import java.applet.Applet;
import java.awt.BorderLayout;
import java.awt.GraphicsConfiguration;
import com.sun.j3d.utils.applet.MainFrame;
import com.sun.j3d.utils.universe.*;
import com.sun.j3d.utils.geometry.Box;
import javax.media.j3d.*;
import javax.vecmath.*;

public class Brazo extends Applet {

  private SimpleUniverse u = null;

  public BranchGroup createSceneGraph(SimpleUniverse su) {
    BranchGroup bg=new BranchGroup();  //la escena completa
    Transform3D sc=new Transform3D();  //scale
    Transform3D tr=new Transform3D();  //translate
    Transform3D ro=new Transform3D();  //rotate

//la apariencia del mekano
    Appearance pintura1=new Appearance();
    Appearance pintura2=new Appearance();
    Appearance pintura3=new Appearance();
    Appearance pintura4=new Appearance();

    pintura1.setCapability(Appearance.ALLOW_MATERIAL_WRITE);
    pintura2.setCapability(Appearance.ALLOW_MATERIAL_WRITE);
    pintura3.setCapability(Appearance.ALLOW_MATERIAL_WRITE);
    pintura4.setCapability(Appearance.ALLOW_MATERIAL_WRITE);

//Coloring and Shading
    ColoringAttributes cat=new ColoringAttributes();
    cat.setShadeModel(ColoringAttributes.SHADE_GOURAUD);

//material para luz
    Material m=new Material();
    m.setShininess(128.0f);
    m.setDiffuseColor(0.5f,0.5f,0.5f);
    m.setSpecularColor(0.8f,0.8f,0.8f);
    Material m2=new Material();
    m2.setShininess(128.0f);
    m2.setDiffuseColor(0.8f,0.2f,0.2f);
    m2.setSpecularColor(0.8f,0.8f,0.8f);

    pintura1.setColoringAttributes(cat);
    pintura1.setMaterial(m2);
    pintura2.setColoringAttributes(cat);
    pintura2.setMaterial(m);
    pintura3.setColoringAttributes(cat);
    pintura3.setMaterial(m);
    pintura4.setColoringAttributes(cat);
    pintura4.setMaterial(m);

//las transformaciones al brazo
  //piso
    TransformGroup pisopos=new TransformGroup();
  //hombro
    TransformGroup hombrorot=new TransformGroup();
    tr.set(new Vector3f(0.0f,0.0f,0.8f));
    TransformGroup hombropos=new TransformGroup(tr);
    tr.set(new Vector3f(0.0f,0.0f,0.35f));
    TransformGroup hombropos1=new TransformGroup(tr);
  //codo
    tr.set(new Vector3f(0.0f,0.0f,0.65f));
    TransformGroup codopos=new TransformGroup(tr);
    tr.set(new Vector3f(0.0f,0.0f,0.25f));
    TransformGroup codopos1=new TransformGroup(tr);
    TransformGroup codorot=new TransformGroup();
  //muneca
    tr.set(new Vector3f(0.0f,0.0f,0.5f));
    TransformGroup munecarot=new TransformGroup();
    TransformGroup munecapos=new TransformGroup(tr);

    pisopos.setCapability(TransformGroup.ALLOW_TRANSFORM_WRITE);
    hombrorot.setCapability(TransformGroup.ALLOW_TRANSFORM_WRITE);
    codorot.setCapability(TransformGroup.ALLOW_TRANSFORM_WRITE);
    munecarot.setCapability(TransformGroup.ALLOW_TRANSFORM_WRITE);

//la geometria
    Box pieza2=new Box(0.12f,0.12f,0.35f,Box.GENERATE_NORMALS,pintura2);
    Box pieza3=new Box(0.1f,0.1f,0.25f,Box.GENERATE_NORMALS,pintura3);
    Box pieza4=new Box(0.12f,0.12f,0.02f,Box.GENERATE_NORMALS,pintura4);
    Pieza1 p1=new Pieza1(pintura1);

//armar el grafo    
    pisopos.addChild(p1.getBG());
    pisopos.addChild(hombropos);
    hombropos.addChild(hombrorot);
    hombrorot.addChild(hombropos1);
    hombropos1.addChild(pieza2);
    hombrorot.addChild(codopos);
    codopos.addChild(codorot);
    codorot.addChild(codopos1);
    codopos1.addChild(pieza3);
    codorot.addChild(munecapos);
    munecapos.addChild(munecarot);
    munecarot.addChild(pieza4);

//conectar a los behaviors
    BoundingSphere  bounds =new BoundingSphere( new Point3d( 0.0, 0.0, 0.0 ), 100.0 );
    Movimiento mov=new Movimiento(pisopos,hombrorot,codorot,munecarot,
                                  pintura1,pintura2,pintura3,pintura4,m,m2);
    mov.setSchedulingBounds(bounds);
    hombrorot.addChild(mov);

//codigo para jugar con la pantalla
    Transform3D t3d=new Transform3D();
    t3d.lookAt(new Point3d(0,-3,2),new Point3d(0,2,0),new Vector3d(0,1,0));
    TransformGroup tg5=new TransformGroup();
    tg5.setTransform(t3d);
    tg5.addChild(pisopos);

    //crear las luces
    Vector3f direction = new Vector3f( 4.0f, 6.0f, 4.0f );
    direction.normalize();
    DirectionalLight dl1 = new DirectionalLight( new Color3f( 1.0f, 1.0f, 1.0f ),direction );
    dl1.setInfluencingBounds(bounds);
    AmbientLight al2 = new AmbientLight(new Color3f( 0.3f, 0.3f, 0.3f ));
    al2.setInfluencingBounds(bounds);
    tg5.addChild(dl1);
    tg5.addChild(al2);

    bg.addChild(tg5);
    bg.compile();
    return bg;
  }
  public Brazo(){
  }

  public void init() {
    setLayout(new BorderLayout());
    GraphicsConfiguration config =SimpleUniverse.getPreferredConfiguration();
    Canvas3D c = new Canvas3D(config);
    add("Center", c);
    // Create a simple scene and attach it to the virtual universe
    u = new SimpleUniverse(c);
    BranchGroup scene = createSceneGraph(u);
    u.addBranchGraph(scene);
  }

  public void destroy() {
    u.removeAllLocales();
  }

  public static void main(String[] args) {
    new MainFrame(new Brazo(), 600, 600);
  }
}