// Last edited on 2023-12-27 04:16:03 by stolfi

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

#declare tx_brown = 
  texture{
    pigment { color rgb <0.700, 0.500, 0.000 > }
    finish { diffuse 0.8 ambient 0.2 }
  }

#declare s = seed(360);

#macro robot(
  p1b1, p1b2, p1b3, p1b4,
  p2b1, p2b2, p2b3, p2b4,
  p3b1, p3b2, p3b3, p3b4,
  p4b1, p4b2, p4b3, p4b4,
  a1, a2, a3
)
  union {
    box {
      <-2, -1.25, -0.4>, <2, 1.25, 0.4>
    }

    union {
      object {
        leg(p1b2, p1b3, p1b4)
        rotate <p1b1, 0, 0>
        scale 6
        translate <1.75, -1, 0>
      }

      object {
        leg(p2b2, p2b3, p2b4)
        rotate <p2b1, 0, 0>
        scale 6
        translate <1.75, 1, 0>
      }
      
      object {
        leg(p3b2, p3b3, p3b4)
        rotate <p3b1, 0, 0>
        scale 6
        translate <-1.75, -1, 0>
      }

      object {
        leg(p4b2, p4b3, p4b4)
        rotate <p4b1, 0, 0>
        scale 6
        translate <-1.75, 1, 0>
      }
    }

    object {
      neck(a2, a3)
      rotate <0, a1, 0>
      scale 3
      translate <2, 0, 0>
    }

    texture { tx_brown }
  }
#end

#macro leg(b2, b3, b4)
  #local leg_base = cylinder {
    <0, 0, 0>, <0, 0, -0.25>, 0.04
  }

  union {
    object { leg_base }
    object { shin(b3, b4) rotate <0, b2 - 90, 0> translate <0, 0, -0.25> }
  }
#end

#macro shin(b3, b4)
  #local shin_base = cylinder {
    <0, 0, 0>, <0, 0, -0.25>, 0.04
  }

  union {
    object { shin_base }
    object { metatarsus(b4) rotate <0, 90 - b3, 0> translate <0, 0, -0.25> }
  }
#end

#macro metatarsus(b4)
  #local metatarsus_base = cylinder {
    <0, 0, 0>, <0, 0, -0.25>, 0.04
  }

  union {
    object { metatarsus_base }
    object { paw() rotate <0, b4 - 90, 0> translate <0, 0, -0.25> }
  }
#end

#macro paw()
  box {
    <-0.01, -0.05, -0.025>, <0.19, 0.05, 0.025>
  }
#end

#macro neck(a2, a3)
  #local neck_base = cylinder {
    <0, 0, 0>, <0, 0, 0.75>, 0.10
  }
  
  union {
    object { neck_base }
    object { metaneck(a3) rotate <0, 90 - a2, 0> translate <0, 0, 0.75> }
  }
#end

#macro metaneck(a3)
  #local metaneck_base = cylinder {
    <0, 0, 0>, <0, 0, 0.4>, 0.075
  }
  
  union {
    object { metaneck_base }
    object { head() rotate <0, a3 - 90, 0> translate <0, 0, 0.4> }
  }
#end

#macro head()
  sphere {
    <0, 0, 0.25>, 0.25
  }
#end

#declare NQ = 6;

#declare PQ =
  array[19][NQ]
  {
    // frente-esquerda
    {0, 0, 0, 45, 45, 45},
    {0, -45, -45, -45, -45, 0},
    {0, -20, -20, -20, -20, 0},
    {90, 90, 90, 90, 90, 90},
    // frente-direita
    {0, 0, 0, -45, -45, -45},
    {0, -45, -45, -45, -45, 0},
    {0, -20, -20, -20, -20, 0},
    {90, 90, 90, 90, 90, 90},
    // trás-esquerda
    {0, 0, 0, 0, 45, 45},
    {0, 0, -45, -45, -45, 0},
    {0, 0, -20, -20, -20, 0},
    {90, 90, 90, 90, 90, 90},
    // trás-direita
    {0, 0, 0, 0, -45, -45},
    {0, 0, -45, -45, -45, 0},
    {0, 0, -20, -20, -20, 0},
    {90, 90, 90, 90, 90, 90},
    // cabeça
    {0, 0, 0, 0, 0, 0},
    {0, 0, 0, 0, 0, 0},
    {90, 90, 90, 90, 90, 90}
  }

#declare TQ = array[NQ + 1] { 0, 0.166, 0.333, 0.5, 0.666, 0.833, 1 }

#macro acha_quadro(tt)
  #local i = 0;
  #while (tt > TQ[i])
    #local i = i + 1;
  #end

  max(i - 1, 0)
#end

#macro interpol(p, tt)
  #local k = acha_quadro(tt);
  #debug concat( "!! tt = ", str(tt,0,4), " k = ", str(k,0,0), "\n" )
  #local current = PQ[p][k];
  #local next = PQ[p][mod(k + 1, NQ)];

  #local ta = TQ[k];
  #local tb = TQ[mod(k + 1, NQ)]; // Prof
  #local s = (mod(tt, 1) - ta) / (tb - ta);
  current + ((next - current) * s)
#end

#include "eixos.inc"

#include "galho.inc"
#local Lg = 0.68; // Deslocamento pro ciclo -- Prof

#macro cena(tt)

  union {

    object{
      robot(
        interpol(0, tt), interpol(1, tt), interpol(2, tt), interpol(3, tt),
        interpol(4, tt), interpol(5, tt), interpol(6, tt), interpol(7, tt),
        interpol(8, tt), interpol(9, tt), interpol(10, tt), interpol(11, tt),
        interpol(12, tt), interpol(13, tt), interpol(14, tt), interpol(15, tt),
        interpol(16, tt), interpol(17, tt), interpol(18, tt)
      )
    }

    object{ galho( < -Lg/2, 0, 0 >, < +Lg/2, 0, 0 >, 0.25, tt) translate -1.5*z }
    
    rotate -90*y
  }
#end

// object{ eixos(5) }
object { cena(clock) }

#include "camlight.inc"
#declare centro_cena = < 0.00, 0.00, 1.50 >;
#declare raio_cena = 7.0;
#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)