// stolen from NeHe opengl tutorial, thanks! :)

#include <GL/gl.h>		// Header File For The OpenGL32 Library
#include <GL/glu.h>		// Header File For The GLu32 Library
#include <GL/glut.h>		// Header File For The GLut Library

#include "hexapod.c"

#define kWindowWidth	500
#define kWindowHeight	500

GLvoid InitGL(GLvoid);
GLvoid DrawGLScene(GLvoid);
GLvoid ReSizeGLScene(int Width, int Height);

int main(int argc, char** argv)
{
        load_calibration("/etc/calibration.bin");
	glutInit(&argc, argv);
	glutInitDisplayMode (GLUT_DOUBLE | GLUT_RGB | GLUT_DEPTH);
	glutInitWindowSize (kWindowWidth, kWindowHeight);
	glutInitWindowPosition (100, 100);
	glutCreateWindow (argv[0]);

	InitGL();

	glutReshapeFunc(ReSizeGLScene);
	glutDisplayFunc(DrawGLScene);
	glutIdleFunc(DrawGLScene);

	glutMainLoop();

	return 0;
}

GLvoid ReSizeGLScene(GLsizei width, GLsizei height)				// Resize And Initialize The GL Window
{
	if (height==0)								// Prevent A Divide By Zero By
	{
		height=1;							// Making Height Equal One
	}

	glViewport(0, 0, width, height);					// Reset The Current Viewport
	glMatrixMode(GL_PROJECTION);						// Select The Projection Matrix
	glLoadIdentity();							// Reset The Projection Matrix

	// Calculate The Aspect Ratio Of The Window
//	gluPerspective(45.0f,(GLfloat)width/(GLfloat)height,0.1f,100.0f);

	glMatrixMode(GL_MODELVIEW);						// Select The Modelview Matrix
	glLoadIdentity();							// Reset The Modelview Matrix
}

GLvoid InitGL(GLvoid)								// All Setup For OpenGL Goes Here
{
//	glEnable(GL_DEPTH_TEST);						// Enables Depth Testing
	glShadeModel(GL_SMOOTH);						// Enables Smooth Shading
	glDisable(GL_LIGHTING);
        
	glColor3f(1.0f,1.0f,1.0f);
	glClearColor(0.0f, 0.0f, 0.0f, 0.0f);					// Black Background
	glClearDepth(1.0f);							// Depth Buffer Setup
	glDepthFunc(GL_LEQUAL);							// The Type Of Depth Test To Do
	glHint(GL_PERSPECTIVE_CORRECTION_HINT, GL_NICEST);			// Really Nice Perspective Calculations
	glViewport(0,0,500,500);
}


GLvoid DrawGLScene(GLvoid)							// Here's Where We Do All The Drawing
{
   glClearColor(0.0f,0.0f,0.0f,1.0f);
   glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);		// Clear The Screen And The Depth Buffer
   glLoadIdentity();		
//   glTranslatef(0.0f,0.0f,0.2f);
   draw_hexapod();
   glutSwapBuffers();
   usleep(1000);
}