = 0;
  #local PB[8] = 50;
  #local PB[9] = 0;
  #local PB[10] = 0;
  #local PB[11] = 0;
  #local PB[12] = 0;
  #local PB[13] = 50;
  #local PB[14] = 0;
  #local PB[15] = 0;
  #local PB[16] = 0;
  #local PB[17] = 0;

  #local PC = array[18];
  #local PC[0] = 0;
  #local PC[1] = 0;
  #local PC[2] = 0;
  #local PC[3] = -20;
  #local PC[4] = 0;
  #local PC[5] = 0;
  #local PC[6] = -30;
  #local PC[7] = 0;
  #local PC[8] = -30;
  #local PC[9] = 0;
  #local PC[10] = 0;
  #local PC[11] = 0;
  #local PC[12] = -60;
  #local PC[13] = 0;
  #local PC[14] = 0;
  #local PC[15] = 60;
  #local PC[16] = 0;
  #local PC[17] = 50;

  #local PD = array[18];
  #local PD[0] = 0;
  #local PD[1] = -45;
  #local PD[2] = 0;
  #local PD[3] = 0;
  #local PD[4] = 45;
  #local PD[5] = 0;
  #local PD[6] = 0;
  #local PD[7] = 0;
  #local PD[8] = 0;
  #local PD[9] = 0;
  #local PD[10] = 60;
  #local PD[11] = 0;
  #local PD[12] = 60;
  #local PD[13] = 0;
  #local PD[14] = 0;
  #local PD[15] = 0;
  #local PD[16] = 0;
  #local PD[17] = 0;

  #local PE = PA

  #local PAa = PA
  #local PAz = PB

  #local PBa = PB
  #local PBz = PC

  #local PCa = PC
  #local PCz = PD

  #local PDa = PD
  #local PDz = PE

  #local PEa = PAa
  #local PEz = PAz

  #local T0 = 0.00;
  #local T1 = 0.25;
  #local T2 = 0.50;
  #local T3 = 0.80;
  #local T4 = 1.00;

  #local PAm = param_interpola1(T0, T0-(T4-T3)/3, T0+(T1-T0)/3, PAa, PAz);
  #local PBm = param_interpola1(T1, T1-(T1-T0)/3, T1+(T2-T1)/3, PBa, PBz);
  #local PCm = param_interpola1(T2, T2-(T2-T1)/3, T2+(T3-T2)/3, PCa, PCz);
  #local PDm = param_interpola1(T3, T3-(T3-T2)/3, T3+(T4-T3)/3, PDa, PDz);
  #local PEm = param_interpola1(T4, T4-(T4-T3)/3, T4+(T1-T0)/3, PEa, PEz);

  #if ((T0 <= tf) & (tf <= T1))
    #local P = param_interpola3(tf, T0,T1, PAm,PAz,PBa,PBm);
  #elseif ((T1 <= tf) & (tf <= T2))
    #local P = param_interpola3(tf, T1,T2, PBm,PBz,PCa,PCm);
  #elseif ((T2 <= tf) & (tf <= T3))
    #local P = param_interpola3(tf, T2,T3, PCm,PCz,PDa,PDm);
  #elseif ((T3 <= tf) & (tf <= T4))
    #local P = param_interpola3(tf, T3,T4, PDm,PDz,PEa,PEm);
  #end

  robo_vet(P)
#end

#macro param_interpola1(tt, tt0, tt1, P1, P2)
  #local N = 18;
  #local PT = array[18];

  #local ii = 0;
  #while(ii < N)
    #local PT[ii] = interpola1(tt, tt0, tt1, P1[ii], P2[ii]);
    #local ii = ii + 1;
  #end

  PT
#end

#macro param_interpola3(tt, tt0, tt1, P1a, P1z, P2a, P2b)
  #local N = 18;
  #local PT = array[18];

  #local ii = 0;
  #while(ii < N)
    #local PT[ii] = interpola3(tt, tt0, tt1, P1a[ii], P1z[ii], P2a[ii], P2b[ii]);
    #local ii = ii + 1;
  #end

  PT
#end

#macro robo_vet(PA)
  union{
    object{robo(<PA[0], PA[1], PA[2]>, <PA[3], PA[4], PA[5]>, <PA[6], PA[7], PA[8]>, <PA[9], PA[10], PA[11]>, 0, 0, <PA[12], PA[13], PA[14]>, <PA[15], PA[16], PA[17]>, 0, 0, 0)}
  }
#end

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

#macro interpola3(tt, tt0,tt3, vv0,vv1,vv2,vv3)
  #local vv01 = interpola1(tt, tt0,tt3, vv0,vv1);
  #local vv12 = interpola1(tt, tt0,tt3, vv1,vv2);
  #local vv23 = interpola1(tt, tt0,tt3, vv2,vv3);
  #local vv012 = interpola1(tt, tt0,tt3, vv01,vv12);
  #local vv123 = interpola1(tt, tt0,tt3, vv12,vv23);
  #local vv0123 = interpola1(tt, tt0,tt3, vv012,vv123);
  vv0123
#end

object{quadro_inter3(clock)}
object{quadro_inter1(clock) translate<20,0,0>}

/*object{robo(<0,-90,0>, <0,90,0>, <0,0,0>, <0,0,0>, 0, 0, <60,0,0>, <-60,0,0>, 0 , 0, 0) translate<0, 0, 0>}
object{robo(<0,-45,0>, <0,45,0>, <0,0,0>, <0,0,0>, 0, 0, <0,0,0>, <0,0,0>, 0 , 0, 0) translate<20, 0, 0>}
object{robo(<0,0,0>, <0,0,0>, <0,0,0>, <0,0,0>, 0, 0, <-60,0,0>, <60,0,0>, 0 , 0, 0) translate<40, 0, 0>}
object{robo(<0,-45,0>, <0,45,0>, <0,0,0>, <0,0,0>, 0, 0, <0,0,0>, <0,0,0>, 0 , 0, 0) translate<60, 0, 0>}  */


#include "camlight.inc"
#declare centro_cena = <10, 0, 5>;
#declare raio_cena = 28.0;
#declare dir_camera = <2, 4, 1>;
#declare dist_camera = 5*raio_cena;
#declare intens_luz = 1.20;
camlight(centro_cena, raio_cena, dir_camera, dist_camera , z, intens_luz)