#include <stdio.h>
#include <frams/model/model.h>
#include <frams/model/modelparts.h>

int main()
{
Model *m=new Model;
Part *p1,*p2;
Joint *j;

m->open();

// chain of ellipsoids - subsequent parts are placed relative to the previous part's orientation and location
p1=m->addNewPart(Part::SHAPE_ELLIPSOID); //initial part
p1->scale=Pt3D(1.0,0.7,0.4);

Orient rotation=Orient_1; //must be initialized explicitly because the default Orient constructor does not initialize anything
rotation.rotate(Pt3D(0.1,0.2,0.3));

for(int N=10;N>0;N--,p1=p2)
	{
	p2=m->addNewPart(Part::SHAPE_ELLIPSOID);
	p2->scale=p1->scale*0.9; //each part is smaller than its predecessor
	
	Pt3D advance(p1->scale.x,0,0); //advance by previous part's ellipsoid x radius
	p2->p = p1->p + p1->o.transform(advance); //advance vector transformed by p1 orientation == in p1 local coordinates
	p2->setOrient(p1->o.transform(rotation)); //rotation transformed by p1 orientation

	m->addNewJoint(p1,p2,Joint::SHAPE_SOLID); //all parts must be connected
	}

// chain of cyllinders - line segments between points calculated from the parametric formula P(a)=(2-2*cos(a),2*sin(a)) (circle with r=2)
Pt3D prev,next;
p1=m->getPart(0);
for(float a=0;a<M_PI;a+=M_PI/10)
	{
	Pt3D next(2-2*cos(a),0,2*sin(a));
	if (a>0)
		{
		p2=m->addNewPart(Part::SHAPE_CYLINDER);
		p2->setPositionAndRotationFromAxis(prev,next);
		p2->scale=Pt3D(prev.distanceTo(next)*0.5,0.05,0.05);// distance*0.5 because scale is "radius", not cylinder length

		m->addNewJoint(p1,p2,Joint::SHAPE_SOLID); //all parts must be connected
		}
	p1=p2;
	prev=next;
	}

m->close();
puts((const char*)m->getF0Geno().toString());
// the genotype can be fed directly to the genotype viewer, like this:
// part_shapes | theater -g -vpart_shapes -
}