// Last edited on 2023-12-27 03:43:01 by stolfi

background{ color rgb < 0.75, 0.80, 0.95 > }

#declare tx_plastico = 
  texture{
    pigment{ color rgb < 0.40, 0.70, 1.00 > }
    finish{ diffuse 0.8 ambient 0.1 specular 0.5 roughness 0.005 }
  }

#declare tx_fosca = 
  texture{
    pigment{ color rgb < 1.00, 0.80, 0.60 > }
    finish{ diffuse 0.9 ambient 0.1 }
  }

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

#declare tx_xadrez =
  texture{
    pigment{ checker color rgb < 0.00, 0.00, 0.00 >, color rgb < 1.00, 1.00, 1.0 > }
    finish{ diffuse 0.9 ambient 0.1 }
    scale 2.0
  }

#declare r_cilindro_maior = 0.5;
#declare r_cilindro_menor = 0.3;
#declare r_bola = 0.7;
#declare NP = 24;

#macro cabeca()
  union{
    object{sphere{<0,0,0>, 2 texture{tx_plastico}}}
    object{sphere{<2,0,0>,0.5 texture{tx_plastico}}}
  }
#end

#macro subpescoco(c3,c4)
  #local osso = cylinder{<0,0,0>,<0,0,3>,r_cilindro_maior texture{tx_plastico}}
  #local cab = object{cabeca()}
  #local articulacao = sphere{<0,0,0>, r_bola texture{tx_plastico}}
  union{
    object{osso}
    object{articulacao translate<0,0,3>}
    object{cab rotate c4*y rotate c3*z translate <0,0,3>}
  }
#end

#macro pescoco(c2,c3,c4)
  #local osso = cylinder{<0,0,0>,<0,0,2>,r_cilindro_maior texture{tx_plastico}}
  #local subpesc = object{subpescoco(c3,c4)}
  #local articulacao = sphere{<0,0,0>, r_bola texture{tx_plastico}}
  union{
    object{articulacao}
    object{osso}
    object{articulacao translate<0,0,2>}
    object{subpesc rotate c2*y translate <0,0,2>}
  }
#end

#macro pata()
  #local dedo1 = cylinder{<0,0,0>,<0,2,0.5>,r_cilindro_menor texture{tx_plastico}}
  #local dedo2 = cylinder{<0,0,0>,<0,2,0>,r_cilindro_menor texture{tx_plastico}}
  #local dedo3 = cylinder{<0,0,0>,<0,2,-0.5>,r_cilindro_menor texture{tx_plastico}}
  union{
    object{dedo1}
    object{dedo2}
    object{dedo3}
  }
#end

#macro subbraco(b3,b4)
  #local osso = cylinder{<0,0,0>,<0,4,0>,r_cilindro_maior texture{tx_plastico}}
  #local subpata = object{pata()}
  #local articulacao = sphere{<0,0,0>, r_bola texture{tx_plastico}}
  union{
    object{osso}
    object{articulacao translate<0,4,0>}
    object{subpata rotate b3*x rotate b4*y translate <0,4,0>}
  }
#end

#macro braco(b2, b3, b4)
  #local osso = cylinder{<0,0,0>,<0,4,0>,r_cilindro_maior texture{tx_plastico}}
  #local sub = object{subbraco(b3,b4)}
  #local articulacao = sphere{<0,0,0>, r_bola texture{tx_plastico}}
  union{
    object{articulacao}
    object{osso}
    object{articulacao translate<0,4,0>}
    object{sub rotate b2*z translate <0,4,0>}
  }
#end

#macro unir_corpo(c1,c2,c3,c4,be11,be111,be12,be13,be14,be21,be211,be22,be23,be24,bd11,bd111,bd12,bd13,bd14,bd21,bd211,bd22,bd23,bd24)
  union{
    object{box{<-1,-2,-5>, <1,2,5> texture{tx_plastico}}}
    object{braco(bd12,bd13,bd14) rotate bd11*z rotate bd111*y translate<0,2,4>}
    object{braco(be12,be13,be14) rotate be11*z rotate be111*y scale<+1,-1,+1> translate<0,-2,4>}
    object{braco(bd22,bd23,bd24) rotate bd21*z rotate bd211*y scale<+1,+1,-1> translate<0,2,-4>}
    object{braco(be22,be23,be24) rotate be21*z rotate be211*y scale<+1,-1,-1> translate<0,-2,-4>}
    object{pescoco(c2,c3,c4) rotate c1*y translate<0,0,5>}
  }
#end

#macro empacota(a0,a1,a2,a3,a4,a5,a6,a7,a8,a9,a10,a11,a12,a13,a14,a15,a16,a17,a18,a19,a20,a21,a22,a23)
  //a0 a a23 sao (c1,c2,c3,c4,be11,be111,be12,be13,be14,be21,be211,be22,be23,be24,bd11,bd111,bd12,bd13,bd14,bd21,bd211,bd22,bd23,bd24) na ordem
  #local P = array[NP];
  #local P[0] = a0;
  #local P[1] = a1;
  #local P[2] = a2;
  #local P[3] = a3;
  #local P[4] = a4;
  #local P[5] = a5;  
  #local P[6] = a6;
  #local P[7] = a7;
  #local P[8] = a8;
  #local P[9] = a9;
  #local P[10] = a10;
  #local P[11] = a11;
  #local P[12] = a12;
  #local P[13] = a13;  
  #local P[14] = a14;
  #local P[15] = a15;
  #local P[16] = a16;
  #local P[17] = a17;
  #local P[18] = a18;
  #local P[19] = a19;
  #local P[20] = a20;
  #local P[21] = a21;  
  #local P[22] = a22;
  #local P[23] = a23;
  P
#end

#macro acha_quadro(tt,NQ,TQ)
  #local k = 0;
  #local condition = 0;
  #while(k < NQ & condition = 0)
    #local tq0 = TQ[k];
    #local tq1 = TQ[k+1];
    #if(tt >= tq0 & tt < tq1)
      #local condition = 1;
    #else
      #local k = k + 1;
    #end
  #end
  k
#end

#macro interpola_quadros(tt,ta,Pa,tb,Pb, a0,a1,a2,a3,a4,a5,a6,a7,a8,a9,a10,a11,a12,a13,a14,a15,a16,a17,a18,a19,a20,a21,a22,a23)
  #local s = (tt-ta)/(tb-ta);
  #declare a0 = (1-s)*Pa[0] + s*Pb[0];
  #declare a1 = (1-s)*Pa[1] + s*Pb[1];
  #declare a2 = (1-s)*Pa[2] + s*Pb[2];
  #declare a3 = (1-s)*Pa[3] + s*Pb[3];
  #declare a4 = (1-s)*Pa[4] + s*Pb[4];
  #declare a5 = (1-s)*Pa[5] + s*Pb[5];
  #declare a6 = (1-s)*Pa[6] + s*Pb[6];
  #declare a7 = (1-s)*Pa[7] + s*Pb[7];
  #declare a8 = (1-s)*Pa[8] + s*Pb[8];
  #declare a9 = (1-s)*Pa[9] + s*Pb[9];
  #declare a10 = (1-s)*Pa[10] + s*Pb[10];
  #declare a11 = (1-s)*Pa[11] + s*Pb[11];
  #declare a12 = (1-s)*Pa[12] + s*Pb[12];
  #declare a13 = (1-s)*Pa[13] + s*Pb[13];
  #declare a14 = (1-s)*Pa[14] + s*Pb[14];
  #declare a15 = (1-s)*Pa[15] + s*Pb[15];
  #declare a16 = (1-s)*Pa[16] + s*Pb[16];
  #declare a17 = (1-s)*Pa[17] + s*Pb[17];
  #declare a18 = (1-s)*Pa[18] + s*Pb[18];
  #declare a19 = (1-s)*Pa[19] + s*Pb[19];
  #declare a20 = (1-s)*Pa[20] + s*Pb[20];
  #declare a21 = (1-s)*Pa[21] + s*Pb[21];
  #declare a22 = (1-s)*Pa[22] + s*Pb[22];
  #declare a23 = (1-s)*Pa[23] + s*Pb[23];
#end

#macro cena(tt)
  union{
    #local NQ = 7;
    #local TQ = array[NQ+1];
    #local PQ = array[NQ+1];

    #local TQ[0] = 0.000;
    #local PQ[0] = empacota(0,0,0,0, -45,0,-90,0,0, -45,0,-90,0,0, -45,0,-90,0,0, -45,0,-90,0,0);

    #local TQ[1] = 0.143;
    #local PQ[1] = empacota(0,0,0,0, -45,0,-45,0,0, -45,0,-45,0,0, -45,0,-90,0,0, -45,0,-90,0,0);
    
    #local TQ[2] = 0.286;
    #local PQ[2] = empacota(0,0,0,0, -45,-45,-45,0,0, -45,45,-45,0,0, -45,0,-90,0,0, -45,0,-90,0,0);

    #local TQ[3] = 0.429;
    #local PQ[3] = empacota(0,0,0,0, -45,-45,-90,0,0, -45,45,-90,0,0, -45,0,-90,0,0, -45,0,-90,0,0);

    #local TQ[4] = 0.571;
    #local PQ[4] = empacota(0,0,0,0, -45,-45,-90,0,0, -45,45,-90,0,0, -45,0,-45,0,0, -45,0,-45,0,0);

    #local TQ[5] = 0.714;
    #local PQ[5] = empacota(0,0,0,0, -45,-45,-90,0,0, -45,45,-90,0,0, -45,-45,-45,0,0, -45,45,-45,0,0);

    #local TQ[6] = 0.857;
    #local PQ[6] = empacota(0,0,0,0, -45,-45,-90,0,0, -45,45,-90,0,0, -45,-45,-90,0,0, -45,45,-90,0,0);

    #local TQ[7] = 1.000;
    #local PQ[7] = empacota(0,0,0,0, -45,0,-90,0,0, -45,0,-90,0,0, -45,0,-90,0,0, -45,0,-90,0,0);

    #local k = acha_quadro(tt,NQ,TQ);
    #local a0 = 0;
    #local a1 = 0;
    #local a2 = 0;
    #local a3 = 0;
    #local a4 = 0;
    #local a5 = 0;
    #local a6 = 0;
    #local a7 = 0;
    #local a8 = 0;
    #local a9 = 0;
    #local a10 = 0;
    #local a11 = 0;
    #local a12 = 0;
    #local a13 = 0;
    #local a14 = 0;
    #local a15 = 0;
    #local a16 = 0;
    #local a17 = 0;
    #local a18 = 0;
    #local a19 = 0;
    #local a20 = 0;
    #local a21 = 0;
    #local a22 = 0;
    #local a23 = 0;
    #if(k < 7)
      interpola_quadros(tt, TQ[k], PQ[k], TQ[k+1], PQ[k+1],a0,a1,a2,a3,a4,a5,a6,a7,a8,a9,a10,a11,a12,a13,a14,a15,a16,a17,a18,a19,a20,a21,a22,a23)
    #else
      interpola_quadros(tt, TQ[k], PQ[k], TQ[0], PQ[0],a0,a1,a2,a3,a4,a5,a6,a7,a8,a9,a10,a11,a12,a13,a14,a15,a16,a17,a18,a19,a20,a21,a22,a23)
    #end
    //a0 a a23 sao (c1,c2,c3,c4,be11,be111,be12,be13,be14,be21,be211,be22,be23,be24,bd11,bd111,bd12,bd13,bd14,bd21,bd211,bd22,bd23,bd24) na ordem
    #local rob = object{unir_corpo(a0,a1,a2,a3,a4,a5,a6,a7,a8,a9,a10,a11,a12,a13,a14,a15,a16,a17,a18,a19,a20,a21,a22,a23)  rotate -90*y}
    rob
  }
#end

#include "eixos.inc"
#include "galho.inc"

#local Lg = 7; // Deslocamento por ciclo -- Prof

union{
  // object{ eixos(3.00) }
  #local tt = clock;
  object{ galho( < -Lg/2, 0, 0>, < +Lg/2, 0, 0>, 1.20, 0) translate 5*z }
  #local rob = cena(tt);
  object{rob translate <-Lg*clock,0,0>}
}

#include "camlight.inc"
#declare centro_cena = < -Lg*clock, 0.00, 3.00 >;
#declare raio_cena = 14.0;
#declare dir_camera = < 300.00, 300.00, 200.00 >;
#declare dist_camera = 5*raio_cena;
#declare intens_luz = 1.20;
camlight(centro_cena, raio_cena, dir_camera, dist_camera , z, intens_luz)