import myGraphics.VectorGrafix.*;
import myGraphics.Shape3d.*;
import myGraphics.Perspective.*;
import myGraphics.Kinematics.*;
import java.applet.*;
import java.awt.*;

class MyCanvas extends Canvas  {
	RobotFigure theFigure;
	Camera theCamera;
	Viewport theViewport;
	
	Image offScreenImage;
	Graphics offScreenGC;
	
	public MyCanvas(RobotFigure f, Camera c, Viewport v) {
		super();
		
		theFigure = f;
		theCamera = c;
		theViewport = v;
	}
	
	public void update(Graphics g) {
		paint(g);	
	}
	
	public void paint(Graphics g) {
		Color fg = g.getColor();
		Color bg = Color.white;
		
		Dimension size = this.size();
		offScreenImage = createImage(size.width, size.height);
		offScreenGC = offScreenImage.getGraphics();
		
		offScreenGC.setColor(bg);
		offScreenGC.fillRect(0, 0, size.width, size.height);
		offScreenGC.setColor(fg);
		
		theFigure.renderFigure(offScreenGC, theCamera, theViewport);
		
		g.drawImage(offScreenImage, 0, 0, null);
	}
}

public class RobotApplet extends java.applet.Applet  {
	
	MyCanvas theCanvas;
	Choice thePopup;
	Scrollbar xScroll, yScroll, zScroll;
	
	public RobotFigure Arnold;
	public Model selectedPart;
	
	public Viewport theViewport;
	public Camera theCamera;
	
	double stepSize, stepAngle;
	
	public int toDegrees(double theta) {
		return (int)(theta * 180 / Math.PI);
	}
	
	public double toRadians(int theta) {
		return (double) theta * Math.PI / 180.0;
	}
	
	public void init() {
		this.setLayout(new BorderLayout());
		
		/* Setup Arnold */
		Arnold = new RobotFigure();
		selectedPart = Arnold.Head;
		
		/* Setup the Popup Menu */
		thePopup = new Choice();
		thePopup.addItem("Head");
		thePopup.addItem("Torso");
		thePopup.addItem("Right Shoulder");
		thePopup.addItem("Right Upper Claw");
		thePopup.addItem("Right Lower Claw");
		thePopup.addItem("Left Shoulder");
		thePopup.addItem("Left Upper Claw");
		thePopup.addItem("Left Lower Claw");
		thePopup.addItem("Pelvis");
		thePopup.addItem("Right Upper Leg");
		thePopup.addItem("Right Lower Leg");
		thePopup.addItem("Right Foot");
		thePopup.addItem("Left Upper Leg");
		thePopup.addItem("Left Lower Leg");
		thePopup.addItem("Left Foot");
		thePopup.select("Head");
		this.add("North", thePopup);
		
		/* Setup the Scrollbars */
		xScroll = new Scrollbar(Scrollbar.VERTICAL, toDegrees(selectedPart.Rx), 10, 
								toDegrees(selectedPart.minRot.x()), 
								toDegrees(selectedPart.maxRot.x()));
		yScroll = new Scrollbar(Scrollbar.HORIZONTAL, toDegrees(selectedPart.Ry), 10, 
								toDegrees(selectedPart.minRot.y()), 
								toDegrees(selectedPart.maxRot.y()));
		zScroll = new Scrollbar(Scrollbar.VERTICAL, toDegrees(selectedPart.Rz), 10, 
								toDegrees(selectedPart.minRot.z()), 
								toDegrees(selectedPart.maxRot.z()));
		this.add("East", xScroll);
		this.add("South", yScroll);
		this.add("West", zScroll);
		
		/* Setup the Camera */
		Vector3d e = new Vector3d(0.0, 0.0, 35.0);
		Vector3d a = new Vector3d(0.0, 0.0, 13.0);
		theCamera = new Camera(e, a, 0.0, 30.0, 30.0);
		
		/* Setup the Viewport */
		theViewport = new Viewport(350, 350);
		theViewport.fitImagePlane(theCamera.imageWidth, theCamera.imageHeight);
											
		/* Setup the Canvas */
		theCanvas = new MyCanvas(Arnold, theCamera, theViewport);
		this.add("Center", theCanvas);
		
		/* Configure the scale at which the applet responds to controls */
		stepSize = 10.0 / theViewport.pixPerUnit;		//	equivalent of 10 pixels
		stepAngle = Math.PI / 90.0;						//	equivalent of 2 degrees

		/*	Do some last minute housekeeping, and go! */
		Path.BEZIER_STEPS = 5;		// set resolution for drawing beziers in paths
		this.resize(theViewport.hPix, theViewport.vPix);
		this.requestFocus();
	}
	
	public void update(Graphics g)  {
		paint(g);
	}
	
	public void paint(Graphics g) {
		showStatus("Repainting applet...");
		theCanvas.repaint();
		showStatus("Done repainting.");
	}
	
	public boolean handleEvent(Event evt) {
		switch (evt.id) {
			case Event.SCROLL_LINE_DOWN:
			case Event.SCROLL_LINE_UP:
			case Event.SCROLL_PAGE_DOWN:
			case Event.SCROLL_PAGE_UP:
			case Event.SCROLL_ABSOLUTE: {
				return scroll(evt);
			}
		}
		return super.handleEvent(evt);
	}
	
	public boolean scroll(Event evt) {
		if (evt.target.equals(xScroll)) {
			selectedPart.Rx = toRadians(xScroll.getValue());
			repaint();
			return true;
		} else if (evt.target.equals(yScroll)) {
			selectedPart.Ry = toRadians(yScroll.getValue());
			repaint();
			return true;
		} else if (evt.target.equals(zScroll)) {
			selectedPart.Rz = toRadians(zScroll.getValue());
			repaint();
			return true;
		} else {
			return false;
		}	    
	}
	
	public boolean action(Event evt, Object what)  {
		theCanvas.requestFocus();
		if (evt.target instanceof Choice) {
			String theItem = new String();
			theItem = thePopup.getSelectedItem();
			if (theItem.equals("Head")) {
				selectedPart = Arnold.Head;
			} else if (theItem.equals("Torso")) {
				selectedPart = Arnold.Torso;
			} else if (theItem.equals("Right Shoulder")) {
				selectedPart = Arnold.RShoulder;
			} else if (theItem.equals("Right Upper Claw")) {
				selectedPart = Arnold.RUpperClaw;
			} else if (theItem.equals("Right Lower Claw")) {
				selectedPart = Arnold.RLowerClaw;
			} else if (theItem.equals("Left Shoulder")) {
				selectedPart = Arnold.LShoulder;
			} else if (theItem.equals("Left Upper Claw")) {
				selectedPart = Arnold.LUpperClaw;
			} else if (theItem.equals("Left Lower Claw")) {
				selectedPart = Arnold.LLowerClaw;
			} else if (theItem.equals("Pelvis")) {
				selectedPart = Arnold.Pelvis;
			} else if (theItem.equals("Right Upper Leg")) {
				selectedPart = Arnold.RUpperLeg;
			} else if (theItem.equals("Right Lower Leg")) {
				selectedPart = Arnold.RLowerLeg;
			} else if (theItem.equals("Right Foot")) {
				selectedPart = Arnold.RAnkle;
			} else if (theItem.equals("Left Upper Leg")) {
				selectedPart = Arnold.LUpperLeg;
			} else if (theItem.equals("Left Lower Leg")) {
				selectedPart = Arnold.LLowerLeg;
			} else if (theItem.equals("Left Foot")) {
				selectedPart = Arnold.LAnkle;
			} else {
				return false;
			}
			/* Setup scrollbars for values and constraints of selected part */
			
			xScroll.setValues(toDegrees(selectedPart.Rx), 10, 
								toDegrees(selectedPart.minRot.x()), 
								toDegrees(selectedPart.maxRot.x()));
			yScroll.setValues(toDegrees(selectedPart.Ry), 10, 
								toDegrees(selectedPart.minRot.y()), 
								toDegrees(selectedPart.maxRot.y()));
			zScroll.setValues(toDegrees(selectedPart.Rz), 10, 
								toDegrees(selectedPart.minRot.z()), 
								toDegrees(selectedPart.maxRot.z()));
			return true;
		} else {
			return false;
		}
	}
	
	public boolean keyDown(Event evt, int key) {
		if (evt.shiftDown() && evt.controlDown()) {
			switch (key)  {
			  case Event.LEFT:
				theCamera.rotate(0.0, 0.0, stepAngle);
				theCanvas.repaint();
				return true;
			  case Event.RIGHT:
				theCamera.rotate(0.0, 0.0, -stepAngle);
				theCanvas.repaint();
				return true;
			  case Event.UP:
				theCamera.translate(0.0, stepSize, 0.0);
				theCanvas.repaint();
				return true;
			  case Event.DOWN:
				theCamera.translate(0.0, -stepSize, 0.0);
				theCanvas.repaint();
				return true;
			  default:
				return false;
			}
		} else if (evt.shiftDown())  {
			switch (key)  {
			  case Event.LEFT:
				theCamera.translate(-stepSize, 0.0, 0.0);
				theCanvas.repaint();
				return true;
			  case Event.RIGHT:
				theCamera.translate(stepSize, 0.0, 0.0);
				theCanvas.repaint();
				return true;
			  case Event.UP:
				theCamera.rotate(stepAngle, 0.0, 0.0);
				theCanvas.repaint();
				return true;
			  case Event.DOWN:
				theCamera.rotate(-stepAngle, 0.0, 0.0);
				theCanvas.repaint();
				return true;
			  default:
				return false;
			}
		} else {
			switch (key)  {
			  case Event.LEFT:
				theCamera.rotate(0.0, stepAngle, 0.0);
				theCanvas.repaint();
				return true;
			  case Event.RIGHT:
				theCamera.rotate(0.0, -stepAngle, 0.0);
				theCanvas.repaint();
				return true;
			  case Event.UP:
				theCamera.translate(0.0, 0.0, -stepSize);
				theCanvas.repaint();
				return true;
			  case Event.DOWN:
				theCamera.translate(0.0, 0.0, stepSize);
				theCanvas.repaint();
				return true;
			  default:
				return false;
			}
		} 
	}
	
	public boolean mouseDrag(java.awt.Event evt, int x, int y)  {
		theCanvas.requestFocus();
		return false;
	}
	
	public boolean mouseDown(Event evt, int x, int y) {
		theCanvas.requestFocus();
		return false;
	}
	
	public boolean mouseUp(Event evt, int x, int y) {
		theCanvas.requestFocus();
		return false;
	}
}

class RobotFigure extends Figure {
	public Model Torso;
	public Model Head;
	public Model RShoulder, RUpperClaw, RLowerClaw;
	public Model LShoulder, LUpperClaw, LLowerClaw;
	public Model Pelvis;
	public Model RUpperLeg, RLowerLeg, RAnkle, RForeToe, RBackToe, RInToe, ROutToe;
	public Model LUpperLeg, LLowerLeg, LAnkle, LForeToe, LBackToe, LInToe, LOutToe;
	
	public static final double TWO_PI = 2.0 * Math.PI;
	public static final double PI_DIV_2 = Math.PI / 2.0;
	public static final double PI_DIV_4 = Math.PI / 4.0;
	public static final double PI_DIV_5 = Math.PI / 5.0;
	public static final double PI_DIV_6 = Math.PI / 6.0;
	public static final double LEG_ANGLE = Math.acos(0.8);
	
	public RobotFigure() {
		super();
		
		initTorso();
		initHead();
		initRShoulder();
		initRUpperClaw();
		initRLowerClaw();
		initLShoulder();
		initLUpperClaw();
		initLLowerClaw();
		initPelvis();
		initRUpperLeg();
		initRLowerLeg();
		initRAnkle();
		initRForeToe();
		initRBackToe();
		initRInToe();
		initROutToe();
		initLUpperLeg();
		initLLowerLeg();
		initLAnkle();
		initLForeToe();
		initLBackToe();
		initLInToe();
		initLOutToe();
		
		setRoot(Pelvis);
		
		Pelvis.attachChild(Torso, 0.0, 4.0, 0.0);
		Pelvis.attachChild(RUpperLeg, -5.0, 0.0, 0.0);
		Pelvis.attachChild(LUpperLeg, 5.0, 0.0, 0.0);
		
		Torso.attachChild(Head, 0.0, 2.0, 0.0);
		Torso.attachChild(RShoulder, -11.0, 0.0, 0.0);
		Torso.attachChild(LShoulder, 11.0, 0.0, 0.0);
		
		RShoulder.attachChild(RUpperClaw, 0.0, 0.0, 0.0);
		RShoulder.attachChild(RLowerClaw, 0.0, 0.0, 0.0);

		LShoulder.attachChild(LUpperClaw, 0.0, 0.0, 0.0);
		LShoulder.attachChild(LLowerClaw, 0.0, 0.0, 0.0);
		
		RUpperLeg.attachChild(RLowerLeg, -2.0, 0.0, -6.0);
		RLowerLeg.attachChild(RAnkle, 0.0, -8.0, 6.0);
		
		RAnkle.attachChild(RForeToe, 0.0, -2.0, 1.0);
		RAnkle.attachChild(RBackToe, 0.0, -2.0, -1.0);
		RAnkle.attachChild(RInToe, 1.0, -2.0, 0.0);
		RAnkle.attachChild(ROutToe, -1.0, -2.0, 0.0);
		
		LUpperLeg.attachChild(LLowerLeg, 2.0, 0.0, -6.0);
		LLowerLeg.attachChild(LAnkle, 0.0, -8.0, 6.0);
		
		LAnkle.attachChild(LForeToe, 0.0, -2.0, 1.0);
		LAnkle.attachChild(LBackToe, 0.0, -2.0, -1.0);
		LAnkle.attachChild(LInToe, -1.0, -2.0, 0.0);
		LAnkle.attachChild(LOutToe, 1.0, -2.0, 0.0);
	}
	
	protected void initHead(){
		Transformation3d dtrans = new Transformation3d();
		dtrans = dtrans.x_rotate(-PI_DIV_2);
		Head = new Model(dtrans);
		
		Head.crossSection.moveTo(1.0, 0.0);
		for (double f = 0.0; f <= TWO_PI; f += PI_DIV_6)  {
			Head.crossSection.lineTo(Math.cos(f), Math.sin(f));
		}
		Head.crossSection.lineTo(1.0, 0.0);
		Head.crossSection.terminatePath();
		
		Head.profile.moveTo(6.0, 0.0);
		Head.profile.bezierTo(6.0, 4.0, 1.0, 10.0, 1.0, 6.0);
		Head.profile.lineTo(1.0, 1.0);
		Head.profile.lineTo(0.0, 1.0);
		Head.profile.terminatePath();
		
		Head.setRConstraints(0.0, -TWO_PI, 0.0, 0.0, TWO_PI, 0.0);
	}
	
	protected void initTorso(){
		Transformation3d dtrans = new Transformation3d();
		dtrans = dtrans.x_rotate(-PI_DIV_2);
		Torso = new Model(dtrans);
		
		Torso.crossSection.moveTo(1.0, 0.0);
		for (double f = 0.0; f <= TWO_PI; f += PI_DIV_6)  {
			Torso.crossSection.lineTo(Math.cos(f), Math.sin(f));
		}
		Torso.crossSection.lineTo(1.0, 0.0);
		Torso.crossSection.terminatePath();
		
		Torso.profile.moveTo(2.0, 8.0);
		Torso.profile.lineTo(1.0, 9.0);
		Torso.profile.lineTo(1.0, 10.0);
		Torso.profile.lineTo(-1.0, 10.0);
		Torso.profile.lineTo(-1.0, 9.0);
		Torso.profile.lineTo(-2.0, 8.0);
		Torso.profile.lineTo(-2.0, 1.0);
		Torso.profile.lineTo(-4.0, 1.0);
		Torso.profile.terminatePath();

		Torso.setRConstraints(0.0, -TWO_PI, 0.0, 0.0, TWO_PI, 0.0);
	}
	
	protected void initRShoulder(){
		Transformation3d dtrans = new Transformation3d();
		dtrans = dtrans.y_rotate(-PI_DIV_2);
		RShoulder = new Model(dtrans);
		
		RShoulder.crossSection.moveTo(1.0, 0.0);
		for (double f = 0.0; f <= TWO_PI; f += PI_DIV_6)  {
			RShoulder.crossSection.lineTo(Math.cos(f), Math.sin(f));
		}
		RShoulder.crossSection.lineTo(1.0, 0.0);
		RShoulder.crossSection.terminatePath();
		
		RShoulder.profile.moveTo(-1.0, 2.0);
		RShoulder.profile.lineTo(1.0, 2.0);
		RShoulder.profile.terminatePath();

		RShoulder.setRConstraints(-TWO_PI, 0.0, 0.0, TWO_PI, 0.0, 0.0);
	}
	
	protected void initRUpperClaw(){
		Transformation3d dtrans = new Transformation3d();
		dtrans = dtrans.translate(0.0, -2.0, 0.0);
		dtrans = dtrans.x_rotate(-Math.PI / 20.0);
		RUpperClaw = new Model(dtrans);
		
		RUpperClaw.crossSection.moveTo(0.0, 4.0);
		RUpperClaw.crossSection.lineTo(-1.0, 6.0);
		RUpperClaw.crossSection.lineTo(1.0, 6.0);
		RUpperClaw.crossSection.lineTo(0.0, 4.0);
		RUpperClaw.crossSection.terminatePath();
		
		RUpperClaw.profile.moveTo(0.0, 1.0);
		RUpperClaw.profile.bezierTo(8.0, 1.0, 13.0, 0.33, 13.0, 0.0);
		RUpperClaw.profile.terminatePath();

		RUpperClaw.setRConstraints(-PI_DIV_5, 0.0, 0.0, 0.0, 0.0, 0.0);
	}
	
	protected void initRLowerClaw(){
		Transformation3d dtrans = new Transformation3d();
		dtrans = dtrans.translate(0.0, 2.0, 0.0);
		dtrans = dtrans.x_rotate(Math.PI / 20.0);
		RLowerClaw = new Model(dtrans);
		
		RLowerClaw.crossSection.moveTo(0.0, -4.0);
		RLowerClaw.crossSection.lineTo(-1.0, -6.0);
		RLowerClaw.crossSection.lineTo(1.0, -6.0);
		RLowerClaw.crossSection.lineTo(0.0, -4.0);
		RLowerClaw.crossSection.terminatePath();
		
		RLowerClaw.profile.moveTo(0.0, 1.0);
		RLowerClaw.profile.bezierTo(8.0, 1.0, 13.0, 0.33, 13.0, 0.0);
		RLowerClaw.profile.terminatePath();

		RLowerClaw.setRConstraints(0.0, 0.0, 0.0, PI_DIV_5, 0.0, 0.0);
	}
	
	protected void initLShoulder(){
		Transformation3d dtrans = new Transformation3d();
		dtrans = dtrans.y_rotate(PI_DIV_2);
		LShoulder = new Model(dtrans);
		
		LShoulder.crossSection.moveTo(1.0, 0.0);
		for (double f = 0.0; f <= TWO_PI; f += PI_DIV_6)  {
			LShoulder.crossSection.lineTo(Math.cos(f), Math.sin(f));
		}
		LShoulder.crossSection.lineTo(1.0, 0.0);
		LShoulder.crossSection.terminatePath();
		
		LShoulder.profile.moveTo(-1.0, 2.0);
		LShoulder.profile.lineTo(1.0, 2.0);
		LShoulder.profile.terminatePath();

		LShoulder.setRConstraints(-TWO_PI, 0.0, 0.0, TWO_PI, 0.0, 0.0);
	}
	
	protected void initLUpperClaw(){
		Transformation3d dtrans = new Transformation3d();
		dtrans = dtrans.translate(0.0, -2.0, 0.0);
		dtrans = dtrans.x_rotate(-Math.PI / 20.0);
		LUpperClaw = new Model(dtrans);
		
		LUpperClaw.crossSection.moveTo(0.0, 4.0);
		LUpperClaw.crossSection.lineTo(-1.0, 6.0);
		LUpperClaw.crossSection.lineTo(1.0, 6.0);
		LUpperClaw.crossSection.lineTo(0.0, 4.0);
		LUpperClaw.crossSection.terminatePath();
		
		LUpperClaw.profile.moveTo(0.0, 1.0);
		LUpperClaw.profile.bezierTo(8.0, 1.0, 13.0, 0.33, 13.0, 0.0);
		LUpperClaw.profile.terminatePath();

		LUpperClaw.setRConstraints(-PI_DIV_5, 0.0, 0.0, 0.0, 0.0, 0.0);
	}
	
	protected void initLLowerClaw(){
		Transformation3d dtrans = new Transformation3d();
		dtrans = dtrans.translate(0.0, 2.0, 0.0);
		dtrans = dtrans.x_rotate(Math.PI / 20.0);
		LLowerClaw = new Model(dtrans);
		
		LLowerClaw.crossSection.moveTo(0.0, -4.0);
		LLowerClaw.crossSection.lineTo(-1.0, -6.0);
		LLowerClaw.crossSection.lineTo(1.0, -6.0);
		LLowerClaw.crossSection.lineTo(0.0, -4.0);
		LLowerClaw.crossSection.terminatePath();
		
		LLowerClaw.profile.moveTo(0.0, 1.0);
		LLowerClaw.profile.bezierTo(8.0, 1.0, 13.0, 0.33, 13.0, 0.0);
		LLowerClaw.profile.terminatePath();

		LLowerClaw.setRConstraints(0.0, 0.0, 0.0, PI_DIV_5, 0.0, 0.0);
	}
	
	protected void initPelvis(){
		Transformation3d dtrans = new Transformation3d();
		dtrans = dtrans.x_rotate(-PI_DIV_2);
		Pelvis = new Model(dtrans);
		
		Pelvis.crossSection.moveTo(1.0, 0.0);
		for (double f = 0.0; f <= TWO_PI; f += PI_DIV_6)  {
			Pelvis.crossSection.lineTo(Math.cos(f), Math.sin(f));
		}
		Pelvis.crossSection.lineTo(1.0, 0.0);
		Pelvis.crossSection.terminatePath();
		
		Pelvis.profile.moveTo(-1.0, 4.0);
		Pelvis.profile.lineTo(1.0, 4.0);
		Pelvis.profile.lineTo(1.0, 2.0);
		Pelvis.profile.lineTo(-1.0, 2.0);
		Pelvis.profile.lineTo(-1.0, 4.0);
		Pelvis.profile.terminatePath();
		
		/* Use the default rotational constraints (i.e., none) */
	}
	
	protected void initRUpperLeg(){
		Transformation3d dtrans = new Transformation3d();
		dtrans = dtrans.y_rotate(-PI_DIV_2);
		dtrans = dtrans.x_rotate(PI_DIV_2);
		RUpperLeg = new Model(dtrans);
		
		RUpperLeg.crossSection.moveTo(1.0, 0.0);
		for (double f = 0.0; f <= Math.PI; f += PI_DIV_6)  {
			RUpperLeg.crossSection.lineTo(Math.cos(f), Math.sin(f));
		}
		RUpperLeg.crossSection.lineTo(-1.0, 0.0);
		RUpperLeg.crossSection.lineTo(-1.0, -6.0);
		for (double f = Math.PI; f <= TWO_PI; f += PI_DIV_6)  {
			RUpperLeg.crossSection.lineTo(Math.cos(f), Math.sin(f) - 6.0);
		}
		RUpperLeg.crossSection.lineTo(1.0, -6.0);
		RUpperLeg.crossSection.lineTo(1.0, 0.0);
		RUpperLeg.crossSection.terminatePath();
		
		RUpperLeg.profile.moveTo(-1.0, 1.0);
		RUpperLeg.profile.lineTo(1.0, 1.0);
		RUpperLeg.profile.terminatePath();

		RUpperLeg.setRConstraints(-TWO_PI, 0.0, 0.0, 0.0, 0.0, 0.0);
	}
	
	protected void initRLowerLeg(){
		Transformation3d dtrans = new Transformation3d();
		dtrans = dtrans.y_rotate(-PI_DIV_2);
		dtrans = dtrans.x_rotate(-Math.acos(0.8));
		RLowerLeg = new Model(dtrans);
		
		RLowerLeg.crossSection.moveTo(1.0, 0.0);
		for (double f = 0.0; f <= Math.PI; f += PI_DIV_6)  {
			RLowerLeg.crossSection.lineTo(Math.cos(f), Math.sin(f));
		}
		RLowerLeg.crossSection.lineTo(-1.0, -10.0);
		for (double f = Math.PI; f <= TWO_PI; f += PI_DIV_6)  {
			RLowerLeg.crossSection.lineTo(Math.cos(f), Math.sin(f) - 10.0);
		}
		RLowerLeg.crossSection.lineTo(1.0, 0.0);
		RLowerLeg.crossSection.terminatePath();
		
		RLowerLeg.profile.moveTo(-1.0, 1.0);
		RLowerLeg.profile.lineTo(1.0, 1.0);
		RLowerLeg.profile.terminatePath();

		RLowerLeg.setRConstraints(LEG_ANGLE - Math.PI, 0.0, 0.0, 
									LEG_ANGLE, 0.0, 0.0);
	}
	
	protected void initRAnkle(){
		Transformation3d dtrans = new Transformation3d();
		dtrans = dtrans.translate(0.0, 0.0, -2.0);
		dtrans = dtrans.x_rotate(-PI_DIV_2);
		RAnkle = new Model(dtrans);
		
		RAnkle.crossSection.moveTo(1.0, 0.0);
		for (double f = 0.0; f <= TWO_PI; f += PI_DIV_6) {
			RAnkle.crossSection.lineTo(Math.cos(f), Math.sin(f));
		}
		RAnkle.crossSection.lineTo(1.0, 0.0);
		RAnkle.crossSection.terminatePath();
		
		RAnkle.profile.moveTo(-1.0, 2.0);
		RAnkle.profile.lineTo(1.0, 2.0);
		RAnkle.profile.terminatePath();

		RAnkle.setRConstraints(-PI_DIV_4 - LEG_ANGLE, -TWO_PI, 0.0, 
								LEG_ANGLE, TWO_PI, 0.0);
	}
	
	protected void initRForeToe(){
		Transformation3d dtrans = new Transformation3d();
		dtrans = dtrans.translate(0.0, -1.0, 0.0);
		RForeToe = new Model(dtrans);
		
		RForeToe.crossSection.moveTo(-1.0, 2.0);
		RForeToe.crossSection.lineTo(1.0, 2.0);
		RForeToe.crossSection.lineTo(1.0, 0.0);
		RForeToe.crossSection.lineTo(-1.0, 0.0);
		RForeToe.crossSection.lineTo(-1.0, 2.0);
		RForeToe.crossSection.terminatePath();
		
		RForeToe.profile.moveTo(1.0, 1.0);
		RForeToe.profile.lineTo(5.0, 0.0);
		RForeToe.profile.terminatePath();

		RForeToe.setRConstraints(0.0, 0.0, 0.0, 0.0, 0.0, 0.0);
	}
	
	protected void initRBackToe(){
		Transformation3d dtrans = new Transformation3d();
		dtrans = dtrans.translate(0.0, -1.0, 0.0);
		dtrans = dtrans.y_rotate(Math.PI);
		RBackToe = new Model(dtrans);
		
		RBackToe.crossSection.moveTo(-1.0, 2.0);
		RBackToe.crossSection.lineTo(1.0, 2.0);
		RBackToe.crossSection.lineTo(1.0, 0.0);
		RBackToe.crossSection.lineTo(-1.0, 0.0);
		RBackToe.crossSection.lineTo(-1.0, 2.0);
		RBackToe.crossSection.terminatePath();
		
		RBackToe.profile.moveTo(1.0, 1.0);
		RBackToe.profile.lineTo(5.0, 0.0);
		RBackToe.profile.terminatePath();

		RBackToe.setRConstraints(0.0, 0.0, 0.0, 0.0, 0.0, 0.0);
	}
	
	protected void initRInToe(){
		Transformation3d dtrans = new Transformation3d();
		dtrans = dtrans.translate(0.0, -1.0, 0.0);
		dtrans = dtrans.y_rotate(PI_DIV_2);
		RInToe = new Model(dtrans);
		
		RInToe.crossSection.moveTo(-1.0, 2.0);
		RInToe.crossSection.lineTo(1.0, 2.0);
		RInToe.crossSection.lineTo(1.0, 0.0);
		RInToe.crossSection.lineTo(-1.0, 0.0);
		RInToe.crossSection.lineTo(-1.0, 2.0);
		RInToe.crossSection.terminatePath();
		
		RInToe.profile.moveTo(1.0, 1.0);
		RInToe.profile.lineTo(5.0, 0.0);
		RInToe.profile.terminatePath();

		RInToe.setRConstraints(0.0, 0.0, 0.0, 0.0, 0.0, 0.0);
	}
	
	protected void initROutToe(){
		Transformation3d dtrans = new Transformation3d();
		dtrans = dtrans.translate(0.0, -1.0, 0.0);
		dtrans = dtrans.y_rotate(-PI_DIV_2);
		ROutToe = new Model(dtrans);
		
		ROutToe.crossSection.moveTo(-1.0, 2.0);
		ROutToe.crossSection.lineTo(1.0, 2.0);
		ROutToe.crossSection.lineTo(1.0, 0.0);
		ROutToe.crossSection.lineTo(-1.0, 0.0);
		ROutToe.crossSection.lineTo(-1.0, 2.0);
		ROutToe.crossSection.terminatePath();
		
		ROutToe.profile.moveTo(1.0, 1.0);
		ROutToe.profile.lineTo(5.0, 0.0);
		ROutToe.profile.terminatePath();

		ROutToe.setRConstraints(0.0, 0.0, 0.0, 0.0, 0.0, 0.0);
	}
	
	protected void initLUpperLeg(){
		Transformation3d dtrans = new Transformation3d();
		dtrans = dtrans.y_rotate(PI_DIV_2);
		dtrans = dtrans.x_rotate(PI_DIV_2);
		LUpperLeg = new Model(dtrans);
		
		LUpperLeg.crossSection.moveTo(1.0, 0.0);
		for (double f = 0.0; f <= Math.PI; f += PI_DIV_6)  {
			LUpperLeg.crossSection.lineTo(Math.cos(f), Math.sin(f));
		}
		LUpperLeg.crossSection.lineTo(-1.0, -6.0);
		for (double f = Math.PI; f <= TWO_PI; f += PI_DIV_6)  {
			LUpperLeg.crossSection.lineTo(Math.cos(f), Math.sin(f) - 6.0);
		}
		LUpperLeg.crossSection.lineTo(1.0, 0.0);
		LUpperLeg.crossSection.terminatePath();
		
		LUpperLeg.profile.moveTo(-1.0, 1.0);
		LUpperLeg.profile.lineTo(1.0, 1.0);
		LUpperLeg.profile.terminatePath();

		LUpperLeg.setRConstraints(-TWO_PI, 0.0, 0.0, 0.0, 0.0, 0.0);
	}
	
	protected void initLLowerLeg(){
		Transformation3d dtrans = new Transformation3d();
		dtrans = dtrans.y_rotate(PI_DIV_2);
		dtrans = dtrans.x_rotate(-LEG_ANGLE);
		LLowerLeg = new Model(dtrans);
		
		LLowerLeg.crossSection.moveTo(1.0, 0.0);
		for (double f = 0.0; f <= Math.PI; f += PI_DIV_6)  {
			LLowerLeg.crossSection.lineTo(Math.cos(f), Math.sin(f));
		}
		LLowerLeg.crossSection.lineTo(-1.0, -10.0);
		for (double f = Math.PI; f <= TWO_PI; f += PI_DIV_6)  {
			LLowerLeg.crossSection.lineTo(Math.cos(f), Math.sin(f) - 10.0);
		}
		LLowerLeg.crossSection.lineTo(1.0, 0.0);
		LLowerLeg.crossSection.terminatePath();
		
		LLowerLeg.profile.moveTo(-1.0, 1.0);
		LLowerLeg.profile.lineTo(1.0, 1.0);
		LLowerLeg.profile.terminatePath();

		LLowerLeg.setRConstraints(LEG_ANGLE - Math.PI, 0.0, 0.0, 
									LEG_ANGLE, 0.0, 0.0);
	}
	
	protected void initLAnkle() {
		Transformation3d dtrans = new Transformation3d();
		dtrans = dtrans.translate(0.0, 0.0, -2.0);
		dtrans = dtrans.x_rotate(-PI_DIV_2);
		LAnkle = new Model(dtrans);
		
		LAnkle.crossSection.moveTo(1.0, 0.0);
		for (double f = 0.0; f <= TWO_PI; f += PI_DIV_6)  {
			LAnkle.crossSection.lineTo(Math.cos(f), Math.sin(f));
		}
		LAnkle.crossSection.lineTo(1.0, 0.0);
		LAnkle.crossSection.terminatePath();
		
		LAnkle.profile.moveTo(-1.0, 2.0);
		LAnkle.profile.lineTo(1.0, 2.0);
		LAnkle.profile.terminatePath();

		LAnkle.setRConstraints(-PI_DIV_4 - LEG_ANGLE, -TWO_PI, 0.0, 
								LEG_ANGLE, TWO_PI, 0.0);
	}
	
	protected void initLForeToe(){
		Transformation3d dtrans = new Transformation3d();
		dtrans = dtrans.translate(0.0, -1.0, 0.0);
		LForeToe = new Model(dtrans);
		
		LForeToe.crossSection.moveTo(-1.0, 2.0);
		LForeToe.crossSection.lineTo(1.0, 2.0);
		LForeToe.crossSection.lineTo(1.0, 0.0);
		LForeToe.crossSection.lineTo(-1.0, 0.0);
		LForeToe.crossSection.lineTo(-1.0, 2.0);
		LForeToe.crossSection.terminatePath();
		
		LForeToe.profile.moveTo(1.0, 1.0);
		LForeToe.profile.lineTo(5.0, 0.0);
		LForeToe.profile.terminatePath();

		LForeToe.setRConstraints(0.0, 0.0, 0.0, 0.0, 0.0, 0.0);
	}
	
	protected void initLBackToe(){
		Transformation3d dtrans = new Transformation3d();
		dtrans = dtrans.translate(0.0, -1.0, 0.0);
		dtrans = dtrans.y_rotate(Math.PI);
		LBackToe = new Model(dtrans);
		
		LBackToe.crossSection.moveTo(-1.0, 2.0);
		LBackToe.crossSection.lineTo(1.0, 2.0);
		LBackToe.crossSection.lineTo(1.0, 0.0);
		LBackToe.crossSection.lineTo(-1.0, 0.0);
		LBackToe.crossSection.lineTo(-1.0, 2.0);
		LBackToe.crossSection.terminatePath();
		
		LBackToe.profile.moveTo(1.0, 1.0);
		LBackToe.profile.lineTo(5.0, 0.0);
		LBackToe.profile.terminatePath();

		LBackToe.setRConstraints(0.0, 0.0, 0.0, 0.0, 0.0, 0.0);
	}
	
	protected void initLInToe(){
		Transformation3d dtrans = new Transformation3d();
		dtrans = dtrans.translate(0.0, -1.0, 0.0);
		dtrans = dtrans.y_rotate(-PI_DIV_2);
		LInToe = new Model(dtrans);
		
		LInToe.crossSection.moveTo(-1.0, 2.0);
		LInToe.crossSection.lineTo(1.0, 2.0);
		LInToe.crossSection.lineTo(1.0, 0.0);
		LInToe.crossSection.lineTo(-1.0, 0.0);
		LInToe.crossSection.lineTo(-1.0, 2.0);
		LInToe.crossSection.terminatePath();
		
		LInToe.profile.moveTo(1.0, 1.0);
		LInToe.profile.lineTo(5.0, 0.0);
		LInToe.profile.terminatePath();

		LInToe.setRConstraints(0.0, 0.0, 0.0, 0.0, 0.0, 0.0);
	}
	
	protected void initLOutToe(){
		Transformation3d dtrans = new Transformation3d();
		dtrans = dtrans.translate(0.0, -1.0, 0.0);
		dtrans = dtrans.y_rotate(PI_DIV_2);
		LOutToe = new Model(dtrans);
		
		LOutToe.crossSection.moveTo(-1.0, 2.0);
		LOutToe.crossSection.lineTo(1.0, 2.0);
		LOutToe.crossSection.lineTo(1.0, 0.0);
		LOutToe.crossSection.lineTo(-1.0, 0.0);
		LOutToe.crossSection.lineTo(-1.0, 2.0);
		LOutToe.crossSection.terminatePath();
		
		LOutToe.profile.moveTo(1.0, 1.0);
		LOutToe.profile.lineTo(5.0, 0.0);
		LOutToe.profile.terminatePath();

		LOutToe.setRConstraints(0.0, 0.0, 0.0, 0.0, 0.0, 0.0);
	}
}