// Last edited on 2023-12-27 04:30:16 by stolfi

// Código do robo usado como base do aluno Pedro Lucas Lopes Rosa (RA: 248448) - ANIMACAO DE MINHA AUTORIA

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

#declare tx_robo = 
  texture {
    pigment { color rgb <0.8, 0.8, 0.8> } // Adjust the color as needed
    finish {
      ambient 0.1 
      diffuse 0.9 
      specular 1.0 
      metallic 1.0 
    }
}

#macro robo(init, final, E11, E12, E13, E14, E15, D11, D12, D13, D14, D15, E21, E22, E23, E24, E25, D21, D22, D23, D24, D25, E26, D26)

  #local troncoInit = cylinder { init, final, 2 }
  #local pernaEsquerda = object { perna(E12, E13, E14, E15) }
  #local pernaDireita = object { perna(D12, D13, D14, D15) }
  #local bracoEsquerdo = object { braco(E22, E23, E24, E25) }
  #local bracoDireito = object { braco(D22, D23, D24, D25) }

  union {
    object { pescoco(final) }
    object { troncoInit texture{ tx_robo } }
    object { pernaEsquerda rotate E11*y translate init + <1.6, 0, +1> texture{ tx_robo } }
    object { pernaDireita rotate D11*y translate init - <1.6, 0, -1> texture{ tx_robo } }
    object { bracoEsquerdo rotate E21*x rotate 60*y rotate E26*z translate final + <1.6, 0, -1> texture{ tx_robo } }
    object { bracoDireito rotate D21*x rotate -60*y rotate D26*z translate final - <1.6, 0, 1> texture{ tx_robo } }
  }
#end

#macro braco(E21, E23, E24, E25)
  #local subbracoObj = object { subbraco(E23, E24, E25) }
  #local bracoObj = cylinder { <0, 0, 0>, <0, 0, 5>, 0.4 }

  union {
    object { bracoObj }
    object { subbracoObj rotate E21*y translate <0, 0, 5> texture{ tx_robo } }
  }

#end

#macro subbraco(E23, E24, E25)
  #local dedoObj = cylinder { <0, 0, 0>, <0, 0, 2>, 0.2 }
  #local subbracoObj = cylinder { <0, 0, 0>, <0, 0, 6>, 0.4 }

  union {
    object { subbracoObj }
    object { dedoObj rotate E23*y-20*x translate <0, 0, 6> texture{ tx_robo } }
    object { dedoObj rotate E24*y-20*x translate <0, 0, 6> texture{ tx_robo } }
    object { dedoObj rotate E25*y-20*x translate <0, 0, 6> texture{ tx_robo } }
  }
#end

#macro perna(E12, E13, E14, E15)
  #local subpernaObj = object { subperna(E13, E14, E15) }
  #local pernaObj = cylinder { <0, 0, 0>, <0, 0, 3>, 0.4 }

  union {
    object { pernaObj }
    object { subpernaObj rotate E12*y translate <0, 0, 3> texture{ tx_robo } }
  }
#end

#macro subperna(E13, E14, E15)
  #local dedoObj = cylinder { <0, 0, 0>, <0, 0, 2>, 0.2 }
  #local subpernaObj = cylinder { <0, 0, 0>, <0, 0, 4>, 0.4 }

  union {
    object { subpernaObj }
    object { dedoObj rotate E13*y-20*x translate <0, 0, 4> texture{ tx_robo } }
    object { dedoObj rotate E14*y-20*x translate <0, 0, 4> texture{ tx_robo } }
    object { dedoObj rotate E15*y-20*x translate <0, 0, 4> texture{ tx_robo } }
  }
#end

#macro pescoco(init_pescoco)
  #local pescoco_aux = cylinder {
    <0, 0, 0>, <0, 0, 1>, 0.6
  }

  union {
    object { pescoco_aux translate init_pescoco texture{ tx_robo } }
    object { cabeca() translate init_pescoco + <0, 0, 2.5> texture{ tx_robo } }
  }
#end

#macro cabeca()
  union {
    sphere {
      <0, 0, 0>, 2 texture{ tx_robo }
    }
  }
#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) 
  #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;
  P
#end

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

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

#declare NP = 22;

#macro cena(tt)

  #local NQ = 8;
  #local TQ = array[NQ + 1];
  #local PQ = array[NQ + 1];

  //robo(init, final, E11, E12, E13, E14, E15, D11, D12, D13, D14, D15, E21, E22, E23, E24, E25, D21, D22, D23, D24, D25)
  #local TQ[0] = 0.000;
  #local PQ[0] = empacota(
    120, 45, 50, -10, -50,
    -120, -45, 45, 90, -45,
    0, -45, -45, -90, 45,
    0, 45, -45, -90, 45,
    0, 0
  );

  #local TQ[1] = 0.120;
  #local PQ[1] = empacota(
    120, 45, 50, -10, -50,
    -120, -30, 45, 90, -45,
    -20, -75, -45, -90, 45,
    0, 75, -45, -90, 45,
    0, 0
  );

  #local TQ[2] = 0.240;
  #local PQ[2] = empacota(
    120, 45, 50, -10, -50,
    -120, -10, 45, 90, -45,
    -50, -30, -45, -90, 45,
    0, 75, -45, -90, 45,
    -20, 0
  );

  #local TQ[3] = 0.360;
  #local PQ[3] = empacota(
    120, 45, 50, -10, -50,
    -120, -30, 45, 90, -45,
    -20, -75, -45, -90, 45,
    0, 75, -45, -90, 45,
    0, 0
  );
  
  #local TQ[4] = 0.480;
  #local PQ[4] = empacota(
    120, 45, 50, -10, -50,
    -120, -45, 45, 90, -45,
    0, -45, -45, -90, 45,
    0, 45, -45, -90, 45,
    0, 0
  );

  #local TQ[5] = 0.600;
  #local PQ[5] = empacota(
    120, 30, 50, -10, -50,
    -120, -45, 45, 90, -45,
    0, -75, -45, -90, 45,
    20, 75, -45, -90, 45,
    0, 0
  );

  #local TQ[6] = 0.720;
  #local PQ[6] = empacota(
    120, 10, 50, -10, -50,
    -120, -45, 45, 90, -45,
    0, -75, -45, -90, 45,
    -50, 30, -45, -90, 45,
    0, -20
  );

  #local TQ[7] = 0.840;
  #local PQ[7] = empacota(
    120, 30, 50, -10, -50,
    -120, -45, 45, 90, -45,
    -20, -75, -45, -90, 45,
    20, 75, -45, -90, 45,
    0, 0
  );
  
  #local TQ[8] = 1.000;
  #local PQ[8] = empacota(
    120, 45, 50, -10, -50,
    -120, -45, 45, 90, -45,
    0, -45, -45, -90, 45,
    0, 45, -45, -90, 45,
    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;

  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);

  #local rob = object{ robo(<0,0,0>, <0,0,10>, A0, A1, A2, A3, A4, A5, A6, A7, A8, A9, A10, A11, A12, A13, A14, A15, A16, A17, A18, A19, A20, A21) }
  
  #local Lg = 4; // Deslocamento pro ciclo -- Prof

  union{
    object{ rob }
    object{ galho( < 0, -Lg/2, 0 >, < 0, +Lg/2, 0 >, 3, 0) translate 18*z }
  }
#end

// object{ eixos(20) }
object{ cena(clock) }

#include "camlight.inc"
#declare centro_cena = < 0.00, 0.00, 6.00 >;
#declare raio_cena = 23.0;
#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)