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


static int shoulderAngle = 0, elbowAngle = 0, handAngle = 0;


void special(int key, int, int) {
  switch (key) {
    case GLUT_KEY_LEFT: (elbowAngle += 5) %= 360; break;
    case GLUT_KEY_RIGHT: (elbowAngle -= 5) %= 360; break;
    case GLUT_KEY_UP: (shoulderAngle += 5) %= 360; break;
    case GLUT_KEY_DOWN: (shoulderAngle -= 5) %= 360; break;
    case GLUT_KEY_PAGE_DOWN: (handAngle += 5) %= 360; break;
    case GLUT_KEY_PAGE_UP: (handAngle -= 5) %= 360; break;

    default: return;
  }
  glutPostRedisplay();
}


void wireBox(GLdouble width, GLdouble height, GLdouble depth) {
  glPushMatrix();
  glScalef(width, height, depth);
  glutSolidCube (1.0);
  //glutWireCube(1.0);
  glPopMatrix();
}


void display() {

  glClear(GL_COLOR_BUFFER_BIT);
  glMatrixMode(GL_MODELVIEW);
  glPushMatrix();

  glRotatef((GLfloat)shoulderAngle, 0.0, 0.0, 1.0);
  glTranslatef(1.0, 1.0, 0.0);
  wireBox(2.0, 0.4, 1.0);


  glTranslatef(1.0, 0.0, 0.0);
  glRotatef((GLfloat)elbowAngle, 1.0, 0.0, 0.0);
  glTranslatef(1.0, 0.0, 0.0);
  wireBox(2.0, 0.4, 1.0);

  glTranslatef(1.0, 0.0, 0.0);
  glRotatef((GLfloat)handAngle, 0.0, 0.0, 1.0);
  glTranslatef(1.0, 0.0, 0.0);
  wireBox(2.0, 0.4, 1.0);



glTranslatef(1.0, 0.0, 0.0);
glColor3f(21,0,2);
glRotatef((GLfloat)handAngle, 1.0, 0.0, 1.0);
glTranslatef(1.0, 0.0, 0.0);
glutSolidSphere(1.0,10,10);

glTranslatef(1.0, 0.0, 0.0);
  glRotatef((GLfloat)handAngle, 0.0, 0.0, 1.0);
  glTranslatef(1.0, 0.0, 0.0);
  wireBox(2.0, 0.1, 0.1);




  glPopMatrix();
  glFlush();
}


void reshape(GLint w, GLint h) {
  glViewport(0, 0, w, h);
  glMatrixMode(GL_PROJECTION);
  glLoadIdentity();
  gluPerspective(65.0, GLfloat(w)/GLfloat(h), 1.0, 20.0);
}


void init() {
  glShadeModel(GL_FLAT);
  glMatrixMode(GL_MODELVIEW);
  glLoadIdentity();
  gluLookAt(1,2,8, 0,0,0, 0,1,0);
}


int main(int argc, char** argv) {
  glutInit(&argc, argv);
  glutInitDisplayMode(GLUT_SINGLE | GLUT_RGB);
  glutInitWindowPosition(80, 80);
  glutInitWindowSize(800, 600);
  glutCreateWindow("Robot Arm");
  glutDisplayFunc(display);
  glutReshapeFunc(reshape);
  glutSpecialFunc(special);
  init();
  glutMainLoop();
}