/* robot2.c  based on robot.c and dynamic.c                                 */
/* Interactive Figure Program from Chapter 8 using cylinders (quadrics)     */
/* Style similar to robot program but here we must traverse tree to display */
/* Cylinders are displayed as filled and light/material properties          */
/* are set as in sphere approximation program                               */
/* E. Angel, Interactive Computer Graphics, changes by JSS                  */

/* This version uses a dynamic tree structure */
/* upper and lower limbs have unique colors   */            

#include <stdlib.h>
#include <stdio.h>
#include <GL/glut.h>

#define TORSO_HEIGHT 5.0
#define UPPER_ARM_HEIGHT 3.0
#define LOWER_ARM_HEIGHT 2.0
#define UPPER_LEG_RADIUS  0.5
#define LOWER_LEG_RADIUS  0.5
#define LOWER_LEG_HEIGHT 2.0
#define UPPER_LEG_HEIGHT 3.0
#define UPPER_LEG_RADIUS  0.5
#define TORSO_RADIUS 1.0
#define UPPER_ARM_RADIUS  0.5
#define LOWER_ARM_RADIUS  0.5
#define HEAD_HEIGHT 1.5
#define HEAD_RADIUS 1.0

/* menu select actions */
#define TORSO_TURN         0
#define TORSO_BEND         1
#define HEAD_NOD           2
#define HEAD_TURN          3
#define RIGHT_UPPER_ARM    4
#define RIGHT_LOWER_ARM    5
#define LEFT_UPPER_ARM     6
#define LEFT_LOWER_ARM     7
#define RIGHT_UPPER_LEG    8
#define RIGHT_LOWER_LEG    9
#define LEFT_UPPER_LEG    10
#define LEFT_LOWER_LEG    11
#define INCREASE_MOVEMENT 12
#define DECREASE_MOVEMENT 13
#define QUIT              14

/* body part renderers */
static void torso();
static void head();
static void left_upper_arm();
static void right_upper_arm();
static void left_upper_leg();
static void right_upper_leg();
static void move();

typedef float point[3];
typedef struct treenode
{
  GLfloat m[16]; /* 4 by 4 matrix */
  void (*f)();   /* function that renders */
  struct treenode *sibling;
  struct treenode *child;
} treenode, *t_ptr; 
static point rpos = {0.0, 0.0, 0.0};

static GLfloat theta[QUIT] = {0.0,0.0,0.0,0.0,0.0,0.0,0.0,
        0.0,0.0,0.0,0.0,0.0,0.0,0.0}; /* initial joint angles */
static GLint angle = 0;
static GLfloat movement = 5.0; /* can increase or decrease */

GLUquadricObj *t, *h, *lua, *lla, *rua, *rla, *lll, *rll, *rul, *lul;
double size=1.0;

t_ptr torso_ptr, head_ptr, lua_ptr, rua_ptr, lll_ptr, rll_ptr,
    lla_ptr, rla_ptr, rul_ptr, lul_ptr;

static void traverse(t_ptr root)
{
  if(root==NULL) return;
  glPushMatrix();
  glMultMatrixf(root->m); /* translation, rotation and scaling */
  root->f();              /* execute the function that renders */
  if(root->child!=NULL) traverse(root->child);
  glPopMatrix();
  if(root->sibling!=NULL) traverse(root->sibling);
}

static void torso()
{
  GLfloat mat_diffuser[]={1.0, 0.0, 0.0, 1.0}; /* red */

  glPushMatrix();
  glRotatef(-90.0, 1.0, 0.0, 0.0);
  glMaterialfv(GL_FRONT, GL_DIFFUSE, mat_diffuser);
  gluCylinder(t,TORSO_RADIUS, TORSO_RADIUS, TORSO_HEIGHT,10,10);
  glPopMatrix();
}

static void head()
{
  GLfloat mat_diffusep[]={1.0, 0.8, 0.8, 1.0}; /* face */

  glPushMatrix();
  glTranslatef(0.0, 0.5*HEAD_HEIGHT,0.0);
  glScalef(HEAD_RADIUS, HEAD_HEIGHT, HEAD_RADIUS);
  glMaterialfv(GL_FRONT, GL_DIFFUSE, mat_diffusep);
  gluSphere(h,1.0,10,10);
  glPopMatrix();
}

static void left_upper_arm()
{
  GLfloat mat_diffuseg1[]={0.3, 1.0, 0.3, 1.0}; /* green1 */

  glPushMatrix();
  glRotatef(-90.0, 1.0, 0.0, 0.0);
  glMaterialfv(GL_FRONT, GL_DIFFUSE, mat_diffuseg1);
  gluCylinder(lua,UPPER_ARM_RADIUS, UPPER_ARM_RADIUS, UPPER_ARM_HEIGHT,10,10);
  glPopMatrix();
}

static void left_lower_arm()
{
  GLfloat mat_diffuseg2[]={0.6, 1.0, 0.6, 1.0}; /* green2 */

  glPushMatrix();
  glRotatef(-90.0, 1.0, 0.0, 0.0);
  glMaterialfv(GL_FRONT, GL_DIFFUSE, mat_diffuseg2);
  gluCylinder(lla,LOWER_ARM_RADIUS, LOWER_ARM_RADIUS, LOWER_ARM_HEIGHT,10,10);
  glPopMatrix();
}

static void right_upper_arm()
{
  GLfloat mat_diffuseg1[]={0.3, 1.0, 0.3, 1.0}; /* green1 */

  glPushMatrix();
  glRotatef(-90.0, 1.0, 0.0, 0.0);
  glMaterialfv(GL_FRONT, GL_DIFFUSE, mat_diffuseg1);
  gluCylinder(rua,UPPER_ARM_RADIUS, UPPER_ARM_RADIUS, UPPER_ARM_HEIGHT,10,10);
  glPopMatrix();
}

static void right_lower_arm()
{
  GLfloat mat_diffuseg2[]={0.6, 1.0, 0.6, 1.0}; /* green2 */

  glPushMatrix();
  glRotatef(-90.0, 1.0, 0.0, 0.0);
  glMaterialfv(GL_FRONT, GL_DIFFUSE, mat_diffuseg2);
  gluCylinder(rla,LOWER_ARM_RADIUS, LOWER_ARM_RADIUS, LOWER_ARM_HEIGHT,10,10);
  glPopMatrix();
}

static void left_upper_leg()
{
  GLfloat mat_diffuseb2[]={0.3, 0.3, 1.0, 1.0}; /* blue2 */

  glPushMatrix();
  glRotatef(-90.0, 1.0, 0.0, 0.0);
  glMaterialfv(GL_FRONT, GL_DIFFUSE, mat_diffuseb2);
  gluCylinder(lul,UPPER_LEG_RADIUS, UPPER_LEG_RADIUS, UPPER_LEG_HEIGHT,10,10);
  glPopMatrix();
}

static void left_lower_leg()
{
  GLfloat mat_diffuseb1[]={0.5, 0.5, 1.0, 1.0}; /* blue1 */

  glPushMatrix();
  glRotatef(-90.0, 1.0, 0.0, 0.0);
  glMaterialfv(GL_FRONT, GL_DIFFUSE, mat_diffuseb1);
  gluCylinder(lll,LOWER_LEG_RADIUS, LOWER_LEG_RADIUS, LOWER_LEG_HEIGHT,10,10);
  glPopMatrix();
}

static void right_upper_leg()
{
  GLfloat mat_diffuseb2[]={0.3, 0.3, 1.0, 1.0}; /* blue2 */

  glPushMatrix();
  glRotatef(-90.0, 1.0, 0.0, 0.0);
  glMaterialfv(GL_FRONT, GL_DIFFUSE, mat_diffuseb2);
  gluCylinder(rul,UPPER_LEG_RADIUS, UPPER_LEG_RADIUS, UPPER_LEG_HEIGHT,10,10);
  glPopMatrix();
}

static void right_lower_leg()
{
  GLfloat mat_diffuseb1[]={0.5, 0.5, 1.0, 1.0}; /* blue */

  glPushMatrix();
  glRotatef(-90.0, 1.0, 0.0, 0.0);
  glMaterialfv(GL_FRONT, GL_DIFFUSE, mat_diffuseb1);
  gluCylinder(rll,LOWER_LEG_RADIUS, LOWER_LEG_RADIUS, LOWER_LEG_HEIGHT,10,10);
  glPopMatrix();
}

static void instructions()
{
  char * p;
  char msg[] = "middle mouse for menu selection";
  char msg2[] = "then right or left click to move";
  char msg3[] = "keyboard +, -, x, X, y, Y moves";
  GLfloat blk[] = {0.0, 0.0, 0.0, 1.0};

  glPushMatrix(); /* display instructions */
    glLoadIdentity ();
    glMaterialfv(GL_FRONT_AND_BACK, GL_DIFFUSE, blk); 
    glEnable(GL_LINE_SMOOTH);
    glEnable(GL_BLEND);
    glTranslatef(-8.0, -7.5, 0.0);
    glScalef(size/150.0, size/150.0, 0.0);
    for(p=msg; *p; p++)
      glutStrokeCharacter(GLUT_STROKE_ROMAN, *p);
    glLoadIdentity ();
    glTranslatef(-8.0, -8.5, 0.0);
    glScalef(size/150.0, size/150.0, 0.0);
    for(p=msg2; *p; p++)
      glutStrokeCharacter(GLUT_STROKE_ROMAN, *p);
    glLoadIdentity ();
    glTranslatef(-8.0, -9.5, 0.0);
    glScalef(size/150.0, size/150.0, 0.0);
    for(p=msg3; *p; p++)
      glutStrokeCharacter(GLUT_STROKE_ROMAN, *p);
  glPopMatrix();
}

static void display(void)
{
  glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
  glLoadIdentity();
  
  traverse(torso_ptr); /* render the robot */

  instructions();
  glutSwapBuffers();
} /* end display */

static void mouse(int btn, int state, int x, int y)
{
  if(btn==GLUT_LEFT_BUTTON && state == GLUT_DOWN) 
  {
    theta[angle] += movement;
    if( theta[angle] > 360.0 ) theta[angle] -= 360.0;
  }
  if(btn==GLUT_RIGHT_BUTTON && state == GLUT_DOWN) 
  {
    theta[angle] -= movement;
    if( theta[angle] < 360.0 ) theta[angle] += 360.0;
  }
  move();
} /* end mouse */

static void move()
{
  glPushMatrix();
  switch(angle)
  {
    case TORSO_TURN :
    case TORSO_BEND :
      glLoadIdentity();
      glRotatef(theta[TORSO_TURN], 0.0, 1.0, 0.0);
      glRotatef(theta[TORSO_BEND], 1.0, 0.0, 0.0);
      glTranslatef(rpos[0], rpos[1], rpos[2]);
      glGetFloatv(GL_MODELVIEW_MATRIX,torso_ptr->m);
      break;
    case HEAD_NOD :
    case HEAD_TURN :
      glLoadIdentity();
      glTranslatef(0.0, TORSO_HEIGHT+0.5*HEAD_HEIGHT, 0.0);
      glRotatef(theta[HEAD_NOD], 1.0, 0.0, 0.0);
      glRotatef(theta[HEAD_TURN], 0.0, 1.0, 0.0);
      glTranslatef(0.0, -0.5*HEAD_HEIGHT, 0.0);
      glGetFloatv(GL_MODELVIEW_MATRIX,head_ptr->m);
      break;
   case LEFT_UPPER_ARM :
     glLoadIdentity();
     glTranslatef(-(TORSO_RADIUS+UPPER_ARM_RADIUS), 0.9*TORSO_HEIGHT, 0.0);
     glRotatef(theta[LEFT_UPPER_ARM], 1.0, 0.0, 0.0);
     glGetFloatv(GL_MODELVIEW_MATRIX,lua_ptr->m);
     break;
   case RIGHT_UPPER_ARM :
     glLoadIdentity();
     glTranslatef(TORSO_RADIUS+UPPER_ARM_RADIUS, 0.9*TORSO_HEIGHT, 0.0);
     glRotatef(theta[RIGHT_UPPER_ARM], 1.0, 0.0, 0.0);
     glGetFloatv(GL_MODELVIEW_MATRIX,rua_ptr->m);
     break;
   case RIGHT_UPPER_LEG :
     glLoadIdentity();
     glTranslatef(TORSO_RADIUS+UPPER_LEG_RADIUS, 0.1*UPPER_LEG_HEIGHT, 0.0);
     glRotatef(theta[RIGHT_UPPER_LEG], 1.0, 0.0, 0.0);
     glGetFloatv(GL_MODELVIEW_MATRIX,rul_ptr->m);
     break;
   case LEFT_UPPER_LEG :
     glLoadIdentity();
     glTranslatef(-(TORSO_RADIUS+UPPER_LEG_RADIUS), 0.1*UPPER_LEG_HEIGHT, 0.0);
     glRotatef(theta[LEFT_UPPER_LEG], 1.0, 0.0, 0.0);
     glGetFloatv(GL_MODELVIEW_MATRIX,lul_ptr->m);
     break;
   case LEFT_LOWER_ARM :
     glLoadIdentity();
     glTranslatef(0.0, UPPER_ARM_HEIGHT, 0.0);
     glRotatef(theta[LEFT_LOWER_ARM], 1.0, 0.0, 0.0);
     glGetFloatv(GL_MODELVIEW_MATRIX,lla_ptr->m);
     break;
   case LEFT_LOWER_LEG :
     glLoadIdentity();
     glTranslatef(0.0, UPPER_LEG_HEIGHT, 0.0);
     glRotatef(theta[LEFT_LOWER_LEG], 1.0, 0.0, 0.0);
     glGetFloatv(GL_MODELVIEW_MATRIX,lll_ptr->m);
     break;
   case RIGHT_LOWER_LEG :
     glLoadIdentity();
     glTranslatef(0.0, UPPER_LEG_HEIGHT, 0.0);
     glRotatef(theta[RIGHT_LOWER_LEG], 1.0, 0.0, 0.0);
     glGetFloatv(GL_MODELVIEW_MATRIX,rll_ptr->m);
     break;
   case RIGHT_LOWER_ARM :
     glLoadIdentity();
     glTranslatef(0.0, UPPER_ARM_HEIGHT, 0.0);
     glRotatef(theta[RIGHT_LOWER_ARM], 1.0, 0.0, 0.0);
     glGetFloatv(GL_MODELVIEW_MATRIX,rla_ptr->m);
     break;
   default :
     break;
  }
  glPopMatrix();
  glutPostRedisplay();
} /* end move */

static void keyboard(unsigned char key, int x, int y)
{
  switch (key)
  {
    case '+':
      theta[angle] += movement;
      if( theta[angle] > 360.0 ) theta[angle] -= 360.0;
      move();
      return;
    case '-':
      theta[angle] -= movement;
      if( theta[angle] < 360.0 ) theta[angle] += 360.0;
      move();
      return;
    case 'x':
      rpos[0] -= movement/10.0;
      break;
    case 'X':
      rpos[0] += movement/10.0;
      break;
    case 'y':
      rpos[1] -= movement/10.0;
      break;
    case 'Y':
      rpos[1] += movement/10.0;
      break;
    default :
      break;
  }
  glPushMatrix();
    glLoadIdentity();
    glRotatef(theta[TORSO_TURN], 0.0, 1.0, 0.0);
    glRotatef(theta[TORSO_BEND], 1.0, 0.0, 0.0);
    glTranslatef(rpos[0], rpos[1], rpos[2]);
    glGetFloatv(GL_MODELVIEW_MATRIX,torso_ptr->m);
  glPopMatrix();
  glutPostRedisplay();
} /* end keyboard */

static void menu(int id)
{
  if(id < INCREASE_MOVEMENT) angle=id; /* set up for next right or left mouse click */
  else if(id == INCREASE_MOVEMENT) movement *= 1.5;
  else if(id == DECREASE_MOVEMENT) movement /= 1.5;
  else if(id == QUIT) exit(0);
} /* end menu */

void myReshape(int w, int h)
{
  glViewport(0, 0, w, h);
  glMatrixMode(GL_PROJECTION);
  glLoadIdentity();
  if (w <= h)
    glOrtho(-10.0, 10.0, -10.0 * (GLfloat) h / (GLfloat) w,
            10.0 * (GLfloat) h / (GLfloat) w, -10.0, 10.0);
  else
    glOrtho(-10.0 * (GLfloat) w / (GLfloat) h,
            10.0 * (GLfloat) w / (GLfloat) h, 0.0, 10.0, -10.0, 10.0);
  glMatrixMode(GL_MODELVIEW);
  glLoadIdentity();
} /* end myReshape */

static void myinit()
{
  GLfloat mat_specular[]={1.0, 1.0, 1.0, 1.0};
  GLfloat mat_diffuse[]={1.0, 0.0, 0.0, 1.0}; /* red material*/
  GLfloat mat_ambient[]={1.0, 1.0, 1.0, 1.0};
  GLfloat mat_shininess={100.0};
  GLfloat light_ambient[]={0.0, 0.0, 0.0, 1.0};
  GLfloat light_diffuse[]={1.0, 1.0, 1.0, 1.0}; /* white light */
  GLfloat light_specular[]={1.0, 1.0, 1.0, 1.0};
  GLfloat light_position[]={10.0, 10.0, 10.0, 0.0};

  theta[LEFT_UPPER_LEG]  = 180.0; /* legs normally down */
  theta[RIGHT_UPPER_LEG] = 180.0;
  
  glLightfv(GL_LIGHT0, GL_POSITION, light_position);
  glLightfv(GL_LIGHT0, GL_AMBIENT, light_ambient);
  glLightfv(GL_LIGHT0, GL_DIFFUSE, light_diffuse);
  glLightfv(GL_LIGHT0, GL_SPECULAR, light_specular);

  glMaterialfv(GL_FRONT, GL_SPECULAR, mat_specular);
  glMaterialfv(GL_FRONT, GL_AMBIENT, mat_ambient);
  glMaterialfv(GL_FRONT, GL_DIFFUSE, mat_diffuse);
  glMaterialf(GL_FRONT, GL_SHININESS, mat_shininess);

  glShadeModel(GL_SMOOTH);
  glEnable(GL_LIGHTING); 
  glEnable(GL_LIGHT0);
  glDepthFunc(GL_LEQUAL);
  glEnable(GL_DEPTH_TEST); 
  glClearColor(1.0, 1.0, 1.0, 1.0);
  glColor3f(1.0, 0.0, 0.0);
  /* allocate quadrics with filled drawing style */
  h=gluNewQuadric(); /* head */
  gluQuadricDrawStyle(h, GLU_FILL);
  t=gluNewQuadric(); /* torso */
  gluQuadricDrawStyle(t, GLU_FILL);
  lua=gluNewQuadric(); /* left upper arm, etc. */
  gluQuadricDrawStyle(lua, GLU_FILL);
  lla=gluNewQuadric();
  gluQuadricDrawStyle(lla, GLU_FILL);
  rua=gluNewQuadric();
  gluQuadricDrawStyle(rua, GLU_FILL);
  rla=gluNewQuadric();
  gluQuadricDrawStyle(rla, GLU_FILL);
  lul=gluNewQuadric();
  gluQuadricDrawStyle(lul, GLU_FILL);
  lll=gluNewQuadric();
  gluQuadricDrawStyle(lll, GLU_FILL);
  rul=gluNewQuadric();
  gluQuadricDrawStyle(rul, GLU_FILL);
  rll=gluNewQuadric();
  gluQuadricDrawStyle(rll, GLU_FILL);

  /* Set up tree */
  torso_ptr =  malloc(sizeof(treenode));
  head_ptr = malloc(sizeof(treenode));
  lua_ptr = malloc(sizeof(treenode));
  rua_ptr = malloc(sizeof(treenode));
  lll_ptr = malloc(sizeof(treenode));
  rll_ptr = malloc(sizeof(treenode));
  lla_ptr = malloc(sizeof(treenode));
  rla_ptr = malloc(sizeof(treenode));
  rul_ptr = malloc(sizeof(treenode));
  lul_ptr = malloc(sizeof(treenode));

  glLoadIdentity();
  glRotatef(theta[TORSO_TURN], 0.0, 1.0, 0.0);
  glRotatef(theta[TORSO_BEND], 1.0, 1.0, 0.0);
  glGetFloatv(GL_MODELVIEW_MATRIX,torso_ptr->m);
  torso_ptr->f = torso;
  torso_ptr->sibling = NULL;
  torso_ptr->child =  head_ptr;

  glLoadIdentity();
  glTranslatef(0.0, TORSO_HEIGHT+0.5*HEAD_HEIGHT, 0.0);
  glRotatef(theta[HEAD_NOD], 1.0, 0.0, 0.0);
  glRotatef(theta[HEAD_TURN], 0.0, 1.0, 0.0);
  glTranslatef(0.0, -0.5*HEAD_HEIGHT, 0.0);
  glGetFloatv(GL_MODELVIEW_MATRIX,head_ptr->m);
  head_ptr->f = head;
  head_ptr->sibling = lua_ptr;
  head_ptr->child = NULL;

  glLoadIdentity();
  glTranslatef(-(TORSO_RADIUS+UPPER_ARM_RADIUS), 0.9*TORSO_HEIGHT, 0.0);
  glRotatef(theta[LEFT_UPPER_ARM], 1.0, 0.0, 0.0);
  glGetFloatv(GL_MODELVIEW_MATRIX,lua_ptr->m);
  lua_ptr->f = left_upper_arm;
  lua_ptr->sibling =  rua_ptr;
  lua_ptr->child = lla_ptr;

  glLoadIdentity();
  glTranslatef(TORSO_RADIUS+UPPER_ARM_RADIUS, 0.9*TORSO_HEIGHT, 0.0);
  glRotatef(theta[RIGHT_UPPER_ARM], 1.0, 0.0, 0.0);
  glGetFloatv(GL_MODELVIEW_MATRIX,rua_ptr->m);
  rua_ptr->f = right_upper_arm;
  rua_ptr->sibling =  lul_ptr;
  rua_ptr->child = rla_ptr;

  glLoadIdentity();
  glTranslatef(-(TORSO_RADIUS+UPPER_LEG_RADIUS), 0.1*UPPER_LEG_HEIGHT, 0.0);
  glRotatef(theta[LEFT_UPPER_LEG], 1.0, 0.0, 0.0);
  glGetFloatv(GL_MODELVIEW_MATRIX,lul_ptr->m);
  lul_ptr->f = left_upper_leg;
  lul_ptr->sibling =  rul_ptr;
  lul_ptr->child = lll_ptr;

  glLoadIdentity();
  glTranslatef(TORSO_RADIUS+UPPER_LEG_RADIUS, 0.1*UPPER_LEG_HEIGHT, 0.0);
  glRotatef(theta[RIGHT_UPPER_LEG], 1.0, 0.0, 0.0);
  glGetFloatv(GL_MODELVIEW_MATRIX,rul_ptr->m);
  rul_ptr->f = right_upper_leg;
  rul_ptr->sibling =  NULL;
  rul_ptr->child = rll_ptr;

  glLoadIdentity();
  glTranslatef(0.0, UPPER_ARM_HEIGHT, 0.0);
  glRotatef(theta[LEFT_LOWER_ARM], 1.0, 0.0, 0.0);
  glGetFloatv(GL_MODELVIEW_MATRIX,lla_ptr->m);
  lla_ptr->f = left_lower_arm;
  lla_ptr->sibling =  NULL;
  lla_ptr->child = NULL;

  glLoadIdentity();
  glTranslatef(0.0, UPPER_ARM_HEIGHT, 0.0);
  glRotatef(theta[RIGHT_LOWER_ARM], 1.0, 0.0, 0.0);
  glGetFloatv(GL_MODELVIEW_MATRIX,rla_ptr->m);
  rla_ptr->f = right_lower_arm;
  rla_ptr->sibling =  NULL;
  rla_ptr->child = NULL;

  glLoadIdentity();
  glTranslatef(0.0, UPPER_LEG_HEIGHT, 0.0);
  glRotatef(theta[LEFT_LOWER_LEG], 1.0, 0.0, 0.0);
  glGetFloatv(GL_MODELVIEW_MATRIX,lll_ptr->m);
  lll_ptr->f = left_lower_leg;
  lll_ptr->sibling =  NULL;
  lll_ptr->child = NULL;

  glLoadIdentity();
  glTranslatef(0.0, UPPER_LEG_HEIGHT, 0.0);
  glRotatef(theta[RIGHT_LOWER_LEG], 1.0, 0.0, 0.0);
  glGetFloatv(GL_MODELVIEW_MATRIX,rll_ptr->m);
  rll_ptr->f = right_lower_leg;
  rll_ptr->sibling =  NULL;
  rll_ptr->child = NULL;

  glLoadIdentity();
} /* end myinit */

int main(int argc, char *argv[])
{
  glutInit(&argc, argv);
  glutInitDisplayMode(GLUT_DOUBLE | GLUT_RGB | GLUT_DEPTH);
  glutInitWindowSize(500, 500);
  glutCreateWindow(argv[0]);
  myinit();
  glutReshapeFunc(myReshape);
  glutDisplayFunc(display);
  glutMouseFunc(mouse);
  glutKeyboardFunc(keyboard);
  glutCreateMenu(menu);
  glutAddMenuEntry("torso turn",      TORSO_TURN);
  glutAddMenuEntry("torso bend",      TORSO_BEND);
  glutAddMenuEntry("head nod",        HEAD_NOD);
  glutAddMenuEntry("head turn",       HEAD_TURN);
  glutAddMenuEntry("right upper arm", RIGHT_UPPER_ARM);
  glutAddMenuEntry("right lower arm", RIGHT_LOWER_ARM);
  glutAddMenuEntry("left upper arm",  LEFT_UPPER_ARM);
  glutAddMenuEntry("left lower arm",  LEFT_LOWER_ARM);
  glutAddMenuEntry("right upper leg", RIGHT_UPPER_LEG);
  glutAddMenuEntry("right lower leg", RIGHT_LOWER_LEG);
  glutAddMenuEntry("left upper leg",  LEFT_UPPER_LEG);
  glutAddMenuEntry("left lower leg",  LEFT_LOWER_LEG);
  glutAddMenuEntry("increase movement", INCREASE_MOVEMENT);
  glutAddMenuEntry("decrease movement", DECREASE_MOVEMENT);
  glutAddMenuEntry("quit", QUIT);
  glutAttachMenu(GLUT_MIDDLE_BUTTON);
  glutMainLoop();
  return 0;
} /* end main robot2 */