// Screw interpolation
// Written by Jarek Rossignac November 2007
float svd=800; float fov=PI/3;
pt Cbox = new pt(width/2,height/2,0);                   // mini-max box center
float Rbox=50;    
PImage floorImage;
pt Mouse = new pt(0,0,0);                 // current mouse position
float xr, yr = 0;                         // mouse coordinates relative to center of window
int px=0, py=0;                           // coordinats of mouse when it was last pressed
int r=10;                                // radius of spheres for displaying vertices
color red = color(30,255,255); 
color green = color(115,255,255); 
color blue = color(190,255,255); 
pose P = new pose(), P0 = new pose(), P1 = new pose(), S = new pose();
float s=0.5;
int n=10;
boolean printall = false;
      
// ** SETUP **
void setup() { 
  size(800, 800, P3D);    
  colorMode(HSB, 256);
  initView(); 
  C.D+=10; C.pullE();  
  } 
 
// ** DRAW **
void draw() { background(255); 
  lights(); 
  textureMode(NORMALIZED);
  sphereDetail(4); 
  if ((!keyPressed)&&(mousePressed)) {C.pan(); C.pullE(); };
  if ((keyPressed)&&(mousePressed)&&(key==' ')) {C.zoom(); C.pullE(); };
  C1.track(C); C2.track(C1);  C2.apply();                              
  scale(1,-1,1);
   float dt=1./n;
   fill(100,10,100);  noStroke(); pushMatrix(); scale(1,0,1);  // floor shadows
     for (float i=0; i<=1; i+=dt) {  P.setTo(P0); P.screw(P0,i,P1); P.showT();};
     popMatrix();
   fill(220,205,205);  P0.show();  
   fill(40,255,205); for (float i=dt; i<1; i+=dt) {  P.setTo(P0); P.screw(P0,i,P1); P.show();};
   fill(110,205,205);  P1.show();  
   fill(250,255,255); stroke(250,255,255); screwAxisDirection.show(screwAxisPoint); screwAxisPoint.show(0.1);  stroke(180,255,55); 
   renderFloor(); 
  }

void mousePressed() { C.anchor();};
void mouseReleased() { C.computePose();};

//***      KEY ACTIONS
void keyPressed() {  
float a=PI/32;
  if (key=='h') {P1.reset();};  
  if (key=='x') {P1.Tx(1);};  if (key=='X') {P1.Tx(-1);};  
  if (key=='y') {P1.Ty(1);};  if (key=='Y') {P1.Ty(-1);};  
  if (key=='z') {P1.Tz(1);};  if (key=='Z') {P1.Tz(-1);};  
  if (key=='i') {P1.Rx(a);};  if (key=='I') {P1.Rx(-a);};  
  if (key=='j') {P1.Ry(a);};  if (key=='J') {P1.Ry(-a);};  
  if (key=='k') {P1.Rz(a);};  if (key=='K') {P1.Rz(-a);};  
  if (key=='<') {n--; if (n<1) n=1; println("n="+n); };    if (key=='>') {n++; println("n="+n); };    
  if (key==',') {s-=0.1; println("s="+s); };    if (key=='.') {s+=0.1; println("s="+s); };    
  if (key=='a') {float ang = angle(P0.I,P1.I)*6/PI; println("angle="+ang); };
  if (key=='s') {  P.screw(P0,s,P1);};
  if (key=='p') { printall=true;};
  };
   
void renderBox() {fill(20,200,200); box(3,2,1);};   
void renderFloor() {  
  fill(80,100,205, 150); beginShape();  
  vertex(-10,-0.1,-10); vertex(-10,-0.1,10); vertex(10,-0.1,10); vertex(10,-0.1,-10);  
  endShape();
};