//=========================================================================================
#version 3.6;


global_settings {
  assumed_gamma 1.0
}

// ----------------------------------------

camera {
  location  <0.0, 0.5, -10.0>
  direction 1.5*z
  right     x*image_width/image_height
  look_at   <0.0, 0.0,  0.0>
}

sky_sphere {
  pigment {
    gradient y
    color_map {
      [0.0 rgb <0.6,0.7,1.0>]
      [0.7 rgb <0.0,0.1,0.8>]
    }
  }
}

light_source {
  <0, 0, 0>            // light's position (translated below)
  color rgb <1, 1, 1>  // light's color
  translate <-30, 30, -30>
}

// ----------------------------------------

plane {
  y, -5
  pigment { color rgb <0.7,0.5,0.3> }
}



/*Just change the rotation values (upparm_r, forarm_r, and
hand_r) and everything moves accordingly. Is this inverse or forward
kinematics, or have I got the whole idea wrong? Oh, and please excuse my
bad coding but I prefer to get something working first and then worry about
whether it's badly written or not.*/

#include "colors.inc"

camera {location <0,0,-6> look_at <0,0,0>}
light_source {<0,0,-20> color White}
background {color Blue}

#declare upparm_l=<0,-1.7,0>;       //Upperarm length
#declare forarm_l=<0,-2,0>;         //Forearm length

#declare shoulder=sphere {<0,0,0>,0.4 pigment {color Red} finish {phong 1}}
#declare upparm=cylinder {<0,0,0>,upparm_l,0.3 pigment {color Yellow} finish
{phong 1}}
#declare elbow=sphere {<0,0,0>,0.35 pigment {color Green} finish {phong 1}}
#declare forarm=cone {<0,0,0>,0.3,forarm_l,0.25 pigment {color Yellow}
finish {phong 1}}
#declare wrist=sphere {<0,0,0>,0.3 pigment {color White} finish {phong 1}}
#declare hand=sphere {<0,0,0>,0.5 scale <1,1.5,1> pigment {color Orange}
finish {phong 1} translate y*-0.7}

#declare upparm_r=<0,0,0>;          //Upperarm rotation (about shoulder)
#declare forarm_r=<0,0,5>;          //Forearm rotation (about elbow)
#declare hand_r=<0,0,0>;            //Hand rotation (about wrist)

union {
    object {shoulder}
    object {upparm rotate upparm_r}
    object {elbow translate upparm_l rotate upparm_r}
    object {forarm rotate forarm_r translate upparm_l rotate upparm_r}
    object {wrist translate forarm_l rotate forarm_r translate upparm_l rotate upparm_r}
    object {hand rotate hand_r translate forarm_l rotate forarm_r translate upparm_l rotate upparm_r}

    translate y*2.5
    translate z*25
}

//=============================================================================================================
#declare RightUpperarm = lathe {
  cubic_spline
  4  // control points
  <0.3, -6.0>,
  <0.6, -4.5>,
  <0.65, 0.0>,
  <-1.5, 9.0>
  rotate <90,0,90>
  // All transformations fixed
}
#declare RightLowerarm = lathe {
  cubic_spline
  4  // control points
  <0.3, -6.0>,
  <0.5, -4.3>,
  <0.55, 0.0>,
  <-1.6, 9.0>
  rotate <90,0,90>
  // All transformations fixed
}

//--------------------------------------------------
#declare R_HAND_JOINT_Zrot = intersection {
  sphere { // RightPalm
    <0,0,0>,1
    // All transformations fixed
    scale <0.55, 0.55, 1.25>
  }
  box { // RightPalmIntersection
    <-1, -1, -1>, <1, 1, 1>
    // All transformations fixed
    scale <0.4, 0.65, 1.3>
    rotate 15.0*y
    translate  <-0.3, 0.0, 0.1>
  }
  bounded_by { // Bound00096
    box {
      <-1.0, -1.0, -1.0>, <1.0, 1.0, 1.0>
      scale <0.822166, 0.687255, 1.396486>
      translate  <-0.237924, 0.0, 0.1>
    }
  }
  // Scaling fixed
  // Rot Z limited (-90.0 to   90.0)
  // Translation fixed
  rotate 8.261403*z
  translate  -1.5*z
}
#declare R_WRIST_JOINT_Yrot = union {
  sphere { // RightWrist
    <0,0,0>,1
    // All transformations fixed
    scale 0.5
  }
  object { R_HAND_JOINT_Zrot }
  // Scaling fixed
  // Rot Y limited (-90.0 to   45.0)
  // Translation fixed
  rotate -18.897455*y
  translate  -4.6*z
}
#declare R_LOWERARM_JOINT_Yrot = union {
  object { RightLowerarm }
  object { R_WRIST_JOINT_Yrot }
  translate  -0.35*z
  // Scaling fixed
  // Rot Y limited (-90.0 to   20.0)
  // Translation fixed
  rotate 7.211936*y
}
#declare R_ELBOW_JOINT_Xrot = union {
  sphere { // RightElbow
    <0,0,0>,1
    // All transformations fixed
    scale 0.55
  }
  object { R_LOWERARM_JOINT_Yrot }
  // Scaling fixed
  // Rot X limited (-150.0 to   0.0)
  // Translation fixed
  rotate -39.631805*x
  translate  -4.8*z
}
#declare R_UPPERARM_JOINT_Yrot = union {
  object { RightUpperarm }
  object { R_ELBOW_JOINT_Xrot }
  translate  -0.58*z
  // Scaling fixed
  // Rot Y limited (-45.0 to   179.0)
  // Translation fixed
  rotate 25.64633*y
}
#declare R_SHOULDER_JOINT_Xrot = union {
  sphere { // RightShoulder
    <0,0,0>,1
    // All transformations fixed
    scale <0.9, 0.75, 0.75>
  }
  object { R_UPPERARM_JOINT_Yrot }
  // Scaling fixed
  // Rot X limited (-179.0 to   70.0)
  // Translation fixed
  rotate -19.843288*x
  translate  <-2.7, 0.0, 3.5>
}



object {R_SHOULDER_JOINT_Xrot
  scale <1,1,-1>
  rotate <90,0,0>
  translate 25*z
  pigment {rgb 0.5}
}