/*
 * GLUT Shapes Demo
 *
 * Written by Nigel Stewart November 2003
 *
 * This program is test harness for the sphere, cone
 * and torus shapes in GLUT.
 *
 * Spinning wireframe and smooth shaded shapes are
 * displayed until the ESC or q key is pressed.  The
 * number of geometry stacks and slices can be adjusted
 * using the + and - keys.
 */

#ifdef __APPLE__
#include <GLUT/glut.h>
#else
#include <GL/glut.h>
#endif

#include <stdlib.h>

#ifdef __APPLE_CC__
#include <GL/glut.h>
#else
#include <GL/glut.h>
#endif

static int shoulderAngle = 0, elbowAngle = 0;

void special(int key, int x, int y)
{
    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;
        default: return;
    }
    glutPostRedisplay();
}

void wireBox(GLdouble width, GLdouble height, GLdouble depth)
{
    glPushMatrix();
    glScalef(width, height, depth);
    glutWireCube(1.0);
    glPopMatrix();
}
void display()
{
    glClear(GL_COLOR_BUFFER_BIT);
    glMatrixMode(GL_MODELVIEW);
    glPushMatrix();

glRotated((GLfloat)shoulderAngle, 0.0, 0.0, 1.0);
glTranslated(1.0, 0.0, 0.0);
wireBox(2.0, 0.4, 1.0);

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

glPopMatrix();
glFlush();
}
void reshape (GLint w, GLint h)
{
    glViewport(0, 0, w, h);
    glMatrixMode(GL_PROJECTION);
    glLoadIdentity();
    glutPerspective(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();
}