Cycle.cpp

/////////////////////////////////////////////////////////////////////////////////////////////
/////////////////////////////////////////////////////////////////////////////////////////////
// OpenGL headers
#include <GL/gl.h>
#include <GL/glu.h>
#include <GL/glut.h>
#include <GL/glext.h>

// C library headers
#include <cstdio>
#include <cmath>
#include <cstring>
#include <cstdlib>
#include <ctime>
#include <cctype>
#include <cassert>
#include <windows.h>


// C++ headers
#include <iostream>
#include <string>
#include <random>



using namespace std;

// OpenGL utility Functions



#define   PI            3.14159
#define WIN_WIDTH      600
#define WIN_HEIGHT      600
#define CYCLE_LENGTH   3.3f
#define ROD_RADIUS      0.05f
#define NUM_SPOKES      20
#define SPOKE_ANGLE      18
#define RADIUS_WHEEL   1.0f
#define TUBE_WIDTH      0.08f
#define RIGHT_ROD      1.6f
#define RIGHT_ANGLE      48.0f
#define MIDDLE_ROD      1.7f
#define MIDDLE_ANGLE   106.0f
#define BACK_CONNECTOR   0.5f
#define LEFT_ANGLE      50.0f
#define WHEEL_OFFSET   0.11f
#define WHEEL_LEN      1.1f
#define TOP_LEN         1.5f
#define CRANK_ROD      0.7f
#define CRANK_RODS      1.12f
#define CRANK_ANGLE      8.0f
#define HANDLE_ROD      1.2f
#define FRONT_INCLINE   70.0f
#define HANDLE_LIMIT   70.0f

#define INC_STEERING   2.0f
#define INC_SPEED      0.05f

GLfloat pedalAngle, speed, steering;


GLfloat camx,camy,camz;
GLfloat anglex,angley,anglez;


int prevx,prevy;
GLenum Mouse;


GLfloat xpos,zpos,directionCycle;

void ZCylinder(GLfloat radius,GLfloat length);
void XCylinder(GLfloat radius,GLfloat length);

void drawFrame(void);
void gear( GLfloat inner_radius, GLfloat outer_radius,
           GLfloat width,GLint teeth, GLfloat tooth_depth );
void drawChain(void);
void drawPedals(void);
void drawTyre(void);
void drawSeat(void);
void help(void);
void initCycle(void);
void reset(void);
void display(void);
void updateScene(void);
void landmarks(void);
void special(int key,int x,int y);

void mouse(int button,int state,int x,int y);
void motion(int x,int y);
void reshape(int w,int h);
void glSetupFuncs(void);
GLfloat Abs(GLfloat);
GLfloat degrees(GLfloat);
GLfloat radians(GLfloat);
GLfloat angleSum(GLfloat, GLfloat);


void ZCylinder(GLfloat radius,GLfloat length)
{
    GLUquadricObj *cylinder;
    cylinder=gluNewQuadric();
    glPushMatrix();
    glTranslatef(0.0f,0.0f,0.0f);
    gluCylinder(cylinder,radius,radius,length,15,5);
    glPopMatrix();
}

void XCylinder(GLfloat radius,GLfloat length)
{
    glPushMatrix();
    glRotatef(90.0f,0.0f,1.0f,0.0f);
    ZCylinder(radius,length);
    glPopMatrix();
}



void drawFrame()
{
    glColor3f(1.0f,0.0f,0.0f);
    glPushMatrix();
        glPushMatrix();
            glColor3f(0.0f,1.0f,0.0f);
            glPushMatrix();
                glTranslatef(0.0f,0.0f,0.06f);
                glRotatef(-2*pedalAngle,0.0f,0.0f,1.0f);
                gear(0.08f,0.3f,0.03f,30,0.03f);
            glPopMatrix();
            glColor3f(1.0f,0.0f,0.0f);
            glTranslatef(0.0f,0.0f,-0.2f);
            ZCylinder(0.08f,0.32f);
        glPopMatrix();
        glRotatef(RIGHT_ANGLE,0.0f,0.0f,1.0f);
        XCylinder(ROD_RADIUS,RIGHT_ROD);
        glRotatef(MIDDLE_ANGLE-RIGHT_ANGLE,0.0f,0.0f,1.0f);
        XCylinder(ROD_RADIUS,MIDDLE_ROD);

        glColor3f(1.0f,1.0f,0.0f);
        glTranslatef(MIDDLE_ROD,0.0f,0.0f);
        glRotatef(-MIDDLE_ANGLE,0.0f,0.0f,1.0f);
        glScalef(0.3f,ROD_RADIUS,0.25f);
        drawSeat();

        glColor3f(1.0f,0.0f,0.0f);
    glPopMatrix();

    glPushMatrix();
        glRotatef(-180.0f,0.0f,1.0f,0.0f);
        XCylinder(ROD_RADIUS,BACK_CONNECTOR);
        glPushMatrix();
            glTranslatef(0.5f,0.0f,WHEEL_OFFSET);
            XCylinder(ROD_RADIUS,RADIUS_WHEEL+TUBE_WIDTH);
        glPopMatrix();
        glPushMatrix();
            glTranslatef(0.5f,0.0f,-WHEEL_OFFSET);
            XCylinder(ROD_RADIUS,RADIUS_WHEEL+TUBE_WIDTH);
        glPopMatrix();
    glPopMatrix();


    glPushMatrix();
        glTranslatef(-(BACK_CONNECTOR+RADIUS_WHEEL+TUBE_WIDTH),0.0f,0.0f);
        glPushMatrix();
        glRotatef(-2*pedalAngle,0.0f,0.0f,1.0f);
        drawTyre();
        glColor3f(0.0f,1.0f,0.0f);
        gear(0.03f,0.15f,0.03f,20,0.03f);
        glColor3f(1.0f,0.0f,0.0f);
    glPopMatrix();

    glRotatef(LEFT_ANGLE,0.0f,0.0f,1.0f);

    glPushMatrix();
        glTranslatef(0.0f,0.0f,-WHEEL_OFFSET);
        XCylinder(ROD_RADIUS,WHEEL_LEN);
    glPopMatrix();

    glPushMatrix();
        glTranslatef(0.0f,0.0f,WHEEL_OFFSET);
        XCylinder(ROD_RADIUS,WHEEL_LEN);
    glPopMatrix();

    glTranslatef(WHEEL_LEN,0.0f,0.0f);
    XCylinder(ROD_RADIUS,CRANK_ROD);


    glTranslatef(CRANK_ROD,0.0f,0.0f);
    glRotatef(-LEFT_ANGLE,0.0f,0.0f,1.0f);
    XCylinder(ROD_RADIUS,TOP_LEN);


    glTranslatef(TOP_LEN,0.0f,0.0f);
    glRotatef(-FRONT_INCLINE,0.0f,0.0f,1.0f);


    glPushMatrix();
        glTranslatef(-0.1f,0.0f,0.0f);
        XCylinder(ROD_RADIUS,0.45f);
    glPopMatrix();


    glPushMatrix();
        glRotatef(-steering,1.0f,0.0f,0.0f);
        glTranslatef(-0.3f,0.0f,0.0f);
    glPushMatrix();
        glRotatef(FRONT_INCLINE,0.0f,0.0f,1.0f);

        glPushMatrix();
            glTranslatef(0.0f,0.0f,-HANDLE_ROD/2);
            ZCylinder(ROD_RADIUS,HANDLE_ROD);
        glPopMatrix();

        glPushMatrix();
            glColor3f(1.0f,1.0f,0.0f);
            glTranslatef(0.0f,0.0f,-HANDLE_ROD/2);
            ZCylinder(0.07f,HANDLE_ROD/4);
            glTranslatef(0.0f,0.0f,HANDLE_ROD*3/4);
            ZCylinder(0.07f,HANDLE_ROD/4);
            glColor3f(1.0f,0.0f,0.0f);
        glPopMatrix();
    glPopMatrix();


    glPushMatrix();

        XCylinder(ROD_RADIUS,CRANK_ROD);


        glTranslatef(CRANK_ROD,0.0f,0.0f);
        glRotatef(CRANK_ANGLE,0.0f,0.0f,1.0f);


        glPushMatrix();
            glTranslatef(0.0f,0.0f,WHEEL_OFFSET);
            XCylinder(ROD_RADIUS,CRANK_RODS);
        glPopMatrix();

        glPushMatrix();
            glTranslatef(0.0f,0.0f,-WHEEL_OFFSET);
            XCylinder(ROD_RADIUS,CRANK_RODS);
        glPopMatrix();

        glTranslatef(CRANK_RODS,0.0f,0.0f);
        glRotatef(-2*pedalAngle,0.0f,0.0f,1.0f);
        drawTyre();
    glPopMatrix();
    glPopMatrix();   /*   End of the rotation of the handle effect   */
    glPopMatrix();
}


void gear( GLfloat inner_radius, GLfloat outer_radius, GLfloat width,
           GLint teeth, GLfloat tooth_depth )
{
    GLint i;
    GLfloat r0, r1, r2;
    GLfloat angle, da;
    GLfloat u, v, len;
    const double pi = 3.14159264;

    r0 = inner_radius;
    r1 = outer_radius - tooth_depth/2.0;
    r2 = outer_radius + tooth_depth/2.0;

    da = 2.0*pi / teeth / 4.0;

    glShadeModel( GL_FLAT );

    glNormal3f( 0.0, 0.0, 1.0 );

    /* draw front face */
    glBegin( GL_QUAD_STRIP );
    for (i=0; i<=teeth; i++)
    {
        angle = i * 2.0*pi / teeth;
        glVertex3f( r0*cos(angle), r0*sin(angle), width*0.5 );
        glVertex3f( r1*cos(angle), r1*sin(angle), width*0.5 );
        glVertex3f( r0*cos(angle), r0*sin(angle), width*0.5 );
        glVertex3f( r1*cos(angle+3*da), r1*sin(angle+3*da), width*0.5 );
    }
    glEnd();

    /* draw front sides of teeth */
    glBegin( GL_QUADS );
    da = 2.0*pi / teeth / 4.0;
    for (i=0; i<teeth; i++)
    {
        angle = i * 2.0*pi / teeth;

        glVertex3f( r1*cos(angle),      r1*sin(angle),     width*0.5 );
        glVertex3f( r2*cos(angle+da),   r2*sin(angle+da),     width*0.5 );
        glVertex3f( r2*cos(angle+2*da), r2*sin(angle+2*da), width*0.5 );
        glVertex3f( r1*cos(angle+3*da), r1*sin(angle+3*da), width*0.5 );
    }
    glEnd();


    glNormal3f( 0.0, 0.0, -1.0 );

    /* draw back face */
    glBegin( GL_QUAD_STRIP );
    for (i=0; i<=teeth; i++)
    {
        angle = i * 2.0*pi / teeth;
        glVertex3f( r1*cos(angle), r1*sin(angle), -width*0.5 );
        glVertex3f( r0*cos(angle), r0*sin(angle), -width*0.5 );
        glVertex3f( r1*cos(angle+3*da), r1*sin(angle+3*da), -width*0.5 );
        glVertex3f( r0*cos(angle), r0*sin(angle), -width*0.5 );
    }
    glEnd();

    /* draw back sides of teeth */
    glBegin( GL_QUADS );
    da = 2.0*pi / teeth / 4.0;
    for (i=0; i<teeth; i++)
    {
        angle = i * 2.0*pi / teeth;

        glVertex3f( r1*cos(angle+3*da), r1*sin(angle+3*da), -width*0.5 );
        glVertex3f( r2*cos(angle+2*da), r2*sin(angle+2*da), -width*0.5 );
        glVertex3f( r2*cos(angle+da),   r2*sin(angle+da),     -width*0.5 );
        glVertex3f( r1*cos(angle),      r1*sin(angle),     -width*0.5 );
    }
    glEnd();


    /* draw outward faces of teeth */
    glBegin( GL_QUAD_STRIP );
    for (i=0; i<teeth; i++)
    {
        angle = i * 2.0*pi / teeth;

        glVertex3f( r1*cos(angle),      r1*sin(angle),      width*0.5 );
        glVertex3f( r1*cos(angle),      r1*sin(angle),     -width*0.5 );
        u = r2*cos(angle+da) - r1*cos(angle);
        v = r2*sin(angle+da) - r1*sin(angle);
        len = sqrt( u*u + v*v );
        u /= len;
        v /= len;
        glNormal3f( v, -u, 0.0 );
        glVertex3f( r2*cos(angle+da),   r2*sin(angle+da),      width*0.5 );
        glVertex3f( r2*cos(angle+da),   r2*sin(angle+da),     -width*0.5 );
        glNormal3f( cos(angle), sin(angle), 0.0 );
        glVertex3f( r2*cos(angle+2*da), r2*sin(angle+2*da),  width*0.5 );
        glVertex3f( r2*cos(angle+2*da), r2*sin(angle+2*da), -width*0.5 );
        u = r1*cos(angle+3*da) - r2*cos(angle+2*da);
        v = r1*sin(angle+3*da) - r2*sin(angle+2*da);
        glNormal3f( v, -u, 0.0 );
        glVertex3f( r1*cos(angle+3*da), r1*sin(angle+3*da),  width*0.5 );
        glVertex3f( r1*cos(angle+3*da), r1*sin(angle+3*da), -width*0.5 );
        glNormal3f( cos(angle), sin(angle), 0.0 );
    }

    glVertex3f( r1*cos(0.0), r1*sin(0.0), width*0.5 );
    glVertex3f( r1*cos(0.0), r1*sin(0.0), -width*0.5 );

    glEnd();


    glShadeModel( GL_SMOOTH );

    /* draw inside radius cylinder */
    glBegin( GL_QUAD_STRIP );
    for (i=0; i<=teeth; i++)
    {
        angle = i * 2.0*pi / teeth;
        glNormal3f( -cos(angle), -sin(angle), 0.0 );
        glVertex3f( r0*cos(angle), r0*sin(angle), -width*0.5 );
        glVertex3f( r0*cos(angle), r0*sin(angle), width*0.5 );
    }
    glEnd();

}


void drawChain()
{
    GLfloat depth;
    static int mode=0;

    glColor3f(0.0f,1.0f,0.0f);
    glEnable(GL_LINE_STIPPLE);
    mode=(mode+1)%2;

    if(mode==0 && speed>0)
        glLineStipple(1,0x1c47);
    else if(mode==1 && speed>0)
        glLineStipple(1,0x00FF);

    glBegin(GL_LINES);
    for(depth=0.06f; depth<=0.12f; depth+=0.01f)
    {
        glVertex3f(-1.6f,0.15f,ROD_RADIUS);
        glVertex3f(0.0f,0.3f,depth);

        glVertex3f(-1.6f,-0.15f,ROD_RADIUS);
        glVertex3f(0.0f,-0.3f,depth);
    }
    glEnd();
    glDisable(GL_LINE_STIPPLE);
}

void drawSeat()
{

    glBegin(GL_POLYGON);
    glVertex3f(-0.1f, 1.0f, -0.5f);
    glVertex3f(   1.0f, 1.0f, -0.3f);
    glVertex3f( 1.0f, 1.0f,  0.3f);
    glVertex3f(-0.1f, 1.0f,  0.5f);
    glVertex3f(-0.5f, 1.0f,  1.0f);
    glVertex3f(-1.0f, 1.0f,  1.0f);
    glVertex3f(-1.0f, 1.0f, -1.0f);
    glVertex3f(-0.5f, 1.0f, -1.0f);
    glEnd();


    glBegin(GL_POLYGON);
    glVertex3f(-0.1f, -1.0f, -0.5f);
    glVertex3f(   1.0f, -1.0f, -0.3f);
    glVertex3f( 1.0f, -1.0f,  0.3f);
    glVertex3f(-0.1f, -1.0f,  0.5f);
    glVertex3f(-0.5f, -1.0f,  1.0f);
    glVertex3f(-1.0f, -1.0f,  1.0f);
    glVertex3f(-1.0f, -1.0f, -1.0f);
    glVertex3f(-0.5f, -1.0f, -1.0f);
    glEnd();


    glBegin(GL_QUADS);
    glVertex3f(1.0f,1.0f,-0.3f);
    glVertex3f(1.0f,1.0f,0.3f);
    glVertex3f(1.0f,-1.0f,0.3f);
    glVertex3f(1.0f,-1.0f,-0.3f);

    glVertex3f(1.0f,1.0f,0.3f);
    glVertex3f(-0.1f,1.0f,0.5f);
    glVertex3f(-0.1f,-1.0f,0.5f);
    glVertex3f(1.0f,-1.0f,0.3f);

    glVertex3f(1.0f,1.0f,-0.3f);
    glVertex3f(-0.1f,1.0f,-0.5f);
    glVertex3f(-0.1f,-1.0f,-0.5f);
    glVertex3f(1.0f,-1.0f,-0.3f);

    glVertex3f(-0.1f,1.0f,0.5f);
    glVertex3f(-0.5f,1.0f,1.0f);
    glVertex3f(-0.5f,-1.0f,1.0f);
    glVertex3f(-0.1f,-1.0f,0.5f);

    glVertex3f(-0.1f,1.0f,-0.5f);
    glVertex3f(-0.5f,1.0f,-1.0f);
    glVertex3f(-0.5f,-1.0f,-1.0f);
    glVertex3f(-0.1f,-1.0f,-0.5f);

    glVertex3f(-0.5f,1.0f,1.0f);
    glVertex3f(-1.0f,1.0f,1.0f);
    glVertex3f(-1.0f,-1.0f,1.0f);
    glVertex3f(-0.5f,-1.0f,1.0f);

    glVertex3f(-0.5f,1.0f,-1.0f);
    glVertex3f(-1.0f,1.0f,-1.0f);
    glVertex3f(-1.0f,-1.0f,-1.0f);
    glVertex3f(-0.5f,-1.0f,-1.0f);

    glVertex3f(-1.0f,1.0f,1.0f);
    glVertex3f(-1.0f,1.0f,-1.0f);
    glVertex3f(-1.0f,-1.0f,-1.0f);
    glVertex3f(-1.0f,-1.0f,1.0f);

    glEnd();


}

void drawPedals()
{
    glColor3f(0.0f,0.0f,1.0f);

    glPushMatrix();
    glTranslatef(0.0f,0.0f,0.105f);
    glRotatef(-pedalAngle,0.0f,0.0f,1.0f);
    glTranslatef(0.25f,0.0f,0.0f);

    glPushMatrix();
    glScalef(0.5f,0.1f,0.1f);
    glutSolidCube(1.0f);
    glPopMatrix();


    glPushMatrix();
    glTranslatef(0.25f,0.0f,0.15f);
    glRotatef(pedalAngle,0.0f,0.0f,1.0f);
    glScalef(0.2f,0.02f,0.3f);
    glutSolidCube(1.0f);
    glPopMatrix();

    glPopMatrix();


    glPushMatrix();
    glTranslatef(0.0f,0.0f,-0.105f);
    glRotatef(180.0f-pedalAngle,0.0f,0.0f,1.0f);
    glTranslatef(0.25f,0.0f,0.0f);


    glPushMatrix();
    glScalef(0.5f,0.1f,0.1f);
    glutSolidCube(1.0f);
    glPopMatrix();


    glPushMatrix();
    glTranslatef(0.25f,0.0f,-0.15f);
    glRotatef(pedalAngle-180.0f,0.0f,0.0f,1.0f);
    glScalef(0.2f,0.02f,0.3f);
    glutSolidCube(1.0f);
    glPopMatrix();

    glPopMatrix();

    glColor3f(1.0f,0.0f,0.0f);
}

void drawTyre(void)
{
    int i;
    //   Draw The Rim
    glColor3f(1.0f,1.0f,1.0f);
    glutSolidTorus(0.06f,0.92f,4,30);
    //   Draw The Central Cylinder
    //   Length of cylinder  0.12f
    glColor3f(1.0f,1.0f,0.5f);
    glPushMatrix();
    glTranslatef(0.0f,0.0f,-0.06f);
    ZCylinder(0.02f,0.12f);
    glPopMatrix();
    glutSolidTorus(0.02f,0.02f,3,20);

    //   Draw The Spokes
    glColor3f(1.0f,1.0f,1.0f);
    for(i=0; i<NUM_SPOKES; ++i)
    {
        glPushMatrix();
        glRotatef(i*SPOKE_ANGLE,0.0f,0.0f,1.0f);
        glBegin(GL_LINES);
        glVertex3f(0.0f,0.02f,0.0f);
        glVertex3f(0.0f,0.86f,0.0f);
        glEnd();
        glPopMatrix();
    }

    //   Draw The Tyre
    glColor3f(0.0f,0.0f,0.0f);
    glutSolidTorus(TUBE_WIDTH,RADIUS_WHEEL,10,30);
    glColor3f(1.0f,0.0f,0.0f);
}


void displayCycle()
{

    glPushMatrix();

        glRotatef(angley,1.0f,0.0f,0.0f);
        glRotatef(anglex,0.0f,1.0f,0.0f);
        glRotatef(anglez,0.0f,0.0f,1.0f);


        glPushMatrix();
            glTranslatef(0,0.0f,0);
            glRotatef(0,0.0f,1.0f,0.0f);

            drawFrame();
            drawChain();
            drawPedals();
        glPopMatrix();

    glPopMatrix();
}


GLfloat Abs(GLfloat a)
{
    if(a < 0.0f)
        return -a;
    else
        return a;
}

GLfloat degrees(GLfloat a)
{
    return a*180.0f/PI;
}


GLfloat radians(GLfloat a)
{
    return a*PI/180.0f;
}


void idle(void)
{

    glutPostRedisplay();
}

void special(int key,int x,int y)
{
    switch(key)
    {
    case GLUT_KEY_UP:
        camz -= 0.1f;
        break;
    case GLUT_KEY_DOWN:
        camz += 0.1f;
        break;
    case GLUT_KEY_LEFT:
        camx -= 0.1f;
        break;
    case GLUT_KEY_RIGHT:
        camx += 0.1f;
        break;
    }
    glutPostRedisplay();
}


void reset()
{
    anglex=angley=anglez=0.0f;
    pedalAngle=steering=0.0f;
    Mouse=GLUT_UP;
    pedalAngle=speed=steering=0.0f;
    camx=camy=0.0f;
    camz=5.0f;
    xpos=zpos=0.0f;
    directionCycle=0.0f;
}


void mouse(int button,int state,int x,int y)
{
    switch(button)
    {
    case GLUT_LEFT_BUTTON:
        if(state==GLUT_DOWN)
        {
            Mouse=GLUT_DOWN;
            prevx=x;
            prevy=y;
        }
        if(state==GLUT_UP)
        {
            Mouse=GLUT_UP;
        }
        break;
    case GLUT_RIGHT_BUTTON:
        /*   DO NOTHING   */
        break;
    }
    glutPostRedisplay();
}


void motion(int x,int y)
{
    if(Mouse==GLUT_DOWN)
    {
        int deltax,deltay;
        deltax=prevx-x;
        deltay=prevy-y;
        anglex += 0.5*deltax;
        angley += 0.5*deltay;
        if(deltax!=0 && deltay!=0)
            anglez += 0.5*sqrt(deltax*deltax + deltay*deltay);

        if(anglex < 0)
            anglex+=360.0;
        if(angley < 0)
            angley+=360.0;
        if(anglez < 0)
            anglez += 360.0;

        if(anglex > 360.0)
            anglex-=360.0;
        if(angley > 360.0)
            angley-=360.0;
        if(anglez > 360.0)
            anglez-=360.0;
    }
    else
    {
        Mouse=GLUT_UP;
    }
    prevx=x;
    prevy=y;
    glutPostRedisplay();
}

void reshape(int w,int h)
{
    glViewport(0,0,(GLsizei)w,(GLsizei)h);
    glMatrixMode(GL_PROJECTION);
    glLoadIdentity();
    gluPerspective(60.0,(GLfloat)w/(GLfloat)h,0.1,100.0);
    ///Angle,Aspect Ratio,near plane,far plane
    glMatrixMode(GL_MODELVIEW);
    glLoadIdentity();
    gluLookAt(0,0,5,  0.0,0.0,0.0,  0.0,1.0,0.0);
}