[Jderobot-admin] jderobot-r899 - in trunk/src/components: . basic_component_qt basic_component_qt/gui basic_component_qt/sensors introrob_qt introrob_qt/gui introrob_qt/gui/widget introrob_qt/images introrob_qt/pioneer introrob_qt/robot

ahcorde en jderobot.org ahcorde en jderobot.org
Mie Abr 10 08:45:26 CEST 2013


Author: ahcorde
Date: 2013-04-10 08:44:26 +0200 (Wed, 10 Apr 2013)
New Revision: 899

Added:
   trunk/src/components/basic_component_qt/
   trunk/src/components/basic_component_qt/CMakeLists.txt
   trunk/src/components/basic_component_qt/gui/
   trunk/src/components/basic_component_qt/gui/gui.cpp
   trunk/src/components/basic_component_qt/gui/gui.h
   trunk/src/components/basic_component_qt/gui/threadgui.cpp
   trunk/src/components/basic_component_qt/gui/threadgui.h
   trunk/src/components/basic_component_qt/main.cpp
   trunk/src/components/basic_component_qt/sensors/
   trunk/src/components/basic_component_qt/sensors/sensors.cpp
   trunk/src/components/basic_component_qt/sensors/sensors.h
   trunk/src/components/basic_component_qt/sensors/threadsensors.cpp
   trunk/src/components/basic_component_qt/sensors/threadsensors.h
   trunk/src/components/basic_component_qt/simple.cfg
   trunk/src/components/basic_component_qt/visualizadorSimpleCamara.pro
   trunk/src/components/introrob_qt/
   trunk/src/components/introrob_qt/CMakeLists.txt
   trunk/src/components/introrob_qt/MyAlgorithm.cpp
   trunk/src/components/introrob_qt/depuratewindow.cpp
   trunk/src/components/introrob_qt/depuratewindow.h
   trunk/src/components/introrob_qt/gui/
   trunk/src/components/introrob_qt/gui/gui.cpp
   trunk/src/components/introrob_qt/gui/gui.h
   trunk/src/components/introrob_qt/gui/stategui.cpp
   trunk/src/components/introrob_qt/gui/stategui.h
   trunk/src/components/introrob_qt/gui/threadupdategui.cpp
   trunk/src/components/introrob_qt/gui/threadupdategui.h
   trunk/src/components/introrob_qt/gui/widget/
   trunk/src/components/introrob_qt/gui/widget/cameraswidget.cpp
   trunk/src/components/introrob_qt/gui/widget/cameraswidget.h
   trunk/src/components/introrob_qt/gui/widget/controlvw.cpp
   trunk/src/components/introrob_qt/gui/widget/controlvw.h
   trunk/src/components/introrob_qt/gui/widget/glwidget.cpp
   trunk/src/components/introrob_qt/gui/widget/glwidget.h
   trunk/src/components/introrob_qt/gui/widget/laserwidget.cpp
   trunk/src/components/introrob_qt/gui/widget/laserwidget.h
   trunk/src/components/introrob_qt/images/
   trunk/src/components/introrob_qt/images/pelota.png
   trunk/src/components/introrob_qt/images/play.png
   trunk/src/components/introrob_qt/images/stop.png
   trunk/src/components/introrob_qt/introrob.cfg
   trunk/src/components/introrob_qt/introrob_qt.pro
   trunk/src/components/introrob_qt/main.cpp
   trunk/src/components/introrob_qt/pioneer/
   trunk/src/components/introrob_qt/pioneer/pioneer.c
   trunk/src/components/introrob_qt/pioneer/pioneer.h
   trunk/src/components/introrob_qt/pioneer/pioneeropengl.c
   trunk/src/components/introrob_qt/pioneer/pioneeropengl.h
   trunk/src/components/introrob_qt/resources.qrc
   trunk/src/components/introrob_qt/robot/
   trunk/src/components/introrob_qt/robot/actuators.cpp
   trunk/src/components/introrob_qt/robot/actuators.h
   trunk/src/components/introrob_qt/robot/robot.cpp
   trunk/src/components/introrob_qt/robot/robot.h
   trunk/src/components/introrob_qt/robot/sensors.cpp
   trunk/src/components/introrob_qt/robot/sensors.h
   trunk/src/components/introrob_qt/robot/threadupdaterobot.cpp
   trunk/src/components/introrob_qt/robot/threadupdaterobot.h
Log:
[ahcorde]
	subo los siguientes componentes desarrollados en Qt
	basic_component_qt
	introrob_qt



Added: trunk/src/components/basic_component_qt/CMakeLists.txt
===================================================================
--- trunk/src/components/basic_component_qt/CMakeLists.txt	                        (rev 0)
+++ trunk/src/components/basic_component_qt/CMakeLists.txt	2013-04-10 06:44:26 UTC (rev 899)
@@ -0,0 +1,52 @@
+cmake_minimum_required(VERSION 2.8 FATAL_ERROR)
+include (FindPkgConfig)
+if (PKG_CONFIG_FOUND)
+	pkg_check_modules(OpenCV opencv)
+endif()
+
+FIND_PACKAGE(Qt4 REQUIRED)
+
+SET(qt_SOURCES main.cpp 
+			   sensors/threadsensors.cpp sensors/sensors.cpp
+			   gui/threadgui.cpp gui/gui.cpp
+)
+
+SET(qt_HEADERS
+			   sensors/threadsensors.h sensors/sensors.h
+			   gui/threadgui.h gui/gui.h
+
+)
+
+SET( LIBS_DIR /usr/local/lib/jderobot/)
+
+set( CMAKE_CXX_FLAGS " -lIce -lIceUtil " )
+
+
+QT4_WRAP_CPP(qt_HEADERS_MOC ${qt_HEADERS})
+INCLUDE(${QT_USE_FILE})
+ADD_DEFINITIONS(${QT_DEFINITIONS})
+
+
+
+include_directories(${opencv_INCLUDE_DIRS})
+link_directories( ${opencv_library_dirs})
+
+
+include_directories(
+    /usr/local/include/jderobot/
+)
+
+add_executable( main main.cpp 
+			   sensors/threadsensors.cpp sensors/sensors.cpp
+			   gui/threadgui.cpp gui/gui.cpp
+			   ${qt_HEADERS_MOC}
+)
+			   
+target_link_libraries(main opencv_imgproc opencv_highgui opencv_core
+	${QT_LIBRARIES}
+	${LIBS_DIR}/libJderobotInterfaces.so
+	${LIBS_DIR}/libjderobotice.so
+	${LIBS_DIR}/libjderobotutil.so
+	
+)
+

Added: trunk/src/components/basic_component_qt/gui/gui.cpp
===================================================================
--- trunk/src/components/basic_component_qt/gui/gui.cpp	                        (rev 0)
+++ trunk/src/components/basic_component_qt/gui/gui.cpp	2013-04-10 06:44:26 UTC (rev 899)
@@ -0,0 +1,41 @@
+#include "gui.h"
+
+GUI::GUI(Sensors* sensors)
+{
+
+    this->sensors = sensors;
+
+    QGridLayout* mainLayout = new QGridLayout();
+
+    labelImage = new QLabel();
+
+    mainLayout->addWidget(labelImage, 0, 0);
+
+    setLayout(mainLayout);
+
+    setVisible(true);
+
+    connect(this, SIGNAL(signal_updateGUI()), this, SLOT(on_updateGUI_recieved()));
+
+    show();
+
+}
+
+void GUI::updateThreadGUI()
+{
+    emit signal_updateGUI();
+}
+
+void GUI::on_updateGUI_recieved()
+{
+    cv::Mat frame = this->sensors->getImage();
+
+    QImage imageQt = QImage((const unsigned char*)(frame.data),
+                            frame.cols,
+                            frame.rows,
+                            frame.step,
+                            QImage::Format_RGB888);
+
+    labelImage->setPixmap(QPixmap::fromImage(imageQt));
+}
+

Added: trunk/src/components/basic_component_qt/gui/gui.h
===================================================================
--- trunk/src/components/basic_component_qt/gui/gui.h	                        (rev 0)
+++ trunk/src/components/basic_component_qt/gui/gui.h	2013-04-10 06:44:26 UTC (rev 899)
@@ -0,0 +1,28 @@
+#ifndef GUI_H
+#define GUI_H
+
+#include <QtGui>
+
+#include "../sensors/sensors.h"
+
+class GUI:public QWidget
+{
+    Q_OBJECT
+
+public:
+    GUI(Sensors* sensors);
+    void updateThreadGUI();
+
+private:
+    QLabel* labelImage;
+    Sensors* sensors;
+
+signals:
+    void signal_updateGUI();
+
+public slots:
+    void on_updateGUI_recieved();
+
+};
+
+#endif // GUI_H

Added: trunk/src/components/basic_component_qt/gui/threadgui.cpp
===================================================================
--- trunk/src/components/basic_component_qt/gui/threadgui.cpp	                        (rev 0)
+++ trunk/src/components/basic_component_qt/gui/threadgui.cpp	2013-04-10 06:44:26 UTC (rev 899)
@@ -0,0 +1,39 @@
+#include "threadgui.h"
+
+threadGUI::threadGUI(Sensors* sensors)
+{
+    this->sensors = sensors;
+
+    gui = new GUI(sensors);
+    gui->show();
+
+}
+
+void threadGUI::run()
+{
+    struct timeval a, b;
+    long totalb, totala;
+    long diff;
+
+    while (true) {
+        gettimeofday(&a, NULL);
+        totala = a.tv_sec * 1000000 + a.tv_usec;
+
+        gui->updateThreadGUI();
+
+        gettimeofday(&b, NULL);
+        totalb = b.tv_sec * 1000000 + b.tv_usec;
+        diff = (totalb - totala) / 1000;
+
+        if (diff < 0 || diff > cycle_gui)
+            diff = cycle_gui;
+        else
+            diff = cycle_gui - diff;
+
+
+        /*Sleep Algorithm*/
+        usleep(diff * 1000);
+        if (diff < 33)
+            usleep(33 * 1000);
+    }
+}

Added: trunk/src/components/basic_component_qt/gui/threadgui.h
===================================================================
--- trunk/src/components/basic_component_qt/gui/threadgui.h	                        (rev 0)
+++ trunk/src/components/basic_component_qt/gui/threadgui.h	2013-04-10 06:44:26 UTC (rev 899)
@@ -0,0 +1,28 @@
+#ifndef THREADGUI_H
+#define THREADGUI_H
+
+#include <QtGui>
+
+#include <iostream>
+#include <sys/time.h>
+
+#include "gui.h"
+
+#include "../sensors/sensors.h"
+
+#define cycle_gui 50 //miliseconds
+
+
+class threadGUI:public QThread
+{
+public:
+    threadGUI(Sensors* sensors);
+
+private:
+    GUI* gui;
+    Sensors* sensors;
+protected:
+    void run();
+};
+
+#endif // THREADGUI_H

Added: trunk/src/components/basic_component_qt/main.cpp
===================================================================
--- trunk/src/components/basic_component_qt/main.cpp	                        (rev 0)
+++ trunk/src/components/basic_component_qt/main.cpp	2013-04-10 06:44:26 UTC (rev 899)
@@ -0,0 +1,37 @@
+//Qt
+#include <QtGui>
+
+//ICE
+#include <Ice/Ice.h>
+#include <IceUtil/IceUtil.h>
+
+#include "gui/threadgui.h"
+#include "gui/gui.h"
+#include "sensors/sensors.h"
+#include "sensors/threadsensors.h"
+
+int main(int argc, char* argv[])
+{
+    QApplication a(argc, argv);
+
+    Ice::CommunicatorPtr ic;
+    try{
+        ic = Ice::initialize(argc, argv);
+
+        Sensors* sensors = new Sensors(ic);
+        threadGUI* gui = new threadGUI(sensors);
+        ThreadSensors* threadSensors = new ThreadSensors(sensors);
+
+        gui->start();
+        threadSensors->start();
+
+    } catch (const Ice::Exception& ex) {
+        std::cerr << ex << std::endl;
+        exit(-1);
+    } catch (const char* msg) {
+        std::cerr << msg << std::endl;
+        exit(-1);
+    }
+    return a.exec();
+
+}

Added: trunk/src/components/basic_component_qt/sensors/sensors.cpp
===================================================================
--- trunk/src/components/basic_component_qt/sensors/sensors.cpp	                        (rev 0)
+++ trunk/src/components/basic_component_qt/sensors/sensors.cpp	2013-04-10 06:44:26 UTC (rev 899)
@@ -0,0 +1,41 @@
+#include "sensors.h"
+
+Sensors::Sensors(Ice::CommunicatorPtr ic)
+{
+    this-> ic = ic;
+    Ice::PropertiesPtr prop = ic->getProperties();
+
+    Ice::ObjectPrx base = ic->propertyToProxy("Cameraview.Camera.Proxy");
+    if (0==base)
+      throw "Could not create proxy";
+
+    /*cast to CameraPrx*/
+    cprx = jderobot::CameraPrx::checkedCast(base);
+    if (0==cprx)
+      throw "Invalid proxy";
+
+    jderobot::ImageDataPtr data = cprx->getImageData();
+    image.create(data->description->height, data->description->width, CV_8UC3);
+
+
+}
+
+void Sensors::update()
+{
+    jderobot::ImageDataPtr data = cprx->getImageData();
+    mutex.lock();
+    memcpy((unsigned char *) image.data ,&(data->pixelData[0]), image.cols*image.rows * 3);
+    mutex.unlock();
+
+}
+
+cv::Mat Sensors::getImage()
+{
+    mutex.lock();
+
+    cv::Mat result = image.clone();
+
+    mutex.unlock();
+
+    return result;
+}

Added: trunk/src/components/basic_component_qt/sensors/sensors.h
===================================================================
--- trunk/src/components/basic_component_qt/sensors/sensors.h	                        (rev 0)
+++ trunk/src/components/basic_component_qt/sensors/sensors.h	2013-04-10 06:44:26 UTC (rev 899)
@@ -0,0 +1,38 @@
+#ifndef SENSORS_H
+#define SENSORS_H
+
+//Qt
+#include <QtGui>
+
+//ICE
+#include <Ice/Ice.h>
+#include <IceUtil/IceUtil.h>
+
+//INTERFACES
+#include <jderobot/camera.h>
+
+//Opencv
+#include <opencv2/core/core.hpp>
+#include <opencv2/imgproc/imgproc.hpp>
+#include <opencv2/highgui/highgui.hpp>
+
+class Sensors
+{
+public:
+    Sensors(Ice::CommunicatorPtr ic);
+
+    void update();
+    cv::Mat getImage();
+
+private:
+    QMutex mutex;
+
+    Ice::CommunicatorPtr ic;
+
+    jderobot::CameraPrx cprx;
+
+    cv::Mat image;
+
+};
+
+#endif // SENSORS_H

Added: trunk/src/components/basic_component_qt/sensors/threadsensors.cpp
===================================================================
--- trunk/src/components/basic_component_qt/sensors/threadsensors.cpp	                        (rev 0)
+++ trunk/src/components/basic_component_qt/sensors/threadsensors.cpp	2013-04-10 06:44:26 UTC (rev 899)
@@ -0,0 +1,35 @@
+#include "threadsensors.h"
+
+ThreadSensors::ThreadSensors(Sensors* sensors)
+{
+    this->sensors = sensors;
+}
+
+void ThreadSensors::run()
+{
+    struct timeval a, b;
+    long totalb, totala;
+    long diff;
+
+    while (true) {
+        gettimeofday(&a, NULL);
+        totala = a.tv_sec * 1000000 + a.tv_usec;
+
+        this->sensors->update();
+
+        gettimeofday(&b, NULL);
+        totalb = b.tv_sec * 1000000 + b.tv_usec;
+        diff = (totalb - totala) / 1000;
+
+        if (diff < 0 || diff > cycle_control)
+            diff = cycle_control;
+        else
+            diff = cycle_control - diff;
+
+
+        /*Sleep Algorithm*/
+        usleep(diff * 1000);
+        if (diff < 33)
+            usleep(33 * 1000);
+    }
+}

Added: trunk/src/components/basic_component_qt/sensors/threadsensors.h
===================================================================
--- trunk/src/components/basic_component_qt/sensors/threadsensors.h	                        (rev 0)
+++ trunk/src/components/basic_component_qt/sensors/threadsensors.h	2013-04-10 06:44:26 UTC (rev 899)
@@ -0,0 +1,26 @@
+#ifndef THREADSENSORS_H
+#define THREADSENSORS_H
+
+#include <QtGui>
+
+#include <iostream>
+#include <sys/time.h>
+
+#include "sensors.h"
+
+#define cycle_control 20 //miliseconds
+
+class ThreadSensors:public QThread
+{
+public:
+    ThreadSensors(Sensors* sensors);
+
+private:
+    Sensors* sensors;
+
+protected:
+    void run();
+
+};
+
+#endif // THREADSENSORS_H

Added: trunk/src/components/basic_component_qt/simple.cfg
===================================================================
--- trunk/src/components/basic_component_qt/simple.cfg	                        (rev 0)
+++ trunk/src/components/basic_component_qt/simple.cfg	2013-04-10 06:44:26 UTC (rev 899)
@@ -0,0 +1 @@
+Cameraview.Camera.Proxy=cameraA:default -h chica.gsyc.es -p 9999

Added: trunk/src/components/basic_component_qt/visualizadorSimpleCamara.pro
===================================================================
--- trunk/src/components/basic_component_qt/visualizadorSimpleCamara.pro	                        (rev 0)
+++ trunk/src/components/basic_component_qt/visualizadorSimpleCamara.pro	2013-04-10 06:44:26 UTC (rev 899)
@@ -0,0 +1,41 @@
+
+SOURCES += \
+    main.cpp \
+    gui/gui.cpp \
+    gui/threadgui.cpp \
+    sensors/sensors.cpp \
+    sensors/threadsensors.cpp
+HEADERS+= \
+    gui/gui.h \
+    gui/threadgui.h \
+    sensors/sensors.h \
+    sensors/threadsensors.h
+
+OTHER_FILES += \
+    simple.cfg
+
+
+#ICE
+LIBS += -L/usr/lib \
+    -lIce -lIceUtil
+
+#opencv
+INCLUDEPATH += /usr/include/opencv
+LIBS += -L/usr/lib \
+    -lopencv_core \
+    -lopencv_highgui \
+    -lopencv_imgproc
+
+#jderobot
+INCLUDEPATH += /usr/local/include/jderobot
+LIBS += -L/usr/local/lib/jderobot \
+        -lbgfgsegmentation  -ljderobotice         -lprogeo \
+        -lJderobotInterfaces  -lvisionlib \
+        -lcolorspaces       -ljderobotutil
+
+
+#OpenGL
+INCLUDEPATH += /usr/include/GL
+LIBS += -L/usr/lib \
+    -lglut -lGL -lGLU
+QT           += opengl

Added: trunk/src/components/introrob_qt/CMakeLists.txt
===================================================================
--- trunk/src/components/introrob_qt/CMakeLists.txt	                        (rev 0)
+++ trunk/src/components/introrob_qt/CMakeLists.txt	2013-04-10 06:44:26 UTC (rev 899)
@@ -0,0 +1,64 @@
+cmake_minimum_required(VERSION 2.8 FATAL_ERROR)
+include (FindPkgConfig)
+if (PKG_CONFIG_FOUND)
+	pkg_check_modules(OpenCV opencv)
+endif()
+
+FIND_PACKAGE(Qt4 REQUIRED)
+
+SET(qt_SOURCES main.cpp depuratewindow.cpp MyAlgorithm.cpp
+				robot/actuators.cpp robot/robot.cpp robot/sensors.cpp robot/threadupdaterobot.cpp 
+			 gui/gui.cpp gui/threadupdategui.cpp
+			 gui/widget/cameraswidget.cpp gui/widget/controlvw.cpp gui/widget/glwidget.cpp gui/widget/laserwidget.cpp
+)
+
+SET(qt_HEADERS
+			depuratewindow.h
+			robot/actuators.h robot/robot.h robot/sensors.h robot/threadupdaterobot.h 
+     		pioneer/pioneer.c pioneer/pioneeropengl.c
+			gui/gui.h gui/stategui.h gui/threadupdategui.h
+			gui/widget/cameraswidget.h gui/widget/controlvw.h gui/widget/glwidget.h gui/widget/laserwidget.h
+
+)
+
+SET(qt_RESOURCES resources.qrc)
+QT4_ADD_RESOURCES(qt_RESOURCES_RCC ${qt_RESOURCES})
+
+SET(QT_USE_QTOPENGL TRUE)
+
+SET( LIBS_DIR /usr/local/lib/jderobot/)
+
+set( CMAKE_CXX_FLAGS " -lIce -lIceUtil -lGL -lGLU -lglut " )
+
+
+QT4_WRAP_CPP(qt_HEADERS_MOC ${qt_HEADERS})
+INCLUDE(${QT_USE_FILE})
+ADD_DEFINITIONS(${QT_DEFINITIONS})
+
+
+
+include_directories(${opencv_INCLUDE_DIRS})
+link_directories( ${opencv_library_dirs})
+
+
+include_directories(
+    /usr/local/include/jderobot/
+)
+
+add_executable( main main.cpp depuratewindow.cpp MyAlgorithm.cpp
+				robot/actuators.cpp robot/robot.cpp robot/sensors.cpp robot/threadupdaterobot.cpp 
+			 pioneer/pioneer.c pioneer/pioneeropengl.c
+			 gui/gui.cpp gui/stategui.cpp gui/threadupdategui.cpp
+			 gui/widget/cameraswidget.cpp gui/widget/controlvw.cpp gui/widget/glwidget.cpp gui/widget/laserwidget.cpp
+			   ${qt_HEADERS_MOC}
+			   ${qt_RESOURCES_RCC}
+)
+			   
+target_link_libraries(main opencv_imgproc opencv_highgui opencv_core
+	${QT_LIBRARIES}
+	${LIBS_DIR}/libJderobotInterfaces.so
+	${LIBS_DIR}/libjderobotice.so
+	${LIBS_DIR}/libjderobotutil.so
+
+)
+

Added: trunk/src/components/introrob_qt/MyAlgorithm.cpp
===================================================================
--- trunk/src/components/introrob_qt/MyAlgorithm.cpp	                        (rev 0)
+++ trunk/src/components/introrob_qt/MyAlgorithm.cpp	2013-04-10 06:44:26 UTC (rev 899)
@@ -0,0 +1,15 @@
+#include "robot/threadupdaterobot.h"
+#include "gui/widget/glwidget.h"
+#include <iostream>
+
+void ThreadUpdateRobot::RunNavigationAlgorithm()
+{
+//    std::cout << "RunNavigationAlgorithm" << std::endl;
+}
+
+
+void GLWidget::RunGraphicsAlgorithm()
+{
+//    std::cout << "RunGraphicsAlgorithm" << std::endl;
+
+}

Added: trunk/src/components/introrob_qt/depuratewindow.cpp
===================================================================
--- trunk/src/components/introrob_qt/depuratewindow.cpp	                        (rev 0)
+++ trunk/src/components/introrob_qt/depuratewindow.cpp	2013-04-10 06:44:26 UTC (rev 899)
@@ -0,0 +1,39 @@
+#include "depuratewindow.h"
+
+DepurateWindow::DepurateWindow()
+{
+    QGridLayout* mainLayout = new QGridLayout();
+
+    labelImage = new QLabel();
+
+    mainLayout->addWidget(labelImage, 0, 0);
+
+    setLayout(mainLayout);
+
+}
+
+void DepurateWindow::update()
+{
+    mutex.lock();
+    if(image.data){
+
+        QImage imageQt = QImage((const unsigned char*)(image.data),
+                                image.cols,
+                                image.rows,
+                                image.step,
+                                QImage::Format_RGB888);
+
+        labelImage->setPixmap(QPixmap::fromImage(imageQt));
+    }
+    mutex.unlock();
+
+}
+
+void DepurateWindow::setImage(cv::Mat image)
+{
+    mutex.lock();
+    this->image = image.clone();
+    mutex.unlock();
+
+}
+

Added: trunk/src/components/introrob_qt/depuratewindow.h
===================================================================
--- trunk/src/components/introrob_qt/depuratewindow.h	                        (rev 0)
+++ trunk/src/components/introrob_qt/depuratewindow.h	2013-04-10 06:44:26 UTC (rev 899)
@@ -0,0 +1,27 @@
+#ifndef DEPURATEWINDOW_H
+#define DEPURATEWINDOW_H
+
+#include <QtGui>
+
+//Opencv
+#include <opencv2/core/core.hpp>
+#include <opencv2/imgproc/imgproc.hpp>
+#include <opencv2/highgui/highgui.hpp>
+
+class DepurateWindow: public QWidget
+{
+public:
+    DepurateWindow();
+
+    void update();
+
+    void setImage(cv::Mat image);
+
+private:
+    QMutex mutex;
+    QLabel* labelImage;
+    cv::Mat image;
+
+};
+
+#endif // DEPURATEWINDOW_H

Added: trunk/src/components/introrob_qt/gui/gui.cpp
===================================================================
--- trunk/src/components/introrob_qt/gui/gui.cpp	                        (rev 0)
+++ trunk/src/components/introrob_qt/gui/gui.cpp	2013-04-10 06:44:26 UTC (rev 899)
@@ -0,0 +1,103 @@
+#include "gui.h"
+
+GUI::GUI(Robot* robot, StateGUI *state)
+{
+
+    this->state = state;
+    this->robot = robot;
+
+    QGridLayout* mainLayout = new QGridLayout();
+    QGridLayout* layoutControl = new QGridLayout();
+    QGridLayout* layoutButtons = new QGridLayout();
+
+    camerasWidget = new CamerasWidget(robot);
+    glwidget = new GLWidget(state, robot);
+
+    buttonMyAlgorithm = new QPushButton(QIcon(":/images/play.png"), "");
+    buttonStopRobot = new QPushButton("Stop Robot");
+    checkLaser = new QCheckBox("Laser");
+    checkCameras = new QCheckBox("Cameras");
+    check3DWorld = new QCheckBox("3DWorld");
+
+    canvasVW = new controlVW();
+    laserWidget =new LaserWidget();
+
+    depurateWindow = new DepurateWindow();
+    state->setDepurateWindow(depurateWindow);
+
+    int indiceFilaGui = 0;
+    layoutControl->addWidget(canvasVW, 0, 0);
+
+    layoutButtons->addWidget(buttonStopRobot, indiceFilaGui, 0);
+    layoutButtons->addWidget(buttonMyAlgorithm, indiceFilaGui++, 1);
+    layoutButtons->addWidget(check3DWorld, indiceFilaGui++, 1);
+    layoutButtons->addWidget(checkCameras, indiceFilaGui++, 1);
+    layoutButtons->addWidget(checkLaser, indiceFilaGui++, 1);
+
+    mainLayout->addLayout(layoutControl, 0, 0);
+    mainLayout->addLayout(layoutButtons, 0, 1);
+
+    setLayout(mainLayout);
+
+    setVisible(true);
+
+    adjustSize();
+
+    connect(this, SIGNAL(signal_updateGUI()), this, SLOT(on_updateGUI_recieved()));
+
+    connect(buttonStopRobot, SIGNAL(clicked()),this, SLOT(on_buttonStopRobot_clicked()) );
+    connect(buttonMyAlgorithm, SIGNAL(clicked()),this, SLOT(on_buttonMyAlgorithm_clicked()) );
+
+    connect(canvasVW, SIGNAL(VW_changed(int,int)), this, SLOT(on_update_canvas_recieved(int, int)));
+
+    connect(check3DWorld, SIGNAL(stateChanged(int)), this, SLOT(on_checks_changed()));
+    connect(checkLaser, SIGNAL(stateChanged(int)), this, SLOT(on_checks_changed()));
+    connect(checkCameras, SIGNAL(stateChanged(int)), this, SLOT(on_checks_changed()));
+
+    show();
+
+    depurateWindow->setVisible(true);
+
+}
+
+void GUI::on_checks_changed()
+{
+    glwidget->setVisible(check3DWorld->isChecked());
+    camerasWidget->setVisible(checkCameras->isChecked());
+    laserWidget->setVisible(checkLaser->isChecked());
+}
+
+void GUI::on_update_canvas_recieved(int v, int w)
+{
+    this->robot->getActuators()->setMotorV((float)v);
+    this->robot->getActuators()->setMotorW((float)w);
+}
+
+void GUI::on_buttonMyAlgorithm_clicked()
+{
+    state->setMyAlgorithm();
+    if(state->getMyAlgorithm()){
+        buttonMyAlgorithm->setIcon(QIcon(":/images/stop.png"));
+    }else{
+        buttonMyAlgorithm->setIcon(QIcon(":/images/play.png"));
+    }
+}
+
+void GUI::on_buttonStopRobot_clicked()
+{
+    canvasVW->Stop();
+}
+
+void GUI::updateThreadGUI()
+{
+    emit signal_updateGUI();
+}
+
+void GUI::on_updateGUI_recieved()
+{
+    camerasWidget->update();
+    glwidget->updateGL();
+    laserWidget->update(this->robot->getSensors()->getLaserData());
+    depurateWindow->update();
+}
+

Added: trunk/src/components/introrob_qt/gui/gui.h
===================================================================
--- trunk/src/components/introrob_qt/gui/gui.h	                        (rev 0)
+++ trunk/src/components/introrob_qt/gui/gui.h	2013-04-10 06:44:26 UTC (rev 899)
@@ -0,0 +1,55 @@
+#ifndef GUI_H
+#define GUI_H
+
+#include <QtGui>
+
+#include "../robot/robot.h"
+#include "stategui.h"
+
+#include "widget/controlvw.h"
+#include "widget/cameraswidget.h"
+#include "widget/glwidget.h"
+#include "widget/laserwidget.h"
+
+#include "../depuratewindow.h"
+
+class GUI:public QWidget
+{
+    Q_OBJECT
+
+public:
+    GUI(Robot* robot, StateGUI* state);
+    void updateThreadGUI();
+
+private:
+    QPushButton* buttonMyAlgorithm;
+    QPushButton* buttonStopRobot;
+
+    controlVW* canvasVW;
+    CamerasWidget* camerasWidget;
+    GLWidget* glwidget;
+    LaserWidget* laserWidget;
+    DepurateWindow* depurateWindow;
+
+    Robot* robot;
+    StateGUI* state;
+
+    QCheckBox* check3DWorld;
+    QCheckBox* checkCameras;
+    QCheckBox* checkLaser;
+
+
+signals:
+    void signal_updateGUI();
+
+public slots:
+    void on_updateGUI_recieved();
+    void on_buttonMyAlgorithm_clicked();
+    void on_buttonStopRobot_clicked();
+
+    void on_update_canvas_recieved(int v, int w);
+    void on_checks_changed();
+
+};
+
+#endif // GUI_H

Added: trunk/src/components/introrob_qt/gui/stategui.cpp
===================================================================
--- trunk/src/components/introrob_qt/gui/stategui.cpp	                        (rev 0)
+++ trunk/src/components/introrob_qt/gui/stategui.cpp	2013-04-10 06:44:26 UTC (rev 899)
@@ -0,0 +1,34 @@
+#include "stategui.h"
+
+StateGUI::StateGUI()
+{
+    myAlgorithm = false;
+}
+
+void StateGUI::setMyAlgorithm()
+{
+    mutex.lock();
+    myAlgorithm = !myAlgorithm;
+    mutex.unlock();
+}
+
+bool StateGUI::getMyAlgorithm()
+{
+    mutex.lock();
+    bool result = myAlgorithm;
+    mutex.unlock();
+    return result;
+}
+
+void StateGUI::setDepurateWindow(DepurateWindow *depurateWindow)
+{
+    this->depurateWindow = depurateWindow;
+}
+
+DepurateWindow *StateGUI::getDepurateWindow()
+{
+    return this->depurateWindow;
+}
+
+
+

Added: trunk/src/components/introrob_qt/gui/stategui.h
===================================================================
--- trunk/src/components/introrob_qt/gui/stategui.h	                        (rev 0)
+++ trunk/src/components/introrob_qt/gui/stategui.h	2013-04-10 06:44:26 UTC (rev 899)
@@ -0,0 +1,26 @@
+#ifndef STATEGUI_H
+#define STATEGUI_H
+
+#include <QMutex>
+
+#include "../depuratewindow.h"
+
+class StateGUI
+{
+public:
+    StateGUI();
+
+    void setMyAlgorithm();
+    bool getMyAlgorithm();
+
+    void setDepurateWindow(DepurateWindow* depurateWindow);
+    DepurateWindow* getDepurateWindow();
+
+private:
+    QMutex mutex;
+
+    bool myAlgorithm;
+    DepurateWindow* depurateWindow;
+};
+
+#endif // STATEGUI_H

Added: trunk/src/components/introrob_qt/gui/threadupdategui.cpp
===================================================================
--- trunk/src/components/introrob_qt/gui/threadupdategui.cpp	                        (rev 0)
+++ trunk/src/components/introrob_qt/gui/threadupdategui.cpp	2013-04-10 06:44:26 UTC (rev 899)
@@ -0,0 +1,38 @@
+#include "threadupdategui.h"
+
+ThreadUpdateGUI::ThreadUpdateGUI(Robot* robot, StateGUI* state)
+{
+    this->robot = robot;
+
+    gui = new GUI(robot, state);
+    gui->show();
+
+}
+
+void ThreadUpdateGUI::run()
+{
+    struct timeval a, b;
+    long totalb, totala;
+    long diff;
+
+    while (true) {
+        gettimeofday(&a, NULL);
+        totala = a.tv_sec * 1000000 + a.tv_usec;
+
+        gui->updateThreadGUI();
+
+        gettimeofday(&b, NULL);
+        totalb = b.tv_sec * 1000000 + b.tv_usec;
+        diff = (totalb - totala) / 1000;
+
+        if (diff < 0 || diff > cycle_update_gui)
+            diff = cycle_update_gui;
+        else
+            diff = cycle_update_gui - diff;
+
+        /*Sleep Algorithm*/
+        usleep(diff * 1000);
+        if (diff < 33)
+            usleep(33 * 1000);
+    }
+}

Added: trunk/src/components/introrob_qt/gui/threadupdategui.h
===================================================================
--- trunk/src/components/introrob_qt/gui/threadupdategui.h	                        (rev 0)
+++ trunk/src/components/introrob_qt/gui/threadupdategui.h	2013-04-10 06:44:26 UTC (rev 899)
@@ -0,0 +1,27 @@
+#ifndef THREADUPDATEGUI_H
+#define THREADUPDATEGUI_H
+
+#include "../robot/robot.h"
+#include "gui.h"
+
+#include <QtGui>
+
+#include <iostream>
+#include <sys/time.h>
+
+#define cycle_update_gui 50 //miliseconds
+
+class ThreadUpdateGUI: public QThread
+{
+public:
+    ThreadUpdateGUI(Robot *robot, StateGUI *state);
+
+private:
+    GUI* gui;
+    Robot* robot;
+
+protected:
+    void run();
+};
+
+#endif // THREADUPDATEGUI_H

Added: trunk/src/components/introrob_qt/gui/widget/cameraswidget.cpp
===================================================================
--- trunk/src/components/introrob_qt/gui/widget/cameraswidget.cpp	                        (rev 0)
+++ trunk/src/components/introrob_qt/gui/widget/cameraswidget.cpp	2013-04-10 06:44:26 UTC (rev 899)
@@ -0,0 +1,63 @@
+#include "cameraswidget.h"
+
+CamerasWidget::CamerasWidget(Robot* robot)
+{
+
+    this->robot = robot;
+
+    QGridLayout* mainLayout = new QGridLayout();
+
+    labelImage1 = new QLabel();
+    labelImage2 = new QLabel();
+
+    int  indiceFilaGui = 0;
+    mainLayout->addWidget(labelImage1, indiceFilaGui, 0);
+    mainLayout->addWidget(labelImage2, indiceFilaGui++, 1);
+
+    setLayout(mainLayout);
+
+    setWindowTitle("Cameras");
+
+}
+
+void CamerasWidget::update()
+{
+    cv::Mat frame1 = this->robot->getSensors()->getCamera1();
+    cv::Mat frame2 = this->robot->getSensors()->getCamera2();
+
+    cv::resize(frame1, frame1, cv::Size(320, 240));
+    cv::resize(frame2, frame2, cv::Size(320, 240));
+
+    QImage imageQt1 = QImage((const unsigned char*)(frame1.data),
+                            frame1.cols,
+                            frame1.rows,
+                            frame1.step,
+                            QImage::Format_RGB888);
+
+    QImage imageQt2 = QImage((const unsigned char*)(frame2.data),
+                            frame2.cols,
+                            frame2.rows,
+                            frame2.step,
+                            QImage::Format_RGB888);
+
+    labelImage1->setPixmap(QPixmap::fromImage(imageQt1));
+    labelImage2->setPixmap(QPixmap::fromImage(imageQt2));
+}
+
+void CamerasWidget::mousePressEvent(QMouseEvent* event)
+{
+    float x = event->x();
+    float y = event->y();
+
+    QPoint p = labelImage1->mapFromParent(event->pos());
+    if(p.x()>320){
+        p = labelImage2->mapFromParent(event->pos());
+    }
+
+    std::cout << " --------------------" << std::endl;
+    std::cout << " X: " << p.x() << " Y: " << p.y() << std::endl;
+    std::cout << " X: " << x << " Y: " << y << std::endl;
+
+}
+
+

Added: trunk/src/components/introrob_qt/gui/widget/cameraswidget.h
===================================================================
--- trunk/src/components/introrob_qt/gui/widget/cameraswidget.h	                        (rev 0)
+++ trunk/src/components/introrob_qt/gui/widget/cameraswidget.h	2013-04-10 06:44:26 UTC (rev 899)
@@ -0,0 +1,30 @@
+#ifndef CAMERASWIDGET_H
+#define CAMERASWIDGET_H
+
+#include <QtGui>
+
+#include "../../robot/robot.h"
+
+class CamerasWidget: public QWidget
+{
+    Q_OBJECT
+
+public:
+    CamerasWidget(Robot *robot);
+
+    void update();
+
+private:
+    Robot* robot;
+    QLabel* labelImage1;
+    QLabel* labelImage2;
+
+protected:
+    void mousePressEvent(QMouseEvent* event);
+public slots:
+
+
+
+};
+
+#endif // CAMERASWIDGET_H

Added: trunk/src/components/introrob_qt/gui/widget/controlvw.cpp
===================================================================
--- trunk/src/components/introrob_qt/gui/widget/controlvw.cpp	                        (rev 0)
+++ trunk/src/components/introrob_qt/gui/widget/controlvw.cpp	2013-04-10 06:44:26 UTC (rev 899)
@@ -0,0 +1,99 @@
+#include "controlvw.h"
+
+controlVW::controlVW(QWidget *parent) :
+    QWidget(parent)
+{
+
+    QGridLayout* mainLayout = new QGridLayout();
+
+    setLayout(mainLayout);
+
+    setAutoFillBackground(true);
+
+//    show();
+
+    QPalette Pal(palette());
+    // set black background
+    Pal.setColor(QPalette::Background, Qt::black);
+    setAutoFillBackground(true);
+    setPalette(Pal);
+
+    setMinimumSize(400, 400);
+    qimage.load(":/images/pelota.png");
+
+}
+
+void controlVW::Stop()
+{
+    line = QPointF(0, 0);
+    repaint();
+
+}
+
+
+void controlVW::mouseMoveEvent ( QMouseEvent * event )
+{
+
+    if(event->buttons()==Qt::LeftButton ){
+
+        int x = event->x()-width()/2;
+        int y = event->y()-height()/2;
+
+        line = QPointF(x, y);
+
+        repaint();
+
+    }
+}
+
+void controlVW::paintEvent(QPaintEvent *)
+{
+
+   int _width = width();
+   int _height = height();
+
+
+   int width = 2;
+   QPen pen;
+
+   QPainter painter(this);
+   painter.setPen(pen);
+
+   pen = QPen(Qt::blue, width);
+   painter.setPen(pen);
+
+   // Centro del widget
+   painter.translate(QPoint(_width/2, _height/2));
+
+   // eje
+   painter.drawLine(QPointF(-_width, 0),
+                    QPointF( _width, 0));
+
+   painter.drawLine(QPointF(0, -_height),
+                    QPointF(0, _height));
+
+   // con el raton
+   pen = QPen(Qt::red, width);
+   painter.setPen(pen);
+
+   painter.drawLine(QPointF(line.x(), -_height),
+                    QPointF(line.x(), _height));
+
+   painter.drawLine(QPointF(-_width, line.y()),
+                    QPointF( _width, line.y()));
+
+//   std::cout << "x: " << line.x() << " y: " << -line.y() << std::endl;
+
+   float k = 0.01;
+   float p = 0;
+
+   float v_normalized = 40 * (k * line.y() + p)*(-1);
+   float w_normalized = 20 * (k * line.x() + p)*(-1);
+
+//   std::cout << "v_normalized: " << v_normalized << " w_normalized: " << w_normalized << std::endl;
+
+   emit VW_changed((int)v_normalized, (int)w_normalized);
+
+   painter.drawImage(line.x()-qimage.width()/2, line.y()-qimage.height()/2, qimage);
+
+}

Added: trunk/src/components/introrob_qt/gui/widget/controlvw.h
===================================================================
--- trunk/src/components/introrob_qt/gui/widget/controlvw.h	                        (rev 0)
+++ trunk/src/components/introrob_qt/gui/widget/controlvw.h	2013-04-10 06:44:26 UTC (rev 899)
@@ -0,0 +1,31 @@
+#ifndef CONTROLVW_H
+#define CONTROLVW_H
+
+#include <QtGui>
+
+#include <iostream>
+
+class controlVW : public QWidget
+{
+    Q_OBJECT
+public:
+    explicit controlVW(QWidget *parent = 0);
+    
+    void Stop();
+
+private:
+    QPointF line;
+    QImage qimage;
+
+protected:
+    void paintEvent(QPaintEvent *);
+    void mouseMoveEvent ( QMouseEvent * event );
+
+signals:
+    void VW_changed(int, int);
+
+public slots:
+    
+};
+
+#endif // CONTROLVW_H

Added: trunk/src/components/introrob_qt/gui/widget/glwidget.cpp
===================================================================
--- trunk/src/components/introrob_qt/gui/widget/glwidget.cpp	                        (rev 0)
+++ trunk/src/components/introrob_qt/gui/widget/glwidget.cpp	2013-04-10 06:44:26 UTC (rev 899)
@@ -0,0 +1,388 @@
+#include "glwidget.h"
+
+#ifndef GL_MULTISAMPLE
+#define GL_MULTISAMPLE  0x809D
+#endif
+
+GLWidget::GLWidget(StateGUI *stategui, Robot *robot, QWidget *parent)
+    : QGLWidget(QGLFormat(QGL::SampleBuffers), parent)
+{
+    this->stategui = stategui;
+    this->robot = robot;
+
+    this->glcam_pos_X = -100.;
+    this->glcam_pos_Y = -100.;
+    this->glcam_pos_Z = 70.;
+    this->glcam_foa_X = 0.;
+    this->glcam_foa_Y = 0.;
+    this->glcam_foa_Z = 0.;
+
+    this->lati = 0.1;
+    this->longi = -1.0;
+
+    this->old_x = 0.0;
+    this->old_y = 0.0;
+
+    this->radius = 20.0;
+
+    this->glcam_pos_X = 40.2625;
+    this->glcam_pos_Y = 2.19594;
+    this->glcam_pos_Z = 54.2651;
+    this->glcam_foa_X = 26.3395;
+    this->glcam_foa_Y = 1.63874;
+    this->glcam_foa_Z = 39.918;
+    this->lati = 0.91738e-07;
+    this->longi = 0.619999;
+
+    width = 600;
+    height = 400;
+
+    setWindowTitle("3D world");
+
+}
+
+GLWidget::~GLWidget()
+{
+}
+
+QSize GLWidget::minimumSizeHint() const
+{
+    return QSize(50, 50);
+}
+
+QSize GLWidget::sizeHint() const
+{
+    return QSize(width, height);
+}
+
+void GLWidget::initializeGL()
+{
+    GLfloat ambient[] = {1.0, 1.0, 1.0, 1.0};
+    GLfloat diffuse[] = {1.0, 1.0, 1.0, 1.0};
+    GLfloat position[] = {0.0, 3.0, 3.0, 0.0};
+    GLfloat lmodel_ambient[] = {0.2, 0.2, 0.2, 1.0};
+    GLfloat local_view[] = {0.0};
+
+    glViewport(0, 0, (GLint) width, (GLint) height);
+    glDrawBuffer(GL_BACK);
+    glClearColor(0.6f, 0.8f, 1.0f, 0.0f);
+    glClearDepth(1.0);
+    glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
+
+    /* With this, the pioneer appears correctly, but the cubes don't */
+    glLightfv(GL_LIGHT0, GL_AMBIENT, ambient);
+    glLightfv(GL_LIGHT0, GL_DIFFUSE, diffuse);
+    glLightfv(GL_LIGHT0, GL_POSITION, position);
+    glLightModelfv(GL_LIGHT_MODEL_AMBIENT, lmodel_ambient);
+    glLightModelfv(GL_LIGHT_MODEL_LOCAL_VIEWER, local_view);
+    glEnable(GL_LIGHT0);
+    // glEnable (GL_LIGHTING);
+    glEnable(GL_POINT_SMOOTH);
+
+    glEnable(GL_TEXTURE_2D); // Enable Texture Mapping
+    glEnable(GL_AUTO_NORMAL);
+    glEnable(GL_NORMALIZE);
+    glEnable(GL_DEPTH_TEST); // Enables Depth Testing
+    glDepthFunc(GL_LESS);
+    glShadeModel(GL_SMOOTH); // Enables Smooth Color Shading
+    glEnable(GL_BLEND);
+    glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA);
+}
+
+void GLWidget::paintGL()
+{
+    glDrawBuffer(GL_BACK);
+    glClearColor(0.6f, 0.8f, 1.0f, 0.0f);
+
+    glClearDepth(1.0);
+    glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
+    glEnable(GL_DEPTH_TEST);
+
+    glMatrixMode(GL_PROJECTION);
+    glLoadIdentity();
+
+   /*Angulo	ratio		znear, zfar*/
+
+
+   gluPerspective(50.0, width / height, 1.0, 50000.0);
+
+   glMatrixMode(GL_MODELVIEW);
+   glLoadIdentity();
+
+   /*pos cam		pto central	vector up*/
+   gluLookAt(this->glcam_pos_X, this->glcam_pos_Y, this->glcam_pos_Z,
+             this->glcam_foa_X, this->glcam_foa_Y, this->glcam_foa_Z,
+             0., 0., 1.);
+
+    // absolute axis
+    glLineWidth(3.0f);
+    glColor3f(0.7, 0., 0.);
+    glBegin(GL_LINES);
+    v3f(0.0, 0.0, 0.0);
+    v3f(10.0, 0.0, 0.0);
+    glEnd();
+    glColor3f(0., 0.7, 0.);
+    glBegin(GL_LINES);
+    v3f(0.0, 0.0, 0.0);
+    v3f(0.0, 10.0, 0.0);
+    glEnd();
+    glColor3f(0., 0., 0.7);
+    glBegin(GL_LINES);
+    v3f(0.0, 0.0, 0.0);
+    v3f(0.0, 0.0, 10.0);
+    glEnd();
+    glLineWidth(1.0f);
+
+    //SUELO
+    glColor3f(0.6, 0.6, 0.6);
+    glLineWidth(2.0f);
+    glBegin(GL_LINES);
+    for (int i = 0; i < ((int) MAXWORLD + 1); i++) {
+        v3f(-(int) MAXWORLD * 10 / 2. + (float) i * 10, -(int) MAXWORLD * 10 / 2., 0.);
+        v3f(-(int) MAXWORLD * 10 / 2. + (float) i * 10, (int) MAXWORLD * 10 / 2., 0.);
+        v3f(-(int) MAXWORLD * 10 / 2., -(int) MAXWORLD * 10 / 2. + (float) i * 10, 0.);
+        v3f((int) MAXWORLD * 10 / 2., -(int) MAXWORLD * 10 / 2. + (float) i * 10, 0.);
+    }
+    glEnd();
+
+    UpdateRobot();
+
+    //robot
+    drawRobot();
+
+    RunGraphicsAlgorithm();
+
+}
+
+void GLWidget::resizeGL(int width, int height)
+{
+    glViewport(0, 0, (GLint) width, (GLint) height);
+
+    glMatrixMode(GL_PROJECTION);
+    glLoadIdentity();
+    glOrtho(-0.5, +0.5, -0.5, +0.5, 4.0, 15.0);
+    glMatrixMode(GL_MODELVIEW);
+}
+
+void GLWidget::mouseMoveEvent(QMouseEvent *event)
+{
+
+    float desp = 0.01;
+    float x = event->x();
+    float y = event->y();
+
+    if ((x - old_x) > 0.0) longi -= desp;
+    else if ((x - old_x) < 0.0) longi += desp;
+
+    if ((y - old_y) > 0.0) lati += desp;
+    else if ((y - old_y) < 0.0) lati -= desp;
+
+    if(event->buttons()==Qt::LeftButton ){
+
+        this->glcam_pos_X = radius * cosf(lati) * cosf(longi) + this->glcam_foa_X;
+        this->glcam_pos_Y = radius * cosf(lati) * sinf(longi) + this->glcam_foa_Y;
+        this->glcam_pos_Z = radius * sinf(lati) + this->glcam_foa_Z;
+    }
+
+    if(event->buttons() == Qt::RightButton){
+
+        this->glcam_foa_X = -radius * cosf(lati) * cosf(longi) + this->glcam_pos_X;
+        this->glcam_foa_Y = -radius * cosf(lati) * sinf(longi) + this->glcam_pos_Y;
+        this->glcam_foa_Z = -radius * sinf(lati) + this->glcam_pos_Z;
+
+    }
+
+
+    old_x = x;
+    old_y = y;
+}
+
+void GLWidget::wheelEvent(QWheelEvent* event)
+{
+    float vx, vy, vz;
+
+    vx = (this->glcam_foa_X - this->glcam_pos_X) / radius;
+    vy = (this->glcam_foa_Y - this->glcam_pos_Y) / radius;
+    vz = (this->glcam_foa_Z - this->glcam_pos_Z) / radius;
+
+    if (event->delta() > 0) {
+        this->glcam_foa_X = this->glcam_foa_X + vx;
+        this->glcam_foa_Y = this->glcam_foa_Y + vy;
+        this->glcam_foa_Z = this->glcam_foa_Z + vz;
+
+        this->glcam_pos_X = this->glcam_pos_X + vx;
+        this->glcam_pos_Y = this->glcam_pos_Y + vy;
+        this->glcam_pos_Z = this->glcam_pos_Z + vz;
+    }
+
+    if (event->delta() < 0) {
+        this->glcam_foa_X = this->glcam_foa_X - vx;
+        this->glcam_foa_Y = this->glcam_foa_Y - vy;
+        this->glcam_foa_Z = this->glcam_foa_Z - vz;
+
+        this->glcam_pos_X = this->glcam_pos_X - vx;
+        this->glcam_pos_Y = this->glcam_pos_Y - vy;
+        this->glcam_pos_Z = this->glcam_pos_Z - vz;
+    }
+
+}
+
+void GLWidget::setToCamera1 () {
+    this->glcam_pos_X=0.;
+    this->glcam_pos_Y=(int)MAXWORLD*10/1.2;
+    this->glcam_pos_Z=150.;
+
+    this->glcam_foa_X=0.;
+    this->glcam_foa_Y=0.;
+    this->glcam_foa_Z=0.;
+
+//    lati = asin( (this->glcam_pos_Z -this->glcam_foa_Z) /radius);
+//    longi = acos ( (this->glcam_pos_Y - this->glcam_foa_Y)/ (radius* sinf(lati)) );
+
+}
+/*
+void GLWidget::setToCamera2 () {
+    this->glcam_pos_X=-(int)MAXWORLD*10/1.2;
+    this->glcam_pos_Y=0.;
+    this->glcam_pos_Z=150.;
+
+    this->glcam_foa_X=0.;
+    this->glcam_foa_Y=0.;
+    this->glcam_foa_Z=0.;
+}
+
+void GLWidget::setToCamera3 () {
+    this->glcam_pos_X=0.;
+    this->glcam_pos_Y=-(int)MAXWORLD*10/1.2;
+    this->glcam_pos_Z=150.;
+
+    this->glcam_foa_X=0.;
+    this->glcam_foa_Y=0.;
+    this->glcam_foa_Z=0.;
+}
+
+void GLWidget::setToCamera4 () {
+    this->glcam_pos_X=(int)MAXWORLD*10/1.2;
+    this->glcam_pos_Y=0.;
+    this->glcam_pos_Z=150.;
+
+    this->glcam_foa_X=0.;
+    this->glcam_foa_Y=0.;
+    this->glcam_foa_Z=0.;
+}
+*/
+
+void GLWidget::UpdateRobot()
+{
+    mutex.lock();
+
+    this->robot_x = this->robot->getSensors()->getRobotPoseX()/100;
+    this->robot_y = this->robot->getSensors()->getRobotPoseY()/100;
+    this->robot_theta = this->robot->getSensors()->getRobotPoseTheta();
+    this->rueda_theta = -this->robot->getActuators()->getMotorW();
+
+    if(this->robot->getSensors()->getBoolLaser())
+        this->laserData = this->robot->getSensors()->getLaserData();
+
+    mutex.unlock();
+}
+
+
+
+void GLWidget::drawRobot()
+{
+    //////////////////////////// Pioneer //////////////////////////////
+
+    mutex.lock();
+    // Robot Frame of Reference
+    float posx = this->robot_x / 100.;
+    float posy = this->robot_y / 100.;
+    float posz = 0.;
+    float foax = this->robot_x / 100.;
+    float foay = this->robot_y / 100.;
+    float foaz = 10.;
+    float roll = this->robot_theta;
+
+    glTranslatef(posx, posy, posz);
+    float dx = (foax - posx);
+    float dy = (foay - posy);
+    float dz = (foaz - posz);
+    float longiPioneer = (float) atan2(dy, dx)*360. / (2. * PI);
+    glRotatef(longiPioneer, 0., 0., 1.);
+    float r = sqrt(dx * dx + dy * dy + dz * dz);
+    float latiPioneer;
+    if (r < 0.00001) latiPioneer = 0.;
+    else latiPioneer = acos(dz / r)*360. / (2. * PI);
+    glRotatef(latiPioneer, 0., 1., 0.);
+    glRotatef(roll, 0., 0., 1.);
+
+    // X axis
+    glColor3f(1., 0., 0.);
+    glBegin(GL_LINES);
+    v3f(0.0, 0.0, 0.0);
+    v3f(5.0, 0.0, 0.0);
+    glEnd();
+
+    // Y axis
+    glColor3f(0., 1., 0.);
+    glBegin(GL_LINES);
+    v3f(0.0, 0.0, 0.0);
+    v3f(0.0, 5.0, 0.0);
+    glEnd();
+
+    // Z axis
+    glColor3f(0., 0., 1.);
+    glBegin(GL_LINES);
+    v3f(0.0, 0.0, 0.0);
+    v3f(0.0, 0.0, 5.0);
+    glEnd();
+
+    // robot body
+    glEnable(GL_LIGHTING);
+    glPushMatrix();
+    glTranslatef(1., 0., 0.);
+
+    // the body it is not centered. With this translation we center it
+    loadModel(); // CARGAMOS EL MODELO DEL PIONEER
+    glPopMatrix();
+    glDisable(GL_LIGHTING);
+
+    //sensors
+    drawLaser();
+
+    mutex.unlock();
+}
+
+void GLWidget::drawLaser()
+{
+
+    float Xp_sensor;
+    float Yp_sensor;
+
+    ///LASER
+    float matColors[4];
+    glLineWidth(1.0f);
+    glEnable(GL_LIGHTING); // luces... entramos en parte de dibujado del pioneer con texturas
+    matColors[0] = 1.0;
+    matColors[1] = 0.0;
+    matColors[2] = 0.0;
+    matColors[3] = 0.5;
+    glMaterialfv(GL_FRONT_AND_BACK, GL_AMBIENT_AND_DIFFUSE, matColors);
+    glBegin(GL_POLYGON);
+
+    v3f(0, 0,  2);
+
+    for (unsigned k = 0; k < laserData.size(); k++) {
+
+        Xp_sensor = this->laserData[k]/100 * cos(((float) k - 90.) * 3.14/180);
+        Yp_sensor = this->laserData[k]/100 * sin(((float) k - 90.) * 3.14/180);
+
+        v3f(Xp_sensor, Yp_sensor,  2.0f);
+
+    }
+    v3f(0, 0,  2);
+
+    glEnd();
+    glDisable(GL_LIGHTING);
+
+}


Property changes on: trunk/src/components/introrob_qt/gui/widget/glwidget.cpp
___________________________________________________________________
Added: svn:executable
   + *

Added: trunk/src/components/introrob_qt/gui/widget/glwidget.h
===================================================================
--- trunk/src/components/introrob_qt/gui/widget/glwidget.h	                        (rev 0)
+++ trunk/src/components/introrob_qt/gui/widget/glwidget.h	2013-04-10 06:44:26 UTC (rev 899)
@@ -0,0 +1,121 @@
+/****************************************************************************
+**
+** Copyright (C) 2012 Nokia Corporation and/or its subsidiary(-ies).
+** All rights reserved.
+** Contact: Nokia Corporation (qt-info en nokia.com)
+**
+** This file is part of the examples of the Qt Toolkit.
+**
+** $QT_BEGIN_LICENSE:BSD$
+** You may use this file under the terms of the BSD license as follows:
+**
+** "Redistribution and use in source and binary forms, with or without
+** modification, are permitted provided that the following conditions are
+** met:
+**   * Redistributions of source code must retain the above copyright
+**     notice, this list of conditions and the following disclaimer.
+**   * Redistributions in binary form must reproduce the above copyright
+**     notice, this list of conditions and the following disclaimer in
+**     the documentation and/or other materials provided with the
+**     distribution.
+**   * Neither the name of Nokia Corporation and its Subsidiary(-ies) nor
+**     the names of its contributors may be used to endorse or promote
+**     products derived from this software without specific prior written
+**     permission.
+**
+** THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+** "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+** LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
+** A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
+** OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+** SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+** LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
+** DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
+** THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+** (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+** OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE."
+** $QT_END_LICENSE$
+**
+****************************************************************************/
+
+#ifndef GLWIDGET_H
+#define GLWIDGET_H
+
+#include <QGLWidget>
+#include <QtGui>
+
+#include <GL/glut.h>
+#include <GL/gl.h>
+
+#include "../stategui.h"
+#include "../../robot/robot.h"
+
+#include "../../pioneer/pioneer.h"
+#include "../../pioneer/pioneeropengl.h"
+
+#define v3f glVertex3f
+#define MAXWORLD 30
+#define PI 3.1416
+
+class GLWidget : public QGLWidget
+{
+    Q_OBJECT
+
+public:
+    GLWidget(StateGUI *stategui, Robot* robot, QWidget *parent = 0);
+    ~GLWidget();
+
+    void RunGraphicsAlgorithm();
+
+    void UpdateRobot();
+
+    QSize minimumSizeHint() const;
+    QSize sizeHint() const;
+
+    void setToCamera1 ();
+
+    void drawRobot();
+    void drawLaser();
+
+private:
+
+    std::vector<float> laserData;
+
+    StateGUI *stategui;
+    Robot* robot;
+
+    float  glcam_pos_X;
+    float  glcam_pos_Y;
+    float  glcam_pos_Z;
+    float  glcam_foa_X;
+    float  glcam_foa_Y;
+    float  glcam_foa_Z;
+
+    float lati;
+    float longi;
+
+    float old_x;
+    float old_y;
+
+    float radius;
+
+    int width;
+    int height;
+
+    QMutex mutex;
+    float robot_x;
+    float robot_y;
+    float robot_theta;
+    float rueda_theta;
+signals:
+    void on_Destino_changed(float, float);
+
+protected:
+    void initializeGL();
+    void paintGL();
+    void resizeGL(int width, int height);
+    void mouseMoveEvent(QMouseEvent *event);
+    void wheelEvent(QWheelEvent* event);
+};
+
+#endif


Property changes on: trunk/src/components/introrob_qt/gui/widget/glwidget.h
___________________________________________________________________
Added: svn:executable
   + *

Added: trunk/src/components/introrob_qt/gui/widget/laserwidget.cpp
===================================================================
--- trunk/src/components/introrob_qt/gui/widget/laserwidget.cpp	                        (rev 0)
+++ trunk/src/components/introrob_qt/gui/widget/laserwidget.cpp	2013-04-10 06:44:26 UTC (rev 899)
@@ -0,0 +1,58 @@
+#include "laserwidget.h"
+
+LaserWidget::LaserWidget()
+{
+
+    setAutoFillBackground(true);
+
+    QPalette Pal(palette());
+    // set black background
+    Pal.setColor(QPalette::Background, Qt::black);
+    setAutoFillBackground(true);
+    setPalette(Pal);
+
+    setMaximumSize(530, 250);
+
+    setWindowTitle("Laser");
+}
+
+void LaserWidget::update(std::vector<float> laserData)
+{
+
+    mutex.lock();
+
+    this->laserData = laserData;
+
+    mutex.unlock();
+
+}
+
+void LaserWidget::paintEvent(QPaintEvent *)
+{
+    int _width = width();
+    int _height = height();
+
+
+    int width = 2;
+    QPen pen;
+
+    QPainter painter(this);
+    painter.setPen(pen);
+
+    pen = QPen(Qt::blue, width);
+    painter.setPen(pen);
+
+    // Centro del widget y abajo del todo
+    painter.translate(QPoint(80, 50));
+
+    float PI = 3.1416;
+
+    for (int i = 0; i < this->laserData.size(); i++) {
+        painter.drawLine(QPointF(180 + ((this->laserData[i] / 45)*(cos((i) * PI / 180))),
+                                 180 - ((this->laserData[i] / 45)*(sin((i) * PI / 180)))),
+                         QPointF(180 + ((this->laserData[i + 1] / 45)*(cos((i + 1) * PI / 180))),
+                                 180 - ((this->laserData[i + 1] / 45)*(sin((i + 1) * PI / 180)))));
+    }
+}
+
+

Added: trunk/src/components/introrob_qt/gui/widget/laserwidget.h
===================================================================
--- trunk/src/components/introrob_qt/gui/widget/laserwidget.h	                        (rev 0)
+++ trunk/src/components/introrob_qt/gui/widget/laserwidget.h	2013-04-10 06:44:26 UTC (rev 899)
@@ -0,0 +1,20 @@
+#ifndef LASERWIDGET_H
+#define LASERWIDGET_H
+
+#include <QtGui>
+
+class LaserWidget: public QWidget
+{
+public:
+    LaserWidget();
+    void update(std::vector<float> laserData);
+
+protected:
+    void paintEvent(QPaintEvent *);
+
+    QMutex mutex;
+    std::vector<float> laserData;
+
+};
+
+#endif // LASERWIDGET_H

Added: trunk/src/components/introrob_qt/images/pelota.png
===================================================================
(Binary files differ)


Property changes on: trunk/src/components/introrob_qt/images/pelota.png
___________________________________________________________________
Added: svn:mime-type
   + application/octet-stream

Added: trunk/src/components/introrob_qt/images/play.png
===================================================================
(Binary files differ)


Property changes on: trunk/src/components/introrob_qt/images/play.png
___________________________________________________________________
Added: svn:mime-type
   + application/octet-stream

Added: trunk/src/components/introrob_qt/images/stop.png
===================================================================
(Binary files differ)


Property changes on: trunk/src/components/introrob_qt/images/stop.png
___________________________________________________________________
Added: svn:mime-type
   + application/octet-stream

Added: trunk/src/components/introrob_qt/introrob.cfg
===================================================================
--- trunk/src/components/introrob_qt/introrob.cfg	                        (rev 0)
+++ trunk/src/components/introrob_qt/introrob.cfg	2013-04-10 06:44:26 UTC (rev 899)
@@ -0,0 +1,10 @@
+introrob.Motors.Proxy=Motors:tcp -h chica.gsyc.es -p 9999
+introrob.Camera1.Proxy=cam_sensor_left:tcp -h chica.gsyc.es -p 9995
+introrob.Camera2.Proxy=cam_sensor_right:tcp -h chica.gsyc.es -p 9994
+introrob.Encoders.Proxy=Encoders:tcp -h chica.gsyc.es -p 9997
+introrob.Laser.Proxy=Laser:tcp -h chica.gsyc.es -p 9996
+introrob.Laser=0
+introrob.Pose3Dencoders1.Proxy=Pose3DEncoders1:tcp -h chica.gsyc.es -p 9993
+introrob.Pose3Dencoders2.Proxy=Pose3DEncoders2:tcp -h chica.gsyc.es -p 9992
+introrob.Pose3Dmotors1.Proxy=Pose3DMotors1:tcp -h chica.gsyc.es -p 9991
+introrob.Pose3Dmotors2.Proxy=Pose3DMotors2:tcp -h chica.gsyc.es -p 9990

Added: trunk/src/components/introrob_qt/introrob_qt.pro
===================================================================
--- trunk/src/components/introrob_qt/introrob_qt.pro	                        (rev 0)
+++ trunk/src/components/introrob_qt/introrob_qt.pro	2013-04-10 06:44:26 UTC (rev 899)
@@ -0,0 +1,61 @@
+SOURCES += \
+    main.cpp \
+    robot/sensors.cpp \
+    robot/robot.cpp \
+    robot/actuators.cpp \
+    robot/threadupdaterobot.cpp \
+    gui/gui.cpp \
+    gui/threadupdategui.cpp \
+    gui/stategui.cpp \
+    gui/widget/controlvw.cpp \
+    MyAlgorithm.cpp \
+    gui/widget/cameraswidget.cpp \
+    gui/widget/glwidget.cpp \
+    pioneer/pioneeropengl.c \
+    pioneer/pioneer.c \
+    gui/widget/laserwidget.cpp \
+    depuratewindow.cpp
+
+HEADERS += \
+    robot/sensors.h \
+    robot/robot.h \
+    robot/actuators.h \
+    robot/threadupdaterobot.h \
+    gui/gui.h \
+    gui/threadupdategui.h \
+    gui/stategui.h \
+    gui/widget/controlvw.h \
+    gui/widget/cameraswidget.h \
+    gui/widget/glwidget.h \
+    pioneer/pioneeropengl.h \
+    pioneer/pioneer.h \
+    gui/widget/laserwidget.h \
+    depuratewindow.h
+
+
+
+QT           += opengl
+
+#jderobot
+INCLUDEPATH +=  /usr/local/include/jderobot  /usr/local/include/gearbox
+LIBS += -L/usr/local/lib/jderobot \
+        -lbgfgsegmentation  -ljderobotice         -lprogeo \
+        -lcolorspacesmm     -lJderobotInterfaces  -lvisionlib \
+        -lcolorspaces       -ljderobotutil
+
+#opencv
+INCLUDEPATH += /usr/include/opencv
+LIBS += -L/usr/lib \
+    -lopencv_core \
+    -lopencv_highgui \
+    -lopencv_imgproc
+
+#ICE
+LIBS += -L/usr/lib \
+    -lIce -lIceUtil
+
+OTHER_FILES += \
+    introrob.cfg
+
+RESOURCES += \
+    resources.qrc

Added: trunk/src/components/introrob_qt/main.cpp
===================================================================
--- trunk/src/components/introrob_qt/main.cpp	                        (rev 0)
+++ trunk/src/components/introrob_qt/main.cpp	2013-04-10 06:44:26 UTC (rev 899)
@@ -0,0 +1,36 @@
+#include "robot/robot.h"
+#include "robot/threadupdaterobot.h"
+#include "gui/threadupdategui.h"
+#include "gui/stategui.h"
+
+int main(int argc, char *argv[])
+{
+    QApplication app(argc, argv);
+
+    Ice::CommunicatorPtr ic;
+
+    try {
+         //-----------------ICE----------------//
+         ic = Ice::initialize(argc, argv);
+
+         // Variables Compartidas
+         // Robot -> Sensores, navegacion, actuadores
+         Robot *robot = new Robot(ic);
+         StateGUI* state = new StateGUI();
+
+         ThreadUpdateRobot* thread_update_robot = new ThreadUpdateRobot(robot,state);
+         thread_update_robot->start();
+
+         ThreadUpdateGUI* thread_update_gui = new ThreadUpdateGUI(robot, state);
+         thread_update_gui->start();
+
+    } catch (const Ice::Exception& ex) {
+        std::cerr << ex << std::endl;
+        exit(-1);
+    } catch (const char* msg) {
+        std::cerr << msg << std::endl;
+        exit(-1);
+    }
+
+    app.exec();
+}

Added: trunk/src/components/introrob_qt/pioneer/pioneer.c
===================================================================
--- trunk/src/components/introrob_qt/pioneer/pioneer.c	                        (rev 0)
+++ trunk/src/components/introrob_qt/pioneer/pioneer.c	2013-04-10 06:44:26 UTC (rev 899)
@@ -0,0 +1,142 @@
+/*
+ *
+ *  Copyright (C) 1997-2008 JDE Developers Team
+ *
+ *  This program is free software: you can redistribute it and/or modify
+ *  it under the terms of the GNU General Public License as published by
+ *  the Free Software Foundation, either version 3 of the License, or
+ *  (at your option) any later version.
+ *
+ *  This program is distributed in the hope that it will be useful,
+ *  but WITHOUT ANY WARRANTY; without even the implied warranty of
+ *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ *  GNU General Public License for more details.
+ *
+ *  You should have received a copy of the GNU General Public License
+ *  along with this program.  If not, see http://www.gnu.org/licenses/. 
+ *
+ *  Authors : Jose María Cañas Plaza <jmplaza en gsyc.es>
+ *
+ */
+
+
+#include "pioneer.h"
+#include <math.h>
+
+/* sensor positions in the Robot FrameOfReference */
+float laser_coord[5];
+float us_coord[NUM_SONARS][5];
+/**< Estructura para poder cambiar medidas de sensor a coordenadas locales al robot, y de estas al sist ref inicial: xsensor, ysensor, orientsensor,cossensor y sinsensor del sensor respecto del sistema solidario con el robot. Es fija. */
+float camera_coord[5];
+
+/** coordinate transformations from one FrameOfReference to another. */
+void us2xy(int numsensor, float d, float phi, Tvoxel *point, float *jderobot)
+
+/*  Calcula la posicion respecto de sistema de referencia inicial (sistema odometrico) del punto detectado en el sistema de coordenadas solidario al sensor. OJO depende de estructura posiciones y de por el sensor, sabiendo que:
+a) el robot se encuentra en robot[0], robot[1] con orientacion robot[2] respecto al sistema de referencia externo,
+b) que el sensor se encuentra en xsen, ysen con orientacion asen respecto del sistema centrado en el robot apuntando hacia su frente, 
+c) el punto esta a distancia d del sensor en el angulo phi 
+ */ {
+    float Xp_sensor, Yp_sensor, Xp_robot, Yp_robot;
+
+    Xp_sensor = d * cos(DEGTORAD * phi);
+    Yp_sensor = d * sin(DEGTORAD * phi);
+    /* Coordenadas del punto detectado por el US con respecto al sistema del sensor, eje x+ normal al sensor */
+    Xp_robot = us_coord[numsensor][0] + Xp_sensor * us_coord[numsensor][3] - Yp_sensor * us_coord[numsensor][4];
+    Yp_robot = us_coord[numsensor][1] + Yp_sensor * us_coord[numsensor][3] + Xp_sensor * us_coord[numsensor][4];
+    /* Coordenadas del punto detectado por el US con respecto al robot */
+    (*point).x = Xp_robot * jderobot[3] - Yp_robot * jderobot[4] + jderobot[0];
+    (*point).y = Yp_robot * jderobot[3] + Xp_robot * jderobot[4] + jderobot[1];
+    /* Coordenadas del punto con respecto al origen del SdeR */
+}
+
+void laser2xy(int reading, float d, Tvoxel *point, float *jderobot)
+
+/*  Calcula la posicion respecto de sistema de referencia inicial (sistema odometrico) del punto detectado en el sistema de coordenadas solidario al sensor. OJO depende de estructura posiciones y de por el sensor, sabiendo que:
+a) el robot se encuentra en robot[0], robot[1] con orientacion robot[2] respecto al sistema de referencia externo,
+b) que el sensor se encuentra en xsen, ysen con orientacion asen respecto del sistema centrado en el robot apuntando hacia su frente, 
+ */ {
+    float Xp_sensor, Yp_sensor, Xp_robot, Yp_robot, phi;
+
+    phi = -90. + 180. * reading / NUM_LASER;
+    Xp_sensor = d * cos(DEGTORAD * phi);
+    Yp_sensor = d * sin(DEGTORAD * phi);
+    Xp_robot = laser_coord[0] + Xp_sensor * laser_coord[3] - Yp_sensor * laser_coord[4];
+    Yp_robot = laser_coord[1] + Yp_sensor * laser_coord[3] + Xp_sensor * laser_coord[4];
+    /* Coordenadas del punto detectado por el laser con respecto al robot */
+    (*point).x = Xp_robot * jderobot[3] - Yp_robot * jderobot[4] + jderobot[0];
+    (*point).y = Yp_robot * jderobot[3] + Xp_robot * jderobot[4] + jderobot[1];
+    /* Coordenadas del punto con respecto al origen del SdeR */
+}
+
+/* init the pioneer robot */
+void init_pioneer() {
+    int j;
+
+    /*  Posicion y orientacion de los sensores con respecto al centro del eje trasero del robot. Dado un sistema de coordenadas con la X en la direccion de movimiento del robot, los angulos se miden considerando que el eje X toma valor 0 y siendo positivos cuando se gira en sentido contrario al de movimiento de las agujas del reloj. Se utiliza para cambiar las distancias sensoriales al sistema de referencia local, solidario con el robot-enclosure. la rellena con milimetros y grados.   */
+    us_coord[0][0] = 115.;
+    us_coord[0][1] = 130.;
+    us_coord[0][2] = 90.;
+    us_coord[1][0] = 155.;
+    us_coord[1][1] = 115.;
+    us_coord[1][2] = 50.;
+    us_coord[2][0] = 190.;
+    us_coord[2][1] = 80.;
+    us_coord[2][2] = 30.;
+    us_coord[3][0] = 210.;
+    us_coord[3][1] = 25.;
+    us_coord[3][2] = 10.;
+    us_coord[4][0] = 210.;
+    us_coord[4][1] = -25.;
+    us_coord[4][2] = 350.;
+    us_coord[5][0] = 190.;
+    us_coord[5][1] = -80.;
+    us_coord[5][2] = 330.;
+    us_coord[6][0] = 155.;
+    us_coord[6][1] = -115.;
+    us_coord[6][2] = 310;
+    us_coord[7][0] = 115.;
+    us_coord[7][1] = -130.;
+    us_coord[7][2] = 270.;
+    us_coord[8][0] = -115.;
+    us_coord[8][1] = -130.;
+    us_coord[8][2] = 270.;
+    us_coord[9][0] = -155.;
+    us_coord[9][1] = -115.;
+    us_coord[9][2] = 230.;
+    us_coord[10][0] = -190.;
+    us_coord[10][1] = -80.;
+    us_coord[10][2] = 210.;
+    us_coord[11][0] = -210.;
+    us_coord[11][1] = -25.;
+    us_coord[11][2] = 190.;
+    us_coord[12][0] = -210.;
+    us_coord[12][1] = 25.;
+    us_coord[12][2] = 170.;
+    us_coord[13][0] = -190.;
+    us_coord[13][1] = 80.;
+    us_coord[13][2] = 150.;
+    us_coord[14][0] = -155.;
+    us_coord[14][1] = 115.;
+    us_coord[14][2] = 130.;
+    us_coord[15][0] = -115.;
+    us_coord[15][1] = 130.;
+    us_coord[15][2] = 90.;
+
+    for (j = 0; j < NUM_SONARS; j++) {
+        us_coord[j][3] = cos(us_coord[j][2] * DEGTORAD);
+        us_coord[j][4] = sin(us_coord[j][2] * DEGTORAD);
+    }
+
+    laser_coord[0] = 19.;
+    laser_coord[1] = 0.;
+    laser_coord[2] = 0.;
+    laser_coord[3] = cos(laser_coord[2] * DEGTORAD);
+    laser_coord[4] = sin(laser_coord[2] * DEGTORAD);
+
+    camera_coord[0] = 190.;
+    camera_coord[1] = 0.;
+    camera_coord[2] = 0.;
+    camera_coord[3] = cos(camera_coord[2] * DEGTORAD);
+    camera_coord[4] = sin(camera_coord[2] * DEGTORAD);
+}

Added: trunk/src/components/introrob_qt/pioneer/pioneer.h
===================================================================
--- trunk/src/components/introrob_qt/pioneer/pioneer.h	                        (rev 0)
+++ trunk/src/components/introrob_qt/pioneer/pioneer.h	2013-04-10 06:44:26 UTC (rev 899)
@@ -0,0 +1,64 @@
+/*
+ *
+ *  Copyright (C) 1997-2011 JDERobot Developers Team
+ *
+ *  This program is free software: you can redistribute it and/or modify
+ *  it under the terms of the GNU General Public License as published by
+ *  the Free Software Foundation, either version 3 of the License, or
+ *  (at your option) any later version.
+ *
+ *  This program is distributed in the hope that it will be useful,
+ *  but WITHOUT ANY WARRANTY; without even the implied warranty of
+ *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ *  GNU General Public License for more details.
+ *
+ *  You should have received a copy of the GNU General Public License
+ *  along with this program.  If not, see http://www.gnu.org/licenses/. 
+ *
+ *  Authors : Jose María Cañas Plaza <jmplaza en gsyc.es>
+ *
+ */
+#ifdef __cplusplus
+extern "C" {
+#endif 
+
+#ifndef tvoxel
+#define tvoxel
+
+typedef struct voxel {
+        float x;
+        float y;
+    } Tvoxel;
+#endif
+
+    extern void us2xy(int numsensor, float d, float phi, Tvoxel *point, float *jderobot);
+    extern void laser2xy(int reading, float d, Tvoxel *point, float *jderobot);
+    extern void init_pioneer();
+
+    /***************** Robot Configuration ***************/
+#define NUM_LASER 180
+#define NUM_SONARS 16
+#define NUM_BUMPERS 10
+#define MAX_VEL 1000 /* mm/sec, hardware limit: 1800 */
+#define MAX_RVEL 180 /* deg/sec, hardware limit: 360 */
+    /* SIF image size */
+#define SIFNTSC_ROWS 240
+#define SIFNTSC_COLUMNS 320
+    /* directed perception pantilt limits */
+#define MAX_PAN_ANGLE 159.13 /* degrees */
+#define MIN_PAN_ANGLE -159.13 /* degrees */
+#define MAX_TILT_ANGLE 30. /* degrees */
+#define MIN_TILT_ANGLE -46. /* degrees */
+#define MAX_SPEED_PANTILT 205.89
+
+    /** Conversion from deg to rad*/
+#define DEGTORAD     (3.14159264 / 180.0)
+
+    extern float laser_coord[5]; /* laser sensor position */
+    extern float us_coord[NUM_SONARS][5]; /* us sensor positions */
+    extern float camera_coord[5]; /* camera position */
+
+#ifdef __cplusplus
+}
+#endif 
+

Added: trunk/src/components/introrob_qt/pioneer/pioneeropengl.c
===================================================================
--- trunk/src/components/introrob_qt/pioneer/pioneeropengl.c	                        (rev 0)
+++ trunk/src/components/introrob_qt/pioneer/pioneeropengl.c	2013-04-10 06:44:26 UTC (rev 899)
@@ -0,0 +1,26278 @@
+#include "pioneeropengl.h"
+
+//object: Circle.005_0
+void load_0() {
+	float matColors[4];
+	matColors[0] = 0.773190;
+	matColors[1] = 0.932781;
+	matColors[2] = 0.017316;
+	matColors[3] = 1.000000;
+	glMaterialfv(GL_FRONT_AND_BACK,GL_AMBIENT_AND_DIFFUSE,matColors);
+	glBegin(GL_TRIANGLES);
+	glNormal3f(0.685873, -0.317362, 0.654836);
+	glVertex3f(-0.895600, -1.702140, 1.527864);
+	glNormal3f(0.685873, -0.317362, 0.654836);
+	glVertex3f(-1.088387, -1.702140, 1.399047);
+	glNormal3f(0.685873, -0.317362, 0.654836);
+	glVertex3f(-1.217203, -1.702140, 1.206260);
+	glEnd();
+	glBegin(GL_TRIANGLES);
+    glNormal3f(0.685873, -0.317362, 0.654836);
+	glVertex3f(-0.895600, -1.702140, 1.527864);
+	glNormal3f(0.685873, -0.317362, 0.654836);
+	glVertex3f(-1.217203, -1.702140, 1.206260);
+	glNormal3f(0.685873, -0.317362, 0.654836);
+	glVertex3f(-1.262437, -1.702140, 0.978852);
+	glEnd();
+	glBegin(GL_TRIANGLES);
+	glNormal3f(0.685873, -0.317362, 0.654836);
+	glVertex3f(-0.668192, -1.702140, 1.573098);
+	glNormal3f(0.685873, -0.317362, 0.654836);
+	glVertex3f(-0.895600, -1.702140, 1.527864);
+	glNormal3f(0.685873, -0.317362, 0.654836);
+	glVertex3f(-1.262437, -1.702140, 0.978852);
+	glEnd();
+	glBegin(GL_TRIANGLES);
+	glNormal3f(0.685873, -0.317362, 0.654836);
+	glVertex3f(-0.668192, -1.702140, 1.573098);
+	glNormal3f(0.685873, -0.317362, 0.654836);
+	glVertex3f(-1.262437, -1.702140, 0.978852);
+	glNormal3f(0.685873, -0.317362, 0.654836);
+	glVertex3f(-1.217203, -1.702140, 0.751444);
+	glEnd();
+	glBegin(GL_TRIANGLES);
+	glNormal3f(0.685873, -0.317362, 0.654836);
+	glVertex3f(-0.440784, -1.702140, 1.527864);
+	glNormal3f(0.685873, -0.317362, 0.654836);
+	glVertex3f(-0.668192, -1.702140, 1.573098);
+	glNormal3f(0.685873, -0.317362, 0.654836);
+	glVertex3f(-1.217203, -1.702140, 0.751444);
+	glEnd();
+	glBegin(GL_TRIANGLES);
+	glNormal3f(0.685873, -0.317362, 0.654836);
+	glVertex3f(-0.440784, -1.702140, 1.527864);
+	glNormal3f(0.685873, -0.317362, 0.654836);
+	glVertex3f(-1.217203, -1.702140, 0.751444);
+	glNormal3f(0.685873, -0.317362, 0.654836);
+	glVertex3f(-1.088387, -1.702140, 0.558657);
+	glEnd();
+	glBegin(GL_TRIANGLES);
+	glNormal3f(0.685873, -0.317362, 0.654836);
+	glVertex3f(-0.247997, -1.702140, 1.399048);
+	glNormal3f(0.685873, -0.317362, 0.654836);
+	glVertex3f(-0.440784, -1.702140, 1.527864);
+	glNormal3f(0.685873, -0.317362, 0.654836);
+	glVertex3f(-1.088387, -1.702140, 0.558657);
+	glEnd();
+	glBegin(GL_TRIANGLES);
+	glNormal3f(0.685873, -0.317362, 0.654836);
+	glVertex3f(-0.247997, -1.702140, 1.399048);
+	glNormal3f(0.685873, -0.317362, 0.654836);
+	glVertex3f(-1.088387, -1.702140, 0.558657);
+	glNormal3f(0.685873, -0.317362, 0.654836);
+	glVertex3f(-0.895600, -1.702140, 0.429841);
+	glEnd();
+	glBegin(GL_TRIANGLES);
+	glNormal3f(0.685873, -0.317362, 0.654836);
+	glVertex3f(-0.119180, -1.702140, 1.206261);
+	glNormal3f(0.685873, -0.317362, 0.654836);
+	glVertex3f(-0.247997, -1.702140, 1.399048);
+	glNormal3f(0.685873, -0.317362, 0.654836);
+	glVertex3f(-0.895600, -1.702140, 0.429841);
+	glEnd();
+	glBegin(GL_TRIANGLES);
+	glNormal3f(0.685873, -0.317362, 0.654836);
+	glVertex3f(-0.119180, -1.702140, 1.206261);
+	glNormal3f(0.685873, -0.317362, 0.654836);
+	glVertex3f(-0.895600, -1.702140, 0.429841);
+	glNormal3f(0.685873, -0.317362, 0.654836);
+	glVertex3f(-0.668192, -1.702140, 0.384607);
+	glEnd();
+	glBegin(GL_TRIANGLES);
+	glNormal3f(0.685873, -0.317362, 0.654836);
+	glVertex3f(-0.073946, -1.702140, 0.978853);
+	glNormal3f(0.685873, -0.317362, 0.654836);
+	glVertex3f(-0.119180, -1.702140, 1.206261);
+	glNormal3f(0.685873, -0.317362, 0.654836);
+	glVertex3f(-0.668192, -1.702140, 0.384607);
+	glEnd();
+	glBegin(GL_TRIANGLES);
+	glNormal3f(0.685873, -0.317362, 0.654836);
+	glVertex3f(-0.073946, -1.702140, 0.978853);
+	glNormal3f(0.685873, -0.317362, 0.654836);
+	glVertex3f(-0.668192, -1.702140, 0.384607);
+	glNormal3f(0.685873, -0.317362, 0.654836);
+	glVertex3f(-0.440784, -1.702140, 0.429841);
+	glEnd();
+	glBegin(GL_TRIANGLES);
+	glNormal3f(0.685873, -0.317362, 0.654836);
+	glVertex3f(-0.119180, -1.702140, 0.751445);
+	glNormal3f(0.685873, -0.317362, 0.654836);
+	glVertex3f(-0.073946, -1.702140, 0.978853);
+	glNormal3f(0.685873, -0.317362, 0.654836);
+	glVertex3f(-0.440784, -1.702140, 0.429841);
+	glEnd();
+	glBegin(GL_TRIANGLES);
+	glNormal3f(0.685873, -0.317362, 0.654836);
+	glVertex3f(-0.119180, -1.702140, 0.751445);
+	glNormal3f(0.685873, -0.317362, 0.654836);
+	glVertex3f(-0.440784, -1.702140, 0.429841);
+	glNormal3f(0.685873, -0.317362, 0.654836);
+	glVertex3f(-0.247997, -1.702140, 0.558657);
+	glEnd();
+}
+
+
+//object: Circle.004_1
+void load_1() {
+	float matColors[4];
+	matColors[0] = 0.062745;
+	matColors[1] = 0.062745;
+	matColors[2] = 0.066667;
+	matColors[3] = 1.000000;
+	glMaterialfv(GL_FRONT_AND_BACK,GL_AMBIENT_AND_DIFFUSE,matColors);
+	glBegin(GL_QUADS);
+	glNormal3f(0.991729, 0.106632, -0.071261);
+	glVertex3f(-1.007638, -1.219279, 1.501634);
+	glNormal3f(0.994232, 0.104221, -0.024110);
+	glVertex3f(-0.941939, -1.213474, 1.480969);
+	glNormal3f(0.999420, 0.028291, -0.018891);
+	glVertex3f(-0.895215, -1.206010, 1.333381);
+	glNormal3f(0.994232, 0.062136, -0.087069);
+	glVertex3f(-1.013687, -1.213474, 1.433028);
+	glEnd();
+	glBegin(GL_QUADS);
+	glNormal3f(0.994232, 0.062136, -0.087069);
+	glVertex3f(-1.013687, -1.213474, 1.433028);
+	glNormal3f(0.999420, 0.028291, -0.018891);
+	glVertex3f(-0.895215, -1.206010, 1.333381);
+	glNormal3f(0.999756, 0.014649, -0.014649);
+	glVertex3f(-0.903095, -1.206010, 1.225284);
+	glNormal3f(0.995361, 0.067843, -0.067843);
+	glVertex3f(-1.042264, -1.213474, 1.364453);
+	glEnd();
+	glBegin(GL_QUADS);
+	glNormal3f(0.994232, 0.104221, -0.024110);
+	glVertex3f(-0.941939, -1.213474, 1.480969);
+	glNormal3f(0.995361, 0.088626, -0.036714);
+	glVertex3f(-0.867648, -1.213474, 1.481127);
+	glNormal3f(0.999756, 0.019135, -0.007904);
+	glVertex3f(-0.792330, -1.206010, 1.299295);
+	glNormal3f(0.999420, 0.028291, -0.018891);
+	glVertex3f(-0.895215, -1.206010, 1.333381);
+	glEnd();
+	glBegin(GL_QUADS);
+	glNormal3f(0.999420, 0.028291, -0.018891);
+	glVertex3f(-0.895215, -1.206010, 1.333381);
+	glNormal3f(0.999756, 0.019135, -0.007904);
+	glVertex3f(-0.792330, -1.206010, 1.299295);
+	glNormal3f(1.000000, 0.000000, 0.000000);
+	glVertex3f(-0.661674, -1.206010, 0.983862);
+	glNormal3f(0.999756, 0.014649, -0.014649);
+	glVertex3f(-0.903095, -1.206010, 1.225284);
+	glEnd();
+	glBegin(GL_QUADS);
+	glNormal3f(0.991729, 0.106632, -0.071261);
+	glVertex3f(-1.007638, -1.219279, 1.501634);
+	glNormal3f(0.994232, 0.062136, -0.087069);
+	glVertex3f(-1.013687, -1.213474, 1.433028);
+	glNormal3f(0.961974, 0.179540, -0.205756);
+	glVertex3f(-1.109098, -1.235866, 1.532855);
+	glNormal3f(0.961211, 0.229286, -0.153203);
+	glVertex3f(-1.062050, -1.235866, 1.583068);
+	glEnd();
+	glBegin(GL_QUADS);
+	glNormal3f(0.961211, 0.229286, -0.153203);
+	glVertex3f(-1.062050, -1.235866, 1.583068);
+	glNormal3f(0.961974, 0.179540, -0.205756);
+	glVertex3f(-1.109098, -1.235866, 1.532855);
+	glNormal3f(0.812098, 0.422224, -0.402692);
+	glVertex3f(-1.178998, -1.280650, 1.616119);
+	glNormal3f(0.806757, 0.491256, -0.328257);
+	glVertex3f(-1.118981, -1.280650, 1.668271);
+	glEnd();
+	glBegin(GL_QUADS);
+	glNormal3f(0.994232, 0.062136, -0.087069);
+	glVertex3f(-1.013687, -1.213474, 1.433028);
+	glNormal3f(0.995361, 0.067843, -0.067843);
+	glVertex3f(-1.042264, -1.213474, 1.364453);
+	glNormal3f(0.964629, 0.186346, -0.186346);
+	glVertex3f(-1.153677, -1.235866, 1.475866);
+	glNormal3f(0.961974, 0.179540, -0.205756);
+	glVertex3f(-1.109098, -1.235866, 1.532855);
+	glEnd();
+	glBegin(GL_QUADS);
+	glNormal3f(0.961974, 0.179540, -0.205756);
+	glVertex3f(-1.109098, -1.235866, 1.532855);
+	glNormal3f(0.964629, 0.186346, -0.186346);
+	glVertex3f(-1.153677, -1.235866, 1.475866);
+	glNormal3f(0.818995, 0.405683, -0.405683);
+	glVertex3f(-1.234956, -1.280650, 1.557145);
+	glNormal3f(0.812098, 0.422224, -0.402692);
+	glVertex3f(-1.178998, -1.280650, 1.616119);
+	glEnd();
+	glBegin(GL_QUADS);
+	glNormal3f(0.991729, 0.106632, -0.071261);
+	glVertex3f(-1.007638, -1.219279, 1.501634);
+	glNormal3f(0.961211, 0.229286, -0.153203);
+	glVertex3f(-1.062050, -1.235866, 1.583068);
+	glNormal3f(0.961974, 0.258797, -0.087130);
+	glVertex3f(-0.997655, -1.235866, 1.607319);
+	glNormal3f(0.994232, 0.104221, -0.024110);
+	glVertex3f(-0.941939, -1.213474, 1.480969);
+	glEnd();
+	glBegin(GL_QUADS);
+	glNormal3f(0.994232, 0.104221, -0.024110);
+	glVertex3f(-0.941939, -1.213474, 1.480969);
+	glNormal3f(0.961974, 0.258797, -0.087130);
+	glVertex3f(-0.997655, -1.235866, 1.607319);
+	glNormal3f(0.964629, 0.243477, -0.100833);
+	glVertex3f(-0.927944, -1.235866, 1.626696);
+	glNormal3f(0.995361, 0.088626, -0.036714);
+	glVertex3f(-0.867648, -1.213474, 1.481127);
+	glEnd();
+	glBegin(GL_QUADS);
+	glNormal3f(0.961211, 0.229286, -0.153203);
+	glVertex3f(-1.062050, -1.235866, 1.583068);
+	glNormal3f(0.806757, 0.491256, -0.328257);
+	glVertex3f(-1.118981, -1.280650, 1.668271);
+	glNormal3f(0.812098, 0.533616, -0.235969);
+	glVertex3f(-1.047831, -1.280650, 1.703762);
+	glNormal3f(0.961974, 0.258797, -0.087130);
+	glVertex3f(-0.997655, -1.235866, 1.607319);
+	glEnd();
+	glBegin(GL_QUADS);
+	glNormal3f(0.961974, 0.258797, -0.087130);
+	glVertex3f(-0.997655, -1.235866, 1.607319);
+	glNormal3f(0.812098, 0.533616, -0.235969);
+	glVertex3f(-1.047831, -1.280650, 1.703762);
+	glNormal3f(0.818995, 0.530076, -0.219550);
+	glVertex3f(-0.971932, -1.280650, 1.732893);
+	glNormal3f(0.964629, 0.243477, -0.100833);
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+	glVertex3f(-1.529289, -1.534427, 1.156444);
+	glEnd();
+	glBegin(GL_QUADS);
+	glNormal3f(-0.451399, 0.174078, -0.875149);
+	glVertex3f(-1.529289, -1.534427, 1.156444);
+	glNormal3f(-0.459914, 0.057222, -0.886105);
+	glVertex3f(-1.539532, -1.534427, 1.070804);
+	glNormal3f(-0.812098, 0.013794, -0.583300);
+	glVertex3f(-1.474550, -1.609068, 1.065134);
+	glNormal3f(-0.806757, 0.115268, -0.579485);
+	glVertex3f(-1.468988, -1.609068, 1.144450);
+	glEnd();
+	glBegin(GL_QUADS);
+	glNormal3f(0.000000, 0.077548, -0.996979);
+	glVertex3f(-1.561193, -1.444859, 1.072694);
+	glNormal3f(0.000000, 0.000000, -1.000000);
+	glVertex3f(-1.564375, -1.444859, 0.983864);
+	glNormal3f(-0.468825, 0.000000, -0.883267);
+	glVertex3f(-1.541386, -1.534427, 0.983864);
+	glNormal3f(-0.459914, 0.057222, -0.886105);
+	glVertex3f(-1.539532, -1.534427, 1.070804);
+	glEnd();
+	glBegin(GL_QUADS);
+	glNormal3f(-0.459914, 0.057222, -0.886105);
+	glVertex3f(-1.539532, -1.534427, 1.070804);
+	glNormal3f(-0.468825, 0.000000, -0.883267);
+	glVertex3f(-1.541386, -1.534427, 0.983864);
+	glNormal3f(-0.818995, 0.000000, -0.573748);
+	glVertex3f(-1.472418, -1.609068, 0.983865);
+	glNormal3f(-0.812098, 0.013794, -0.583300);
+	glVertex3f(-1.474550, -1.609068, 1.065134);
+	glEnd();
+	glBegin(GL_QUADS);
+	glNormal3f(0.000000, 0.195074, -0.980773);
+	glVertex3f(-1.549390, -1.444859, 1.160442);
+	glNormal3f(-0.451399, 0.174078, -0.875149);
+	glVertex3f(-1.529289, -1.534427, 1.156444);
+	glNormal3f(-0.459914, 0.286233, -0.840541);
+	glVertex3f(-1.505979, -1.534427, 1.239485);
+	glNormal3f(0.000000, 0.309854, -0.950774);
+	glVertex3f(-1.526714, -1.444859, 1.246027);
+	glEnd();
+	glBegin(GL_QUADS);
+	glNormal3f(0.000000, 0.309854, -0.950774);
+	glVertex3f(-1.526714, -1.444859, 1.246027);
+	glNormal3f(-0.459914, 0.286233, -0.840541);
+	glVertex3f(-1.505979, -1.534427, 1.239485);
+	glNormal3f(-0.468825, 0.337992, -0.816034);
+	glVertex3f(-1.474421, -1.534427, 1.320516);
+	glNormal3f(0.000000, 0.382672, -0.923856);
+	glVertex3f(-1.495661, -1.444859, 1.329313);
+	glEnd();
+	glBegin(GL_QUADS);
+	glNormal3f(-0.451399, 0.174078, -0.875149);
+	glVertex3f(-1.529289, -1.534427, 1.156444);
+	glNormal3f(-0.806757, 0.115268, -0.579485);
+	glVertex3f(-1.468988, -1.609068, 1.144450);
+	glNormal3f(-0.812098, 0.210456, -0.544206);
+	glVertex3f(-1.443774, -1.609068, 1.219856);
+	glNormal3f(-0.459914, 0.286233, -0.840541);
+	glVertex3f(-1.505979, -1.534427, 1.239485);
+	glEnd();
+	glBegin(GL_QUADS);
+	glNormal3f(-0.459914, 0.286233, -0.840541);
+	glVertex3f(-1.505979, -1.534427, 1.239485);
+	glNormal3f(-0.812098, 0.210456, -0.544206);
+	glVertex3f(-1.443774, -1.609068, 1.219856);
+	glNormal3f(-0.818995, 0.219550, -0.530076);
+	glVertex3f(-1.410703, -1.609068, 1.294123);
+	glNormal3f(-0.468825, 0.337992, -0.816034);
+	glVertex3f(-1.474421, -1.534427, 1.320516);
+	glEnd();
+	glBegin(GL_QUADS);
+	glNormal3f(0.000000, 0.195074, -0.980773);
+	glVertex3f(-1.549390, -1.444859, 1.160442);
+	glNormal3f(0.000000, 0.309854, -0.950774);
+	glVertex3f(-1.526714, -1.444859, 1.246027);
+	glNormal3f(0.459914, 0.286233, -0.840541);
+	glVertex3f(-1.505979, -1.355291, 1.239484);
+	glNormal3f(0.451399, 0.174078, -0.875149);
+	glVertex3f(-1.529290, -1.355291, 1.156443);
+	glEnd();
+	glBegin(GL_QUADS);
+	glNormal3f(0.451399, 0.174078, -0.875149);
+	glVertex3f(-1.529290, -1.355291, 1.156443);
+	glNormal3f(0.459914, 0.286233, -0.840541);
+	glVertex3f(-1.505979, -1.355291, 1.239484);
+	glNormal3f(0.812098, 0.210456, -0.544206);
+	glVertex3f(-1.443774, -1.280650, 1.219854);
+	glNormal3f(0.806757, 0.115268, -0.579485);
+	glVertex3f(-1.468988, -1.280650, 1.144448);
+	glEnd();
+	glBegin(GL_QUADS);
+	glNormal3f(0.000000, 0.309854, -0.950774);
+	glVertex3f(-1.526714, -1.444859, 1.246027);
+	glNormal3f(0.000000, 0.382672, -0.923856);
+	glVertex3f(-1.495661, -1.444859, 1.329313);
+	glNormal3f(0.468825, 0.337992, -0.816034);
+	glVertex3f(-1.474422, -1.355291, 1.320515);
+	glNormal3f(0.459914, 0.286233, -0.840541);
+	glVertex3f(-1.505979, -1.355291, 1.239484);
+	glEnd();
+	glBegin(GL_QUADS);
+	glNormal3f(0.459914, 0.286233, -0.840541);
+	glVertex3f(-1.505979, -1.355291, 1.239484);
+	glNormal3f(0.468825, 0.337992, -0.816034);
+	glVertex3f(-1.474422, -1.355291, 1.320515);
+	glNormal3f(0.818995, 0.219550, -0.530076);
+	glVertex3f(-1.410704, -1.280650, 1.294122);
+	glNormal3f(0.812098, 0.210456, -0.544206);
+	glVertex3f(-1.443774, -1.280650, 1.219854);
+	glEnd();
+	glBegin(GL_QUADS);
+	glNormal3f(0.000000, 0.555559, -0.831446);
+	glVertex3f(-1.414243, -1.444859, 1.486715);
+	glNormal3f(-0.451399, 0.495743, -0.741905);
+	glVertex3f(-1.397203, -1.534427, 1.475329);
+	glNormal3f(-0.459914, 0.586108, -0.667013);
+	glVertex3f(-1.343888, -1.534427, 1.543127);
+	glNormal3f(0.000000, 0.650136, -0.759789);
+	glVertex3f(-1.360541, -1.444859, 1.557107);
+	glEnd();
+	glBegin(GL_QUADS);
+	glNormal3f(0.000000, 0.650136, -0.759789);
+	glVertex3f(-1.360541, -1.444859, 1.557107);
+	glNormal3f(-0.459914, 0.586108, -0.667013);
+	glVertex3f(-1.343888, -1.534427, 1.543127);
+	glNormal3f(-0.468825, 0.624561, -0.624561);
+	glVertex3f(-1.283724, -1.534427, 1.605914);
+	glNormal3f(0.000000, 0.707083, -0.707083);
+	glVertex3f(-1.299980, -1.444859, 1.622169);
+	glEnd();
+	glBegin(GL_QUADS);
+	glNormal3f(-0.451399, 0.495743, -0.741905);
+	glVertex3f(-1.397203, -1.534427, 1.475329);
+	glNormal3f(-0.806757, 0.328257, -0.491256);
+	glVertex3f(-1.346081, -1.609067, 1.441171);
+	glNormal3f(-0.812098, 0.402692, -0.422224);
+	glVertex3f(-1.293930, -1.609067, 1.501188);
+	glNormal3f(-0.459914, 0.586108, -0.667013);
+	glVertex3f(-1.343888, -1.534427, 1.543127);
+	glEnd();
+	glBegin(GL_QUADS);
+	glNormal3f(-0.459914, 0.586108, -0.667013);
+	glVertex3f(-1.343888, -1.534427, 1.543127);
+	glNormal3f(-0.812098, 0.402692, -0.422224);
+	glVertex3f(-1.293930, -1.609067, 1.501188);
+	glNormal3f(-0.818995, 0.405683, -0.405683);
+	glVertex3f(-1.234956, -1.609067, 1.557146);
+	glNormal3f(-0.468825, 0.624561, -0.624561);
+	glVertex3f(-1.283724, -1.534427, 1.605914);
+	glEnd();
+	glBegin(GL_QUADS);
+	glNormal3f(0.000000, 0.555559, -0.831446);
+	glVertex3f(-1.414243, -1.444859, 1.486715);
+	glNormal3f(0.000000, 0.650136, -0.759789);
+	glVertex3f(-1.360541, -1.444859, 1.557107);
+	glNormal3f(0.459914, 0.586108, -0.667013);
+	glVertex3f(-1.343889, -1.355291, 1.543127);
+	glNormal3f(0.451399, 0.495743, -0.741905);
+	glVertex3f(-1.397203, -1.355291, 1.475328);
+	glEnd();
+	glBegin(GL_QUADS);
+	glNormal3f(0.451399, 0.495743, -0.741905);
+	glVertex3f(-1.397203, -1.355291, 1.475328);
+	glNormal3f(0.459914, 0.586108, -0.667013);
+	glVertex3f(-1.343889, -1.355291, 1.543127);
+	glNormal3f(0.812098, 0.402692, -0.422224);
+	glVertex3f(-1.293930, -1.280650, 1.501187);
+	glNormal3f(0.806757, 0.328257, -0.491256);
+	glVertex3f(-1.346082, -1.280650, 1.441170);
+	glEnd();
+	glBegin(GL_QUADS);
+	glNormal3f(0.000000, 0.650136, -0.759789);
+	glVertex3f(-1.360541, -1.444859, 1.557107);
+	glNormal3f(0.000000, 0.707083, -0.707083);
+	glVertex3f(-1.299980, -1.444859, 1.622169);
+	glNormal3f(0.468825, 0.624561, -0.624561);
+	glVertex3f(-1.283724, -1.355291, 1.605913);
+	glNormal3f(0.459914, 0.586108, -0.667013);
+	glVertex3f(-1.343889, -1.355291, 1.543127);
+	glEnd();
+	glBegin(GL_QUADS);
+	glNormal3f(0.459914, 0.586108, -0.667013);
+	glVertex3f(-1.343889, -1.355291, 1.543127);
+	glNormal3f(0.468825, 0.624561, -0.624561);
+	glVertex3f(-1.283724, -1.355291, 1.605913);
+	glNormal3f(0.818995, 0.405683, -0.405683);
+	glVertex3f(-1.234956, -1.280650, 1.557145);
+	glNormal3f(0.812098, 0.402692, -0.422224);
+	glVertex3f(-1.293930, -1.280650, 1.501187);
+	glEnd();
+	glBegin(GL_QUADS);
+	glNormal3f(0.000000, 0.555559, -0.831446);
+	glVertex3f(-1.414243, -1.444859, 1.486715);
+	glNormal3f(0.451399, 0.495743, -0.741905);
+	glVertex3f(-1.397203, -1.355291, 1.475328);
+	glNormal3f(0.459914, 0.391949, -0.796747);
+	glVertex3f(-1.439438, -1.355291, 1.400127);
+	glNormal3f(0.000000, 0.453169, -0.891415);
+	glVertex3f(-1.458727, -1.444859, 1.410163);
+	glEnd();
+	glBegin(GL_QUADS);
+	glNormal3f(0.000000, 0.453169, -0.891415);
+	glVertex3f(-1.458727, -1.444859, 1.410163);
+	glNormal3f(0.459914, 0.391949, -0.796747);
+	glVertex3f(-1.439438, -1.355291, 1.400127);
+	glNormal3f(0.468825, 0.337992, -0.816034);
+	glVertex3f(-1.474422, -1.355291, 1.320515);
+	glNormal3f(0.000000, 0.382672, -0.923856);
+	glVertex3f(-1.495661, -1.444859, 1.329313);
+	glEnd();
+	glBegin(GL_QUADS);
+	glNormal3f(0.451399, 0.495743, -0.741905);
+	glVertex3f(-1.397203, -1.355291, 1.475328);
+	glNormal3f(0.806757, 0.328257, -0.491256);
+	glVertex3f(-1.346082, -1.280650, 1.441170);
+	glNormal3f(0.812098, 0.235969, -0.533616);
+	glVertex3f(-1.381573, -1.280650, 1.370021);
+	glNormal3f(0.459914, 0.391949, -0.796747);
+	glVertex3f(-1.439438, -1.355291, 1.400127);
+	glEnd();
+	glBegin(GL_QUADS);
+	glNormal3f(0.459914, 0.391949, -0.796747);
+	glVertex3f(-1.439438, -1.355291, 1.400127);
+	glNormal3f(0.812098, 0.235969, -0.533616);
+	glVertex3f(-1.381573, -1.280650, 1.370021);
+	glNormal3f(0.818995, 0.219550, -0.530076);
+	glVertex3f(-1.410704, -1.280650, 1.294122);
+	glNormal3f(0.468825, 0.337992, -0.816034);
+	glVertex3f(-1.474422, -1.355291, 1.320515);
+	glEnd();
+	glBegin(GL_QUADS);
+	glNormal3f(0.000000, 0.555559, -0.831446);
+	glVertex3f(-1.414243, -1.444859, 1.486715);
+	glNormal3f(0.000000, 0.453169, -0.891415);
+	glVertex3f(-1.458727, -1.444859, 1.410163);
+	glNormal3f(-0.459914, 0.391949, -0.796747);
+	glVertex3f(-1.439438, -1.534427, 1.400128);
+	glNormal3f(-0.451399, 0.495743, -0.741905);
+	glVertex3f(-1.397203, -1.534427, 1.475329);
+	glEnd();
+	glBegin(GL_QUADS);
+	glNormal3f(-0.451399, 0.495743, -0.741905);
+	glVertex3f(-1.397203, -1.534427, 1.475329);
+	glNormal3f(-0.459914, 0.391949, -0.796747);
+	glVertex3f(-1.439438, -1.534427, 1.400128);
+	glNormal3f(-0.812098, 0.235969, -0.533616);
+	glVertex3f(-1.381572, -1.609067, 1.370022);
+	glNormal3f(-0.806757, 0.328257, -0.491256);
+	glVertex3f(-1.346081, -1.609067, 1.441171);
+	glEnd();
+	glBegin(GL_QUADS);
+	glNormal3f(0.000000, 0.453169, -0.891415);
+	glVertex3f(-1.458727, -1.444859, 1.410163);
+	glNormal3f(0.000000, 0.382672, -0.923856);
+	glVertex3f(-1.495661, -1.444859, 1.329313);
+	glNormal3f(-0.468825, 0.337992, -0.816034);
+	glVertex3f(-1.474421, -1.534427, 1.320516);
+	glNormal3f(-0.459914, 0.391949, -0.796747);
+	glVertex3f(-1.439438, -1.534427, 1.400128);
+	glEnd();
+	glBegin(GL_QUADS);
+	glNormal3f(-0.459914, 0.391949, -0.796747);
+	glVertex3f(-1.439438, -1.534427, 1.400128);
+	glNormal3f(-0.468825, 0.337992, -0.816034);
+	glVertex3f(-1.474421, -1.534427, 1.320516);
+	glNormal3f(-0.818995, 0.219550, -0.530076);
+	glVertex3f(-1.410703, -1.609068, 1.294123);
+	glNormal3f(-0.812098, 0.235969, -0.533616);
+	glVertex3f(-1.381572, -1.609067, 1.370022);
+	glEnd();
+}
+
+
+//object: Circle.003_2
+void load_2() {
+	float matColors[4];
+	matColors[0] = 0.062745;
+	matColors[1] = 0.062745;
+	matColors[2] = 0.066667;
+	matColors[3] = 1.000000;
+	glMaterialfv(GL_FRONT_AND_BACK,GL_AMBIENT_AND_DIFFUSE,matColors);
+	glBegin(GL_QUADS);
+	glNormal3f(0.991729, 0.106632, -0.071261);
+	glVertex3f(-1.018415, 1.690616, 1.500768);
+	glNormal3f(0.994232, 0.104221, -0.024110);
+	glVertex3f(-0.952717, 1.696422, 1.480103);
+	glNormal3f(0.999420, 0.028291, -0.018891);
+	glVertex3f(-0.905992, 1.703885, 1.332515);
+	glNormal3f(0.994232, 0.062136, -0.087069);
+	glVertex3f(-1.024465, 1.696421, 1.432162);
+	glEnd();
+	glBegin(GL_QUADS);
+	glNormal3f(0.994232, 0.062136, -0.087069);
+	glVertex3f(-1.024465, 1.696421, 1.432162);
+	glNormal3f(0.999420, 0.028291, -0.018891);
+	glVertex3f(-0.905992, 1.703885, 1.332515);
+	glNormal3f(0.999756, 0.014649, -0.014649);
+	glVertex3f(-0.913873, 1.703885, 1.224417);
+	glNormal3f(0.995361, 0.067843, -0.067843);
+	glVertex3f(-1.053041, 1.696421, 1.363586);
+	glEnd();
+	glBegin(GL_QUADS);
+	glNormal3f(0.994232, 0.104221, -0.024110);
+	glVertex3f(-0.952717, 1.696422, 1.480103);
+	glNormal3f(0.995361, 0.088626, -0.036714);
+	glVertex3f(-0.878425, 1.696422, 1.480261);
+	glNormal3f(0.999756, 0.019135, -0.007904);
+	glVertex3f(-0.803107, 1.703885, 1.298428);
+	glNormal3f(0.999420, 0.028291, -0.018891);
+	glVertex3f(-0.905992, 1.703885, 1.332515);
+	glEnd();
+	glBegin(GL_QUADS);
+	glNormal3f(0.999420, 0.028291, -0.018891);
+	glVertex3f(-0.905992, 1.703885, 1.332515);
+	glNormal3f(0.999756, 0.019135, -0.007904);
+	glVertex3f(-0.803107, 1.703885, 1.298428);
+	glNormal3f(1.000000, 0.000000, 0.000000);
+	glVertex3f(-0.672451, 1.703885, 0.982996);
+	glNormal3f(0.999756, 0.014649, -0.014649);
+	glVertex3f(-0.913873, 1.703885, 1.224417);
+	glEnd();
+	glBegin(GL_QUADS);
+	glNormal3f(0.991729, 0.106632, -0.071261);
+	glVertex3f(-1.018415, 1.690616, 1.500768);
+	glNormal3f(0.994232, 0.062136, -0.087069);
+	glVertex3f(-1.024465, 1.696421, 1.432162);
+	glNormal3f(0.961974, 0.179540, -0.205756);
+	glVertex3f(-1.119875, 1.674029, 1.531989);
+	glNormal3f(0.961211, 0.229286, -0.153203);
+	glVertex3f(-1.072828, 1.674029, 1.582202);
+	glEnd();
+	glBegin(GL_QUADS);
+	glNormal3f(0.961211, 0.229286, -0.153203);
+	glVertex3f(-1.072828, 1.674029, 1.582202);
+	glNormal3f(0.961974, 0.179540, -0.205756);
+	glVertex3f(-1.119875, 1.674029, 1.531989);
+	glNormal3f(0.812098, 0.422224, -0.402692);
+	glVertex3f(-1.189775, 1.629245, 1.615253);
+	glNormal3f(0.806757, 0.491256, -0.328257);
+	glVertex3f(-1.129758, 1.629245, 1.667404);
+	glEnd();
+	glBegin(GL_QUADS);
+	glNormal3f(0.994232, 0.062136, -0.087069);
+	glVertex3f(-1.024465, 1.696421, 1.432162);
+	glNormal3f(0.995361, 0.067843, -0.067843);
+	glVertex3f(-1.053041, 1.696421, 1.363586);
+	glNormal3f(0.964629, 0.186346, -0.186346);
+	glVertex3f(-1.164454, 1.674029, 1.474999);
+	glNormal3f(0.961974, 0.179540, -0.205756);
+	glVertex3f(-1.119875, 1.674029, 1.531989);
+	glEnd();
+	glBegin(GL_QUADS);
+	glNormal3f(0.961974, 0.179540, -0.205756);
+	glVertex3f(-1.119875, 1.674029, 1.531989);
+	glNormal3f(0.964629, 0.186346, -0.186346);
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+	glVertex3f(-1.571970, 1.465037, 1.071827);
+	glNormal3f(0.000000, 0.000000, -1.000000);
+	glVertex3f(-1.575153, 1.465037, 0.982998);
+	glNormal3f(-0.468825, 0.000000, -0.883267);
+	glVertex3f(-1.552163, 1.375468, 0.982998);
+	glNormal3f(-0.459914, 0.057222, -0.886105);
+	glVertex3f(-1.550309, 1.375468, 1.069938);
+	glEnd();
+	glBegin(GL_QUADS);
+	glNormal3f(-0.459914, 0.057222, -0.886105);
+	glVertex3f(-1.550309, 1.375468, 1.069938);
+	glNormal3f(-0.468825, 0.000000, -0.883267);
+	glVertex3f(-1.552163, 1.375468, 0.982998);
+	glNormal3f(-0.818995, 0.000000, -0.573748);
+	glVertex3f(-1.483196, 1.300828, 0.982998);
+	glNormal3f(-0.812098, 0.013794, -0.583300);
+	glVertex3f(-1.485327, 1.300828, 1.064268);
+	glEnd();
+	glBegin(GL_QUADS);
+	glNormal3f(0.000000, 0.195074, -0.980773);
+	glVertex3f(-1.560168, 1.465037, 1.159576);
+	glNormal3f(-0.451399, 0.174078, -0.875149);
+	glVertex3f(-1.540067, 1.375468, 1.155578);
+	glNormal3f(-0.459914, 0.286233, -0.840541);
+	glVertex3f(-1.516756, 1.375468, 1.238618);
+	glNormal3f(0.000000, 0.309854, -0.950774);
+	glVertex3f(-1.537492, 1.465037, 1.245161);
+	glEnd();
+	glBegin(GL_QUADS);
+	glNormal3f(0.000000, 0.309854, -0.950774);
+	glVertex3f(-1.537492, 1.465037, 1.245161);
+	glNormal3f(-0.459914, 0.286233, -0.840541);
+	glVertex3f(-1.516756, 1.375468, 1.238618);
+	glNormal3f(-0.468825, 0.337992, -0.816034);
+	glVertex3f(-1.485199, 1.375468, 1.319649);
+	glNormal3f(0.000000, 0.382672, -0.923856);
+	glVertex3f(-1.506438, 1.465037, 1.328447);
+	glEnd();
+	glBegin(GL_QUADS);
+	glNormal3f(-0.451399, 0.174078, -0.875149);
+	glVertex3f(-1.540067, 1.375468, 1.155578);
+	glNormal3f(-0.806757, 0.115268, -0.579485);
+	glVertex3f(-1.479765, 1.300828, 1.143583);
+	glNormal3f(-0.812098, 0.210456, -0.544206);
+	glVertex3f(-1.454551, 1.300828, 1.218989);
+	glNormal3f(-0.459914, 0.286233, -0.840541);
+	glVertex3f(-1.516756, 1.375468, 1.238618);
+	glEnd();
+	glBegin(GL_QUADS);
+	glNormal3f(-0.459914, 0.286233, -0.840541);
+	glVertex3f(-1.516756, 1.375468, 1.238618);
+	glNormal3f(-0.812098, 0.210456, -0.544206);
+	glVertex3f(-1.454551, 1.300828, 1.218989);
+	glNormal3f(-0.818995, 0.219550, -0.530076);
+	glVertex3f(-1.421481, 1.300828, 1.293257);
+	glNormal3f(-0.468825, 0.337992, -0.816034);
+	glVertex3f(-1.485199, 1.375468, 1.319649);
+	glEnd();
+	glBegin(GL_QUADS);
+	glNormal3f(0.000000, 0.195074, -0.980773);
+	glVertex3f(-1.560168, 1.465037, 1.159576);
+	glNormal3f(0.000000, 0.309854, -0.950774);
+	glVertex3f(-1.537492, 1.465037, 1.245161);
+	glNormal3f(0.459914, 0.286233, -0.840541);
+	glVertex3f(-1.516757, 1.554605, 1.238617);
+	glNormal3f(0.451399, 0.174078, -0.875149);
+	glVertex3f(-1.540067, 1.554605, 1.155577);
+	glEnd();
+	glBegin(GL_QUADS);
+	glNormal3f(0.451399, 0.174078, -0.875149);
+	glVertex3f(-1.540067, 1.554605, 1.155577);
+	glNormal3f(0.459914, 0.286233, -0.840541);
+	glVertex3f(-1.516757, 1.554605, 1.238617);
+	glNormal3f(0.812098, 0.210456, -0.544206);
+	glVertex3f(-1.454551, 1.629245, 1.218988);
+	glNormal3f(0.806757, 0.115268, -0.579485);
+	glVertex3f(-1.479766, 1.629245, 1.143582);
+	glEnd();
+	glBegin(GL_QUADS);
+	glNormal3f(0.000000, 0.309854, -0.950774);
+	glVertex3f(-1.537492, 1.465037, 1.245161);
+	glNormal3f(0.000000, 0.382672, -0.923856);
+	glVertex3f(-1.506438, 1.465037, 1.328447);
+	glNormal3f(0.468825, 0.337992, -0.816034);
+	glVertex3f(-1.485199, 1.554605, 1.319649);
+	glNormal3f(0.459914, 0.286233, -0.840541);
+	glVertex3f(-1.516757, 1.554605, 1.238617);
+	glEnd();
+	glBegin(GL_QUADS);
+	glNormal3f(0.459914, 0.286233, -0.840541);
+	glVertex3f(-1.516757, 1.554605, 1.238617);
+	glNormal3f(0.468825, 0.337992, -0.816034);
+	glVertex3f(-1.485199, 1.554605, 1.319649);
+	glNormal3f(0.818995, 0.219550, -0.530076);
+	glVertex3f(-1.421481, 1.629245, 1.293255);
+	glNormal3f(0.812098, 0.210456, -0.544206);
+	glVertex3f(-1.454551, 1.629245, 1.218988);
+	glEnd();
+	glBegin(GL_QUADS);
+	glNormal3f(0.000000, 0.555559, -0.831446);
+	glVertex3f(-1.425021, 1.465037, 1.485848);
+	glNormal3f(-0.451399, 0.495743, -0.741905);
+	glVertex3f(-1.407980, 1.375468, 1.474463);
+	glNormal3f(-0.459914, 0.586108, -0.667013);
+	glVertex3f(-1.354666, 1.375468, 1.542261);
+	glNormal3f(0.000000, 0.650136, -0.759789);
+	glVertex3f(-1.371319, 1.465037, 1.556241);
+	glEnd();
+	glBegin(GL_QUADS);
+	glNormal3f(0.000000, 0.650136, -0.759789);
+	glVertex3f(-1.371319, 1.465037, 1.556241);
+	glNormal3f(-0.459914, 0.586108, -0.667013);
+	glVertex3f(-1.354666, 1.375468, 1.542261);
+	glNormal3f(-0.468825, 0.624561, -0.624561);
+	glVertex3f(-1.294501, 1.375468, 1.605047);
+	glNormal3f(0.000000, 0.707083, -0.707083);
+	glVertex3f(-1.310757, 1.465037, 1.621303);
+	glEnd();
+	glBegin(GL_QUADS);
+	glNormal3f(-0.451399, 0.495743, -0.741905);
+	glVertex3f(-1.407980, 1.375468, 1.474463);
+	glNormal3f(-0.806757, 0.328257, -0.491256);
+	glVertex3f(-1.356859, 1.300828, 1.440304);
+	glNormal3f(-0.812098, 0.402692, -0.422224);
+	glVertex3f(-1.304707, 1.300828, 1.500321);
+	glNormal3f(-0.459914, 0.586108, -0.667013);
+	glVertex3f(-1.354666, 1.375468, 1.542261);
+	glEnd();
+	glBegin(GL_QUADS);
+	glNormal3f(-0.459914, 0.586108, -0.667013);
+	glVertex3f(-1.354666, 1.375468, 1.542261);
+	glNormal3f(-0.812098, 0.402692, -0.422224);
+	glVertex3f(-1.304707, 1.300828, 1.500321);
+	glNormal3f(-0.818995, 0.405683, -0.405683);
+	glVertex3f(-1.245733, 1.300828, 1.556280);
+	glNormal3f(-0.468825, 0.624561, -0.624561);
+	glVertex3f(-1.294501, 1.375468, 1.605047);
+	glEnd();
+	glBegin(GL_QUADS);
+	glNormal3f(0.000000, 0.555559, -0.831446);
+	glVertex3f(-1.425021, 1.465037, 1.485848);
+	glNormal3f(0.000000, 0.650136, -0.759789);
+	glVertex3f(-1.371319, 1.465037, 1.556241);
+	glNormal3f(0.459914, 0.586108, -0.667013);
+	glVertex3f(-1.354666, 1.554605, 1.542261);
+	glNormal3f(0.451399, 0.495743, -0.741905);
+	glVertex3f(-1.407980, 1.554605, 1.474462);
+	glEnd();
+	glBegin(GL_QUADS);
+	glNormal3f(0.451399, 0.495743, -0.741905);
+	glVertex3f(-1.407980, 1.554605, 1.474462);
+	glNormal3f(0.459914, 0.586108, -0.667013);
+	glVertex3f(-1.354666, 1.554605, 1.542261);
+	glNormal3f(0.812098, 0.402692, -0.422224);
+	glVertex3f(-1.304708, 1.629245, 1.500321);
+	glNormal3f(0.806757, 0.328257, -0.491256);
+	glVertex3f(-1.356859, 1.629245, 1.440304);
+	glEnd();
+	glBegin(GL_QUADS);
+	glNormal3f(0.000000, 0.650136, -0.759789);
+	glVertex3f(-1.371319, 1.465037, 1.556241);
+	glNormal3f(0.000000, 0.707083, -0.707083);
+	glVertex3f(-1.310757, 1.465037, 1.621303);
+	glNormal3f(0.468825, 0.624561, -0.624561);
+	glVertex3f(-1.294501, 1.554605, 1.605047);
+	glNormal3f(0.459914, 0.586108, -0.667013);
+	glVertex3f(-1.354666, 1.554605, 1.542261);
+	glEnd();
+	glBegin(GL_QUADS);
+	glNormal3f(0.459914, 0.586108, -0.667013);
+	glVertex3f(-1.354666, 1.554605, 1.542261);
+	glNormal3f(0.468825, 0.624561, -0.624561);
+	glVertex3f(-1.294501, 1.554605, 1.605047);
+	glNormal3f(0.818995, 0.405683, -0.405683);
+	glVertex3f(-1.245734, 1.629245, 1.556279);
+	glNormal3f(0.812098, 0.402692, -0.422224);
+	glVertex3f(-1.304708, 1.629245, 1.500321);
+	glEnd();
+	glBegin(GL_QUADS);
+	glNormal3f(0.000000, 0.555559, -0.831446);
+	glVertex3f(-1.425021, 1.465037, 1.485848);
+	glNormal3f(0.451399, 0.495743, -0.741905);
+	glVertex3f(-1.407980, 1.554605, 1.474462);
+	glNormal3f(0.459914, 0.391949, -0.796747);
+	glVertex3f(-1.450216, 1.554605, 1.399261);
+	glNormal3f(0.000000, 0.453169, -0.891415);
+	glVertex3f(-1.469504, 1.465037, 1.409296);
+	glEnd();
+	glBegin(GL_QUADS);
+	glNormal3f(0.000000, 0.453169, -0.891415);
+	glVertex3f(-1.469504, 1.465037, 1.409296);
+	glNormal3f(0.459914, 0.391949, -0.796747);
+	glVertex3f(-1.450216, 1.554605, 1.399261);
+	glNormal3f(0.468825, 0.337992, -0.816034);
+	glVertex3f(-1.485199, 1.554605, 1.319649);
+	glNormal3f(0.000000, 0.382672, -0.923856);
+	glVertex3f(-1.506438, 1.465037, 1.328447);
+	glEnd();
+	glBegin(GL_QUADS);
+	glNormal3f(0.451399, 0.495743, -0.741905);
+	glVertex3f(-1.407980, 1.554605, 1.474462);
+	glNormal3f(0.806757, 0.328257, -0.491256);
+	glVertex3f(-1.356859, 1.629245, 1.440304);
+	glNormal3f(0.812098, 0.235969, -0.533616);
+	glVertex3f(-1.392350, 1.629245, 1.369154);
+	glNormal3f(0.459914, 0.391949, -0.796747);
+	glVertex3f(-1.450216, 1.554605, 1.399261);
+	glEnd();
+	glBegin(GL_QUADS);
+	glNormal3f(0.459914, 0.391949, -0.796747);
+	glVertex3f(-1.450216, 1.554605, 1.399261);
+	glNormal3f(0.812098, 0.235969, -0.533616);
+	glVertex3f(-1.392350, 1.629245, 1.369154);
+	glNormal3f(0.818995, 0.219550, -0.530076);
+	glVertex3f(-1.421481, 1.629245, 1.293255);
+	glNormal3f(0.468825, 0.337992, -0.816034);
+	glVertex3f(-1.485199, 1.554605, 1.319649);
+	glEnd();
+	glBegin(GL_QUADS);
+	glNormal3f(0.000000, 0.555559, -0.831446);
+	glVertex3f(-1.425021, 1.465037, 1.485848);
+	glNormal3f(0.000000, 0.453169, -0.891415);
+	glVertex3f(-1.469504, 1.465037, 1.409296);
+	glNormal3f(-0.459914, 0.391949, -0.796747);
+	glVertex3f(-1.450215, 1.375468, 1.399261);
+	glNormal3f(-0.451399, 0.495743, -0.741905);
+	glVertex3f(-1.407980, 1.375468, 1.474463);
+	glEnd();
+	glBegin(GL_QUADS);
+	glNormal3f(-0.451399, 0.495743, -0.741905);
+	glVertex3f(-1.407980, 1.375468, 1.474463);
+	glNormal3f(-0.459914, 0.391949, -0.796747);
+	glVertex3f(-1.450215, 1.375468, 1.399261);
+	glNormal3f(-0.812098, 0.235969, -0.533616);
+	glVertex3f(-1.392350, 1.300828, 1.369156);
+	glNormal3f(-0.806757, 0.328257, -0.491256);
+	glVertex3f(-1.356859, 1.300828, 1.440304);
+	glEnd();
+	glBegin(GL_QUADS);
+	glNormal3f(0.000000, 0.453169, -0.891415);
+	glVertex3f(-1.469504, 1.465037, 1.409296);
+	glNormal3f(0.000000, 0.382672, -0.923856);
+	glVertex3f(-1.506438, 1.465037, 1.328447);
+	glNormal3f(-0.468825, 0.337992, -0.816034);
+	glVertex3f(-1.485199, 1.375468, 1.319649);
+	glNormal3f(-0.459914, 0.391949, -0.796747);
+	glVertex3f(-1.450215, 1.375468, 1.399261);
+	glEnd();
+	glBegin(GL_QUADS);
+	glNormal3f(-0.459914, 0.391949, -0.796747);
+	glVertex3f(-1.450215, 1.375468, 1.399261);
+	glNormal3f(-0.468825, 0.337992, -0.816034);
+	glVertex3f(-1.485199, 1.375468, 1.319649);
+	glNormal3f(-0.818995, 0.219550, -0.530076);
+	glVertex3f(-1.421481, 1.300828, 1.293257);
+	glNormal3f(-0.812098, 0.235969, -0.533616);
+	glVertex3f(-1.392350, 1.300828, 1.369156);
+	glEnd();
+}
+
+
+//object: Circle_3
+void load_3() {
+	float matColors[4];
+	matColors[0] = 0.773190;
+	matColors[1] = 0.932781;
+	matColors[2] = 0.017316;
+	matColors[3] = 1.000000;
+	glMaterialfv(GL_FRONT_AND_BACK,GL_AMBIENT_AND_DIFFUSE,matColors);
+	glBegin(GL_TRIANGLES);
+	glNormal3f(0.685873, -0.317362, 0.654836);
+	glVertex3f(-0.895601, 1.718077, 1.516831);
+	glNormal3f(0.685873, -0.317362, 0.654836);
+	glVertex3f(-1.088388, 1.718077, 1.388014);
+	glNormal3f(0.685873, -0.317362, 0.654836);
+	glVertex3f(-1.217204, 1.718077, 1.195227);
+	glEnd();
+	glBegin(GL_TRIANGLES);
+	glNormal3f(0.685873, -0.317362, 0.654836);
+	glVertex3f(-0.895601, 1.718077, 1.516831);
+	glNormal3f(0.685873, -0.317362, 0.654836);
+	glVertex3f(-1.217204, 1.718077, 1.195227);
+	glNormal3f(0.685873, -0.317362, 0.654836);
+	glVertex3f(-1.262438, 1.718077, 0.967819);
+	glEnd();
+	glBegin(GL_TRIANGLES);
+	glNormal3f(0.685873, -0.317362, 0.654836);
+	glVertex3f(-0.668193, 1.718077, 1.562065);
+	glNormal3f(0.685873, -0.317362, 0.654836);
+	glVertex3f(-0.895601, 1.718077, 1.516831);
+	glNormal3f(0.685873, -0.317362, 0.654836);
+	glVertex3f(-1.262438, 1.718077, 0.967819);
+	glEnd();
+	glBegin(GL_TRIANGLES);
+	glNormal3f(0.685873, -0.317362, 0.654836);
+	glVertex3f(-0.668193, 1.718077, 1.562065);
+	glNormal3f(0.685873, -0.317362, 0.654836);
+	glVertex3f(-1.262438, 1.718077, 0.967819);
+	glNormal3f(0.685873, -0.317362, 0.654836);
+	glVertex3f(-1.217204, 1.718077, 0.740411);
+	glEnd();
+	glBegin(GL_TRIANGLES);
+	glNormal3f(0.685873, -0.317362, 0.654836);
+	glVertex3f(-0.440785, 1.718077, 1.516831);
+	glNormal3f(0.685873, -0.317362, 0.654836);
+	glVertex3f(-0.668193, 1.718077, 1.562065);
+	glNormal3f(0.685873, -0.317362, 0.654836);
+	glVertex3f(-1.217204, 1.718077, 0.740411);
+	glEnd();
+	glBegin(GL_TRIANGLES);
+	glNormal3f(0.685873, -0.317362, 0.654836);
+	glVertex3f(-0.440785, 1.718077, 1.516831);
+	glNormal3f(0.685873, -0.317362, 0.654836);
+	glVertex3f(-1.217204, 1.718077, 0.740411);
+	glNormal3f(0.685873, -0.317362, 0.654836);
+	glVertex3f(-1.088388, 1.718077, 0.547624);
+	glEnd();
+	glBegin(GL_TRIANGLES);
+	glNormal3f(0.685873, -0.317362, 0.654836);
+	glVertex3f(-0.247998, 1.718077, 1.388015);
+	glNormal3f(0.685873, -0.317362, 0.654836);
+	glVertex3f(-0.440785, 1.718077, 1.516831);
+	glNormal3f(0.685873, -0.317362, 0.654836);
+	glVertex3f(-1.088388, 1.718077, 0.547624);
+	glEnd();
+	glBegin(GL_TRIANGLES);
+	glNormal3f(0.685873, -0.317362, 0.654836);
+	glVertex3f(-0.247998, 1.718077, 1.388015);
+	glNormal3f(0.685873, -0.317362, 0.654836);
+	glVertex3f(-1.088388, 1.718077, 0.547624);
+	glNormal3f(0.685873, -0.317362, 0.654836);
+	glVertex3f(-0.895600, 1.718077, 0.418808);
+	glEnd();
+	glBegin(GL_TRIANGLES);
+	glNormal3f(0.685873, -0.317362, 0.654836);
+	glVertex3f(-0.119181, 1.718077, 1.195228);
+	glNormal3f(0.685873, -0.317362, 0.654836);
+	glVertex3f(-0.247998, 1.718077, 1.388015);
+	glNormal3f(0.685873, -0.317362, 0.654836);
+	glVertex3f(-0.895600, 1.718077, 0.418808);
+	glEnd();
+	glBegin(GL_TRIANGLES);
+	glNormal3f(0.685873, -0.317362, 0.654836);
+	glVertex3f(-0.119181, 1.718077, 1.195228);
+	glNormal3f(0.685873, -0.317362, 0.654836);
+	glVertex3f(-0.895600, 1.718077, 0.418808);
+	glNormal3f(0.685873, -0.317362, 0.654836);
+	glVertex3f(-0.668193, 1.718077, 0.373574);
+	glEnd();
+	glBegin(GL_TRIANGLES);
+	glNormal3f(0.685873, -0.317362, 0.654836);
+	glVertex3f(-0.073947, 1.718077, 0.967820);
+	glNormal3f(0.685873, -0.317362, 0.654836);
+	glVertex3f(-0.119181, 1.718077, 1.195228);
+	glNormal3f(0.685873, -0.317362, 0.654836);
+	glVertex3f(-0.668193, 1.718077, 0.373574);
+	glEnd();
+	glBegin(GL_TRIANGLES);
+	glNormal3f(0.685873, -0.317362, 0.654836);
+	glVertex3f(-0.073947, 1.718077, 0.967820);
+	glNormal3f(0.685873, -0.317362, 0.654836);
+	glVertex3f(-0.668193, 1.718077, 0.373574);
+	glNormal3f(0.685873, -0.317362, 0.654836);
+	glVertex3f(-0.440785, 1.718077, 0.418808);
+	glEnd();
+	glBegin(GL_TRIANGLES);
+	glNormal3f(0.685873, -0.317362, 0.654836);
+	glVertex3f(-0.119181, 1.718077, 0.740411);
+	glNormal3f(0.685873, -0.317362, 0.654836);
+	glVertex3f(-0.073947, 1.718077, 0.967820);
+	glNormal3f(0.685873, -0.317362, 0.654836);
+	glVertex3f(-0.440785, 1.718077, 0.418808);
+	glEnd();
+	glBegin(GL_TRIANGLES);
+	glNormal3f(0.685873, -0.317362, 0.654836);
+	glVertex3f(-0.119181, 1.718077, 0.740411);
+	glNormal3f(0.685873, -0.317362, 0.654836);
+	glVertex3f(-0.440785, 1.718077, 0.418808);
+	glNormal3f(0.685873, -0.317362, 0.654836);
+	glVertex3f(-0.247998, 1.718077, 0.547624);
+	glEnd();
+}
+
+
+//object: Cylinder.009_4
+void load_4() {
+	float matColors[4];
+	matColors[0] = 0.800000;
+	matColors[1] = 0.800000;
+	matColors[2] = 0.800000;
+	matColors[3] = 1.000000;
+	glMaterialfv(GL_FRONT_AND_BACK,GL_AMBIENT_AND_DIFFUSE,matColors);
+	glBegin(GL_TRIANGLES);
+	glNormal3f(0.000000, 0.000000, -1.000000);
+	glVertex3f(0.512899, 0.895206, 6.227566);
+	glNormal3f(0.538041, 0.538041, -0.648854);
+	glVertex3f(0.488487, 0.793912, 6.328859);
+	glNormal3f(0.677969, 0.345439, -0.648854);
+	glVertex3f(0.488487, 0.767569, 6.292601);
+	glEnd();
+	glBegin(GL_TRIANGLES);
+	glNormal3f(0.000000, 0.000000, 1.000000);
+	glVertex3f(-0.417284, 0.895206, 6.227566);
+	glNormal3f(0.626118, 0.319010, 0.711447);
+	glVertex3f(-0.417284, 0.767568, 6.292600);
+	glNormal3f(0.496872, 0.496872, 0.711447);
+	glVertex3f(-0.417284, 0.793912, 6.328859);
+	glEnd();
+	glBegin(GL_TRIANGLES);
+	glNormal3f(0.000000, 0.000000, -1.000000);
+	glVertex3f(0.512899, 0.895206, 6.227566);
+	glNormal3f(0.677969, 0.345439, -0.648854);
+	glVertex3f(0.488487, 0.767569, 6.292601);
+	glNormal3f(0.751518, 0.119022, -0.648854);
+	glVertex3f(0.488487, 0.753719, 6.249975);
+	glEnd();
+	glBegin(GL_TRIANGLES);
+	glNormal3f(0.000000, 0.000000, 1.000000);
+	glVertex3f(-0.417284, 0.895206, 6.227566);
+	glNormal3f(0.694052, 0.109928, 0.711447);
+	glVertex3f(-0.417284, 0.753719, 6.249975);
+	glNormal3f(0.626118, 0.319010, 0.711447);
+	glVertex3f(-0.417284, 0.767568, 6.292600);
+	glEnd();
+	glBegin(GL_TRIANGLES);
+	glNormal3f(0.000000, 0.000000, -1.000000);
+	glVertex3f(0.512899, 0.895206, 6.227566);
+	glNormal3f(0.751518, 0.119022, -0.648854);
+	glVertex3f(0.488487, 0.753719, 6.249975);
+	glNormal3f(0.751518, -0.119022, -0.648854);
+	glVertex3f(0.488487, 0.753719, 6.205157);
+	glEnd();
+	glBegin(GL_TRIANGLES);
+	glNormal3f(0.000000, 0.000000, 1.000000);
+	glVertex3f(-0.417284, 0.895206, 6.227566);
+	glNormal3f(0.694052, -0.109928, 0.711447);
+	glVertex3f(-0.417284, 0.753719, 6.205156);
+	glNormal3f(0.694052, 0.109928, 0.711447);
+	glVertex3f(-0.417284, 0.753719, 6.249975);
+	glEnd();
+	glBegin(GL_TRIANGLES);
+	glNormal3f(0.000000, 0.000000, -1.000000);
+	glVertex3f(0.512899, 0.895206, 6.227566);
+	glNormal3f(0.751518, -0.119022, -0.648854);
+	glVertex3f(0.488487, 0.753719, 6.205157);
+	glNormal3f(0.677969, -0.345439, -0.648854);
+	glVertex3f(0.488487, 0.767569, 6.162531);
+	glEnd();
+	glBegin(GL_TRIANGLES);
+	glNormal3f(0.000000, 0.000000, 1.000000);
+	glVertex3f(-0.417284, 0.895206, 6.227566);
+	glNormal3f(0.626118, -0.319010, 0.711447);
+	glVertex3f(-0.417284, 0.767569, 6.162531);
+	glNormal3f(0.694052, -0.109928, 0.711447);
+	glVertex3f(-0.417284, 0.753719, 6.205156);
+	glEnd();
+	glBegin(GL_TRIANGLES);
+	glNormal3f(0.000000, 0.000000, -1.000000);
+	glVertex3f(0.512899, 0.895206, 6.227566);
+	glNormal3f(0.677969, -0.345439, -0.648854);
+	glVertex3f(0.488487, 0.767569, 6.162531);
+	glNormal3f(0.538041, -0.538041, -0.648854);
+	glVertex3f(0.488487, 0.793912, 6.126272);
+	glEnd();
+	glBegin(GL_TRIANGLES);
+	glNormal3f(0.000000, 0.000000, 1.000000);
+	glVertex3f(-0.417284, 0.895206, 6.227566);
+	glNormal3f(0.496872, -0.496872, 0.711447);
+	glVertex3f(-0.417284, 0.793913, 6.126272);
+	glNormal3f(0.626118, -0.319010, 0.711447);
+	glVertex3f(-0.417284, 0.767569, 6.162531);
+	glEnd();
+	glBegin(GL_TRIANGLES);
+	glNormal3f(0.000000, 0.000000, -1.000000);
+	glVertex3f(0.512899, 0.895206, 6.227566);
+	glNormal3f(0.538041, -0.538041, -0.648854);
+	glVertex3f(0.488487, 0.793912, 6.126272);
+	glNormal3f(0.345439, -0.677969, -0.648854);
+	glVertex3f(0.488487, 0.830171, 6.099929);
+	glEnd();
+	glBegin(GL_TRIANGLES);
+	glNormal3f(0.000000, 0.000000, 1.000000);
+	glVertex3f(-0.417284, 0.895206, 6.227566);
+	glNormal3f(0.319010, -0.626118, 0.711447);
+	glVertex3f(-0.417284, 0.830172, 6.099928);
+	glNormal3f(0.496872, -0.496872, 0.711447);
+	glVertex3f(-0.417284, 0.793913, 6.126272);
+	glEnd();
+	glBegin(GL_TRIANGLES);
+	glNormal3f(0.000000, 0.000000, -1.000000);
+	glVertex3f(0.512899, 0.895206, 6.227566);
+	glNormal3f(0.345439, -0.677969, -0.648854);
+	glVertex3f(0.488487, 0.830171, 6.099929);
+	glNormal3f(0.119022, -0.751518, -0.648854);
+	glVertex3f(0.488487, 0.872797, 6.086079);
+	glEnd();
+	glBegin(GL_TRIANGLES);
+	glNormal3f(0.000000, 0.000000, 1.000000);
+	glVertex3f(-0.417284, 0.895206, 6.227566);
+	glNormal3f(0.109897, -0.694052, 0.711447);
+	glVertex3f(-0.417284, 0.872797, 6.086079);
+	glNormal3f(0.319010, -0.626118, 0.711447);
+	glVertex3f(-0.417284, 0.830172, 6.099928);
+	glEnd();
+	glBegin(GL_TRIANGLES);
+	glNormal3f(0.000000, 0.000000, -1.000000);
+	glVertex3f(0.512899, 0.895206, 6.227566);
+	glNormal3f(0.119022, -0.751518, -0.648854);
+	glVertex3f(0.488487, 0.872797, 6.086079);
+	glNormal3f(-0.119022, -0.751518, -0.648854);
+	glVertex3f(0.488487, 0.917615, 6.086079);
+	glEnd();
+	glBegin(GL_TRIANGLES);
+	glNormal3f(0.000000, 0.000000, 1.000000);
+	glVertex3f(-0.417284, 0.895206, 6.227566);
+	glNormal3f(-0.109928, -0.694052, 0.711447);
+	glVertex3f(-0.417284, 0.917616, 6.086079);
+	glNormal3f(0.109897, -0.694052, 0.711447);
+	glVertex3f(-0.417284, 0.872797, 6.086079);
+	glEnd();
+	glBegin(GL_TRIANGLES);
+	glNormal3f(0.000000, 0.000000, -1.000000);
+	glVertex3f(0.512899, 0.895206, 6.227566);
+	glNormal3f(-0.119022, -0.751518, -0.648854);
+	glVertex3f(0.488487, 0.917615, 6.086079);
+	glNormal3f(-0.345439, -0.677969, -0.648854);
+	glVertex3f(0.488487, 0.960240, 6.099929);
+	glEnd();
+	glBegin(GL_TRIANGLES);
+	glNormal3f(0.000000, 0.000000, 1.000000);
+	glVertex3f(-0.417284, 0.895206, 6.227566);
+	glNormal3f(-0.319010, -0.626118, 0.711447);
+	glVertex3f(-0.417284, 0.960241, 6.099929);
+	glNormal3f(-0.109928, -0.694052, 0.711447);
+	glVertex3f(-0.417284, 0.917616, 6.086079);
+	glEnd();
+	glBegin(GL_TRIANGLES);
+	glNormal3f(0.000000, 0.000000, -1.000000);
+	glVertex3f(0.512899, 0.895206, 6.227566);
+	glNormal3f(-0.345439, -0.677969, -0.648854);
+	glVertex3f(0.488487, 0.960240, 6.099929);
+	glNormal3f(-0.538041, -0.538041, -0.648854);
+	glVertex3f(0.488487, 0.996499, 6.126273);
+	glEnd();
+	glBegin(GL_TRIANGLES);
+	glNormal3f(0.000000, 0.000000, 1.000000);
+	glVertex3f(-0.417284, 0.895206, 6.227566);
+	glNormal3f(-0.496872, -0.496872, 0.711447);
+	glVertex3f(-0.417284, 0.996500, 6.126273);
+	glNormal3f(-0.319010, -0.626118, 0.711447);
+	glVertex3f(-0.417284, 0.960241, 6.099929);
+	glEnd();
+	glBegin(GL_TRIANGLES);
+	glNormal3f(0.000000, 0.000000, -1.000000);
+	glVertex3f(0.512899, 0.895206, 6.227566);
+	glNormal3f(-0.538041, -0.538041, -0.648854);
+	glVertex3f(0.488487, 0.996499, 6.126273);
+	glNormal3f(-0.677969, -0.345439, -0.648854);
+	glVertex3f(0.488487, 1.022843, 6.162532);
+	glEnd();
+	glBegin(GL_TRIANGLES);
+	glNormal3f(0.000000, 0.000000, 1.000000);
+	glVertex3f(-0.417284, 0.895206, 6.227566);
+	glNormal3f(-0.626118, -0.319010, 0.711447);
+	glVertex3f(-0.417284, 1.022843, 6.162532);
+	glNormal3f(-0.496872, -0.496872, 0.711447);
+	glVertex3f(-0.417284, 0.996500, 6.126273);
+	glEnd();
+	glBegin(GL_TRIANGLES);
+	glNormal3f(0.000000, 0.000000, -1.000000);
+	glVertex3f(0.512899, 0.895206, 6.227566);
+	glNormal3f(-0.677969, -0.345439, -0.648854);
+	glVertex3f(0.488487, 1.022843, 6.162532);
+	glNormal3f(-0.751518, -0.119022, -0.648854);
+	glVertex3f(0.488487, 1.036693, 6.205157);
+	glEnd();
+	glBegin(GL_TRIANGLES);
+	glNormal3f(0.000000, 0.000000, 1.000000);
+	glVertex3f(-0.417284, 0.895206, 6.227566);
+	glNormal3f(-0.694052, -0.109897, 0.711447);
+	glVertex3f(-0.417284, 1.036693, 6.205157);
+	glNormal3f(-0.626118, -0.319010, 0.711447);
+	glVertex3f(-0.417284, 1.022843, 6.162532);
+	glEnd();
+	glBegin(GL_TRIANGLES);
+	glNormal3f(0.000000, 0.000000, -1.000000);
+	glVertex3f(0.512899, 0.895206, 6.227566);
+	glNormal3f(-0.751518, -0.119022, -0.648854);
+	glVertex3f(0.488487, 1.036693, 6.205157);
+	glNormal3f(-0.751518, 0.119022, -0.648854);
+	glVertex3f(0.488487, 1.036693, 6.249975);
+	glEnd();
+	glBegin(GL_TRIANGLES);
+	glNormal3f(0.000000, 0.000000, 1.000000);
+	glVertex3f(-0.417284, 0.895206, 6.227566);
+	glNormal3f(-0.694052, 0.109928, 0.711447);
+	glVertex3f(-0.417284, 1.036693, 6.249976);
+	glNormal3f(-0.694052, -0.109897, 0.711447);
+	glVertex3f(-0.417284, 1.036693, 6.205157);
+	glEnd();
+	glBegin(GL_TRIANGLES);
+	glNormal3f(0.000000, 0.000000, -1.000000);
+	glVertex3f(0.512899, 0.895206, 6.227566);
+	glNormal3f(-0.751518, 0.119022, -0.648854);
+	glVertex3f(0.488487, 1.036693, 6.249975);
+	glNormal3f(-0.677969, 0.345439, -0.648854);
+	glVertex3f(0.488487, 1.022843, 6.292601);
+	glEnd();
+	glBegin(GL_TRIANGLES);
+	glNormal3f(0.000000, 0.000000, 1.000000);
+	glVertex3f(-0.417284, 0.895206, 6.227566);
+	glNormal3f(-0.626118, 0.319010, 0.711447);
+	glVertex3f(-0.417284, 1.022843, 6.292601);
+	glNormal3f(-0.694052, 0.109928, 0.711447);
+	glVertex3f(-0.417284, 1.036693, 6.249976);
+	glEnd();
+	glBegin(GL_TRIANGLES);
+	glNormal3f(0.000000, 0.000000, -1.000000);
+	glVertex3f(0.512899, 0.895206, 6.227566);
+	glNormal3f(-0.677969, 0.345439, -0.648854);
+	glVertex3f(0.488487, 1.022843, 6.292601);
+	glNormal3f(-0.538041, 0.538041, -0.648854);
+	glVertex3f(0.488487, 0.996499, 6.328860);
+	glEnd();
+	glBegin(GL_TRIANGLES);
+	glNormal3f(0.000000, 0.000000, 1.000000);
+	glVertex3f(-0.417284, 0.895206, 6.227566);
+	glNormal3f(-0.496872, 0.496872, 0.711447);
+	glVertex3f(-0.417284, 0.996499, 6.328860);
+	glNormal3f(-0.626118, 0.319010, 0.711447);
+	glVertex3f(-0.417284, 1.022843, 6.292601);
+	glEnd();
+	glBegin(GL_TRIANGLES);
+	glNormal3f(0.000000, 0.000000, -1.000000);
+	glVertex3f(0.512899, 0.895206, 6.227566);
+	glNormal3f(-0.538041, 0.538041, -0.648854);
+	glVertex3f(0.488487, 0.996499, 6.328860);
+	glNormal3f(-0.345439, 0.677969, -0.648854);
+	glVertex3f(0.488487, 0.960240, 6.355203);
+	glEnd();
+	glBegin(GL_TRIANGLES);
+	glNormal3f(0.000000, 0.000000, 1.000000);
+	glVertex3f(-0.417284, 0.895206, 6.227566);
+	glNormal3f(-0.319010, 0.626118, 0.711447);
+	glVertex3f(-0.417284, 0.960240, 6.355204);
+	glNormal3f(-0.496872, 0.496872, 0.711447);
+	glVertex3f(-0.417284, 0.996499, 6.328860);
+	glEnd();
+	glBegin(GL_TRIANGLES);
+	glNormal3f(0.000000, 0.000000, -1.000000);
+	glVertex3f(0.512899, 0.895206, 6.227566);
+	glNormal3f(-0.345439, 0.677969, -0.648854);
+	glVertex3f(0.488487, 0.960240, 6.355203);
+	glNormal3f(-0.119022, 0.751518, -0.648854);
+	glVertex3f(0.488487, 0.917615, 6.369053);
+	glEnd();
+	glBegin(GL_TRIANGLES);
+	glNormal3f(0.000000, 0.000000, 1.000000);
+	glVertex3f(-0.417284, 0.895206, 6.227566);
+	glNormal3f(-0.109897, 0.694052, 0.711447);
+	glVertex3f(-0.417284, 0.917615, 6.369053);
+	glNormal3f(-0.319010, 0.626118, 0.711447);
+	glVertex3f(-0.417284, 0.960240, 6.355204);
+	glEnd();
+	glBegin(GL_TRIANGLES);
+	glNormal3f(0.000000, 0.000000, -1.000000);
+	glVertex3f(0.512899, 0.895206, 6.227566);
+	glNormal3f(-0.119022, 0.751518, -0.648854);
+	glVertex3f(0.488487, 0.917615, 6.369053);
+	glNormal3f(0.119022, 0.751518, -0.648854);
+	glVertex3f(0.488487, 0.872796, 6.369053);
+	glEnd();
+	glBegin(GL_TRIANGLES);
+	glNormal3f(0.000000, 0.000000, 1.000000);
+	glVertex3f(-0.417284, 0.895206, 6.227566);
+	glNormal3f(0.109928, 0.694052, 0.711447);
+	glVertex3f(-0.417284, 0.872796, 6.369053);
+	glNormal3f(-0.109897, 0.694052, 0.711447);
+	glVertex3f(-0.417284, 0.917615, 6.369053);
+	glEnd();
+	glBegin(GL_TRIANGLES);
+	glNormal3f(0.000000, 0.000000, -1.000000);
+	glVertex3f(0.512899, 0.895206, 6.227566);
+	glNormal3f(0.119022, 0.751518, -0.648854);
+	glVertex3f(0.488487, 0.872796, 6.369053);
+	glNormal3f(0.345439, 0.677969, -0.648854);
+	glVertex3f(0.488487, 0.830171, 6.355203);
+	glEnd();
+	glBegin(GL_TRIANGLES);
+	glNormal3f(0.000000, 0.000000, 1.000000);
+	glVertex3f(-0.417284, 0.895206, 6.227566);
+	glNormal3f(0.319010, 0.626118, 0.711447);
+	glVertex3f(-0.417284, 0.830171, 6.355203);
+	glNormal3f(0.109928, 0.694052, 0.711447);
+	glVertex3f(-0.417284, 0.872796, 6.369053);
+	glEnd();
+	glBegin(GL_TRIANGLES);
+	glNormal3f(0.345439, 0.677969, -0.648854);
+	glVertex3f(0.488487, 0.830171, 6.355203);
+	glNormal3f(0.538041, 0.538041, -0.648854);
+	glVertex3f(0.488487, 0.793912, 6.328859);
+	glNormal3f(0.000000, 0.000000, -1.000000);
+	glVertex3f(0.512899, 0.895206, 6.227566);
+	glEnd();
+	glBegin(GL_TRIANGLES);
+	glNormal3f(0.000000, 0.000000, 1.000000);
+	glVertex3f(-0.417284, 0.895206, 6.227566);
+	glNormal3f(0.496872, 0.496872, 0.711447);
+	glVertex3f(-0.417284, 0.793912, 6.328859);
+	glNormal3f(0.319010, 0.626118, 0.711447);
+	glVertex3f(-0.417284, 0.830171, 6.355203);
+	glEnd();
+	glBegin(GL_QUADS);
+	glNormal3f(0.538041, 0.538041, -0.648854);
+	glVertex3f(0.488487, 0.793912, 6.328859);
+	glNormal3f(0.496872, 0.496872, 0.711447);
+	glVertex3f(-0.417284, 0.793912, 6.328859);
+	glNormal3f(0.626118, 0.319010, 0.711447);
+	glVertex3f(-0.417284, 0.767568, 6.292600);
+	glNormal3f(0.677969, 0.345439, -0.648854);
+	glVertex3f(0.488487, 0.767569, 6.292601);
+	glEnd();
+	glBegin(GL_QUADS);
+	glNormal3f(0.677969, 0.345439, -0.648854);
+	glVertex3f(0.488487, 0.767569, 6.292601);
+	glNormal3f(0.626118, 0.319010, 0.711447);
+	glVertex3f(-0.417284, 0.767568, 6.292600);
+	glNormal3f(0.694052, 0.109928, 0.711447);
+	glVertex3f(-0.417284, 0.753719, 6.249975);
+	glNormal3f(0.751518, 0.119022, -0.648854);
+	glVertex3f(0.488487, 0.753719, 6.249975);
+	glEnd();
+	glBegin(GL_QUADS);
+	glNormal3f(0.751518, 0.119022, -0.648854);
+	glVertex3f(0.488487, 0.753719, 6.249975);
+	glNormal3f(0.694052, 0.109928, 0.711447);
+	glVertex3f(-0.417284, 0.753719, 6.249975);
+	glNormal3f(0.694052, -0.109928, 0.711447);
+	glVertex3f(-0.417284, 0.753719, 6.205156);
+	glNormal3f(0.751518, -0.119022, -0.648854);
+	glVertex3f(0.488487, 0.753719, 6.205157);
+	glEnd();
+	glBegin(GL_QUADS);
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+	glVertex3f(0.075637, -1.200531, 5.525238);
+	glNormal3f(-0.344523, -0.651753, -0.675619);
+	glVertex3f(0.096312, -1.228988, 5.525238);
+	glEnd();
+	glBegin(GL_TRIANGLES);
+	glNormal3f(0.000000, 1.000000, 0.000000);
+	glVertex3f(-0.120745, -1.280029, 6.149422);
+	glNormal3f(-0.291818, 0.766381, -0.572253);
+	glVertex3f(-0.020572, -1.228989, 6.149422);
+	glNormal3f(-0.463332, 0.755608, -0.462935);
+	glVertex3f(-0.041247, -1.200532, 6.149422);
+	glEnd();
+	glBegin(GL_TRIANGLES);
+	glNormal3f(0.000000, -1.000000, 0.000000);
+	glVertex3f(-0.003861, -1.280029, 5.525238);
+	glNormal3f(-0.344523, -0.651753, -0.675619);
+	glVertex3f(0.096312, -1.228988, 5.525238);
+	glNormal3f(-0.119602, -0.645100, -0.754662);
+	glVertex3f(0.107182, -1.262442, 5.525238);
+	glEnd();
+	glBegin(GL_TRIANGLES);
+	glNormal3f(0.000000, 1.000000, 0.000000);
+	glVertex3f(-0.120745, -1.280029, 6.149422);
+	glNormal3f(-0.099521, 0.771874, -0.627888);
+	glVertex3f(-0.009702, -1.262442, 6.149422);
+	glNormal3f(-0.291818, 0.766381, -0.572253);
+	glVertex3f(-0.020572, -1.228989, 6.149422);
+	glEnd();
+	glBegin(GL_TRIANGLES);
+	glNormal3f(0.000000, -1.000000, 0.000000);
+	glVertex3f(-0.003861, -1.280029, 5.525238);
+	glNormal3f(-0.119602, -0.645100, -0.754662);
+	glVertex3f(0.107182, -1.262442, 5.525238);
+	glNormal3f(0.119602, -0.645100, -0.754662);
+	glVertex3f(0.107182, -1.297617, 5.525238);
+	glEnd();
+	glBegin(GL_TRIANGLES);
+	glNormal3f(0.000000, 1.000000, 0.000000);
+	glVertex3f(-0.120745, -1.280029, 6.149422);
+	glNormal3f(0.099521, 0.771874, -0.627888);
+	glVertex3f(-0.009702, -1.297617, 6.149422);
+	glNormal3f(-0.099521, 0.771874, -0.627888);
+	glVertex3f(-0.009702, -1.262442, 6.149422);
+	glEnd();
+	glBegin(GL_TRIANGLES);
+	glNormal3f(0.000000, -1.000000, 0.000000);
+	glVertex3f(-0.003861, -1.280029, 5.525238);
+	glNormal3f(0.119602, -0.645100, -0.754662);
+	glVertex3f(0.107182, -1.297617, 5.525238);
+	glNormal3f(0.344523, -0.651753, -0.675619);
+	glVertex3f(0.096312, -1.331070, 5.525238);
+	glEnd();
+	glBegin(GL_TRIANGLES);
+	glNormal3f(0.000000, 1.000000, 0.000000);
+	glVertex3f(-0.120745, -1.280029, 6.149422);
+	glNormal3f(0.291818, 0.766381, -0.572253);
+	glVertex3f(-0.020572, -1.331070, 6.149422);
+	glNormal3f(0.099521, 0.771874, -0.627888);
+	glVertex3f(-0.009702, -1.297617, 6.149422);
+	glEnd();
+	glBegin(GL_TRIANGLES);
+	glNormal3f(0.344523, -0.651753, -0.675619);
+	glVertex3f(0.096312, -1.331070, 5.525238);
+	glNormal3f(0.528703, -0.664357, -0.528245);
+	glVertex3f(0.075637, -1.359527, 5.525238);
+	glNormal3f(0.000000, -1.000000, 0.000000);
+	glVertex3f(-0.003861, -1.280029, 5.525238);
+	glEnd();
+	glBegin(GL_TRIANGLES);
+	glNormal3f(0.000000, 1.000000, 0.000000);
+	glVertex3f(-0.120745, -1.280029, 6.149422);
+	glNormal3f(0.463332, 0.755608, -0.462935);
+	glVertex3f(-0.041247, -1.359527, 6.149422);
+	glNormal3f(0.291818, 0.766381, -0.572253);
+	glVertex3f(-0.020572, -1.331070, 6.149422);
+	glEnd();
+	glBegin(GL_QUADS);
+	glNormal3f(0.528703, -0.664357, -0.528245);
+	glVertex3f(0.075637, -1.359527, 5.525238);
+	glNormal3f(0.463332, 0.755608, -0.462935);
+	glVertex3f(-0.041247, -1.359527, 6.149422);
+	glNormal3f(0.599048, 0.740318, -0.304971);
+	glVertex3f(-0.069704, -1.380202, 6.149422);
+	glNormal3f(0.652089, -0.681539, -0.331980);
+	glVertex3f(0.047180, -1.380202, 5.525238);
+	glEnd();
+	glBegin(GL_QUADS);
+	glNormal3f(0.652089, -0.681539, -0.331980);
+	glVertex3f(0.047180, -1.380202, 5.525238);
+	glNormal3f(0.599048, 0.740318, -0.304971);
+	glVertex3f(-0.069704, -1.380202, 6.149422);
+	glNormal3f(0.683706, 0.721671, -0.108188);
+	glVertex3f(-0.103158, -1.391072, 6.149422);
+	glNormal3f(0.704001, -0.701376, -0.111393);
+	glVertex3f(0.013727, -1.391072, 5.525238);
+	glEnd();
+	glBegin(GL_QUADS);
+	glNormal3f(0.704001, -0.701376, -0.111393);
+	glVertex3f(0.013727, -1.391072, 5.525238);
+	glNormal3f(0.683706, 0.721671, -0.108188);
+	glVertex3f(-0.103158, -1.391072, 6.149422);
+	glNormal3f(0.704001, 0.701376, 0.111393);
+	glVertex3f(-0.138333, -1.391072, 6.149422);
+	glNormal3f(0.683706, -0.721671, 0.108188);
+	glVertex3f(-0.021448, -1.391072, 5.525238);
+	glEnd();
+	glBegin(GL_QUADS);
+	glNormal3f(0.683706, -0.721671, 0.108188);
+	glVertex3f(-0.021448, -1.391072, 5.525238);
+	glNormal3f(0.704001, 0.701376, 0.111393);
+	glVertex3f(-0.138333, -1.391072, 6.149422);
+	glNormal3f(0.652089, 0.681539, 0.331980);
+	glVertex3f(-0.171786, -1.380202, 6.149422);
+	glNormal3f(0.599048, -0.740318, 0.304971);
+	glVertex3f(-0.054901, -1.380202, 5.525238);
+	glEnd();
+	glBegin(GL_QUADS);
+	glNormal3f(0.599048, -0.740318, 0.304971);
+	glVertex3f(-0.054901, -1.380202, 5.525238);
+	glNormal3f(0.652089, 0.681539, 0.331980);
+	glVertex3f(-0.171786, -1.380202, 6.149422);
+	glNormal3f(0.528703, 0.664357, 0.528245);
+	glVertex3f(-0.200243, -1.359527, 6.149422);
+	glNormal3f(0.463332, -0.755608, 0.462935);
+	glVertex3f(-0.083358, -1.359527, 5.525238);
+	glEnd();
+	glBegin(GL_QUADS);
+	glNormal3f(0.463332, -0.755608, 0.462935);
+	glVertex3f(-0.083358, -1.359527, 5.525238);
+	glNormal3f(0.528703, 0.664357, 0.528245);
+	glVertex3f(-0.200243, -1.359527, 6.149422);
+	glNormal3f(0.344523, 0.651753, 0.675619);
+	glVertex3f(-0.220918, -1.331069, 6.149422);
+	glNormal3f(0.291818, -0.766381, 0.572253);
+	glVertex3f(-0.104034, -1.331070, 5.525238);
+	glEnd();
+	glBegin(GL_QUADS);
+	glNormal3f(0.291818, -0.766381, 0.572253);
+	glVertex3f(-0.104034, -1.331070, 5.525238);
+	glNormal3f(0.344523, 0.651753, 0.675619);
+	glVertex3f(-0.220918, -1.331069, 6.149422);
+	glNormal3f(0.119602, 0.645100, 0.754662);
+	glVertex3f(-0.231787, -1.297616, 6.149422);
+	glNormal3f(0.099521, -0.771874, 0.627888);
+	glVertex3f(-0.114903, -1.297616, 5.525238);
+	glEnd();
+	glBegin(GL_QUADS);
+	glNormal3f(0.099521, -0.771874, 0.627888);
+	glVertex3f(-0.114903, -1.297616, 5.525238);
+	glNormal3f(0.119602, 0.645100, 0.754662);
+	glVertex3f(-0.231787, -1.297616, 6.149422);
+	glNormal3f(-0.119602, 0.645100, 0.754662);
+	glVertex3f(-0.231787, -1.262441, 6.149422);
+	glNormal3f(-0.099521, -0.771874, 0.627888);
+	glVertex3f(-0.114903, -1.262442, 5.525238);
+	glEnd();
+	glBegin(GL_QUADS);
+	glNormal3f(-0.099521, -0.771874, 0.627888);
+	glVertex3f(-0.114903, -1.262442, 5.525238);
+	glNormal3f(-0.119602, 0.645100, 0.754662);
+	glVertex3f(-0.231787, -1.262441, 6.149422);
+	glNormal3f(-0.344523, 0.651753, 0.675619);
+	glVertex3f(-0.220918, -1.228988, 6.149422);
+	glNormal3f(-0.291818, -0.766381, 0.572253);
+	glVertex3f(-0.104034, -1.228988, 5.525238);
+	glEnd();
+	glBegin(GL_QUADS);
+	glNormal3f(-0.291818, -0.766381, 0.572253);
+	glVertex3f(-0.104034, -1.228988, 5.525238);
+	glNormal3f(-0.344523, 0.651753, 0.675619);
+	glVertex3f(-0.220918, -1.228988, 6.149422);
+	glNormal3f(-0.528703, 0.664357, 0.528245);
+	glVertex3f(-0.200242, -1.200531, 6.149422);
+	glNormal3f(-0.463332, -0.755608, 0.462935);
+	glVertex3f(-0.083358, -1.200531, 5.525238);
+	glEnd();
+	glBegin(GL_QUADS);
+	glNormal3f(-0.463332, -0.755608, 0.462935);
+	glVertex3f(-0.083358, -1.200531, 5.525238);
+	glNormal3f(-0.528703, 0.664357, 0.528245);
+	glVertex3f(-0.200242, -1.200531, 6.149422);
+	glNormal3f(-0.652089, 0.681539, 0.331980);
+	glVertex3f(-0.171785, -1.179856, 6.149422);
+	glNormal3f(-0.599048, -0.740318, 0.304971);
+	glVertex3f(-0.054901, -1.179856, 5.525238);
+	glEnd();
+	glBegin(GL_QUADS);
+	glNormal3f(-0.599048, -0.740318, 0.304971);
+	glVertex3f(-0.054901, -1.179856, 5.525238);
+	glNormal3f(-0.652089, 0.681539, 0.331980);
+	glVertex3f(-0.171785, -1.179856, 6.149422);
+	glNormal3f(-0.704001, 0.701376, 0.111393);
+	glVertex3f(-0.138332, -1.168986, 6.149422);
+	glNormal3f(-0.683706, -0.721671, 0.108188);
+	glVertex3f(-0.021448, -1.168986, 5.525238);
+	glEnd();
+	glBegin(GL_QUADS);
+	glNormal3f(-0.683706, -0.721671, 0.108188);
+	glVertex3f(-0.021448, -1.168986, 5.525238);
+	glNormal3f(-0.704001, 0.701376, 0.111393);
+	glVertex3f(-0.138332, -1.168986, 6.149422);
+	glNormal3f(-0.683706, 0.721671, -0.108188);
+	glVertex3f(-0.103157, -1.168987, 6.149422);
+	glNormal3f(-0.704001, -0.701376, -0.111393);
+	glVertex3f(0.013727, -1.168986, 5.525238);
+	glEnd();
+	glBegin(GL_QUADS);
+	glNormal3f(-0.704001, -0.701376, -0.111393);
+	glVertex3f(0.013727, -1.168986, 5.525238);
+	glNormal3f(-0.683706, 0.721671, -0.108188);
+	glVertex3f(-0.103157, -1.168987, 6.149422);
+	glNormal3f(-0.599048, 0.740318, -0.304971);
+	glVertex3f(-0.069704, -1.179856, 6.149422);
+	glNormal3f(-0.652089, -0.681539, -0.331980);
+	glVertex3f(0.047180, -1.179856, 5.525238);
+	glEnd();
+	glBegin(GL_QUADS);
+	glNormal3f(-0.652089, -0.681539, -0.331980);
+	glVertex3f(0.047180, -1.179856, 5.525238);
+	glNormal3f(-0.599048, 0.740318, -0.304971);
+	glVertex3f(-0.069704, -1.179856, 6.149422);
+	glNormal3f(-0.463332, 0.755608, -0.462935);
+	glVertex3f(-0.041247, -1.200532, 6.149422);
+	glNormal3f(-0.528703, -0.664357, -0.528245);
+	glVertex3f(0.075637, -1.200531, 5.525238);
+	glEnd();
+	glBegin(GL_QUADS);
+	glNormal3f(-0.528703, -0.664357, -0.528245);
+	glVertex3f(0.075637, -1.200531, 5.525238);
+	glNormal3f(-0.463332, 0.755608, -0.462935);
+	glVertex3f(-0.041247, -1.200532, 6.149422);
+	glNormal3f(-0.291818, 0.766381, -0.572253);
+	glVertex3f(-0.020572, -1.228989, 6.149422);
+	glNormal3f(-0.344523, -0.651753, -0.675619);
+	glVertex3f(0.096312, -1.228988, 5.525238);
+	glEnd();
+	glBegin(GL_QUADS);
+	glNormal3f(-0.344523, -0.651753, -0.675619);
+	glVertex3f(0.096312, -1.228988, 5.525238);
+	glNormal3f(-0.291818, 0.766381, -0.572253);
+	glVertex3f(-0.020572, -1.228989, 6.149422);
+	glNormal3f(-0.099521, 0.771874, -0.627888);
+	glVertex3f(-0.009702, -1.262442, 6.149422);
+	glNormal3f(-0.119602, -0.645100, -0.754662);
+	glVertex3f(0.107182, -1.262442, 5.525238);
+	glEnd();
+	glBegin(GL_QUADS);
+	glNormal3f(-0.119602, -0.645100, -0.754662);
+	glVertex3f(0.107182, -1.262442, 5.525238);
+	glNormal3f(-0.099521, 0.771874, -0.627888);
+	glVertex3f(-0.009702, -1.262442, 6.149422);
+	glNormal3f(0.099521, 0.771874, -0.627888);
+	glVertex3f(-0.009702, -1.297617, 6.149422);
+	glNormal3f(0.119602, -0.645100, -0.754662);
+	glVertex3f(0.107182, -1.297617, 5.525238);
+	glEnd();
+	glBegin(GL_QUADS);
+	glNormal3f(0.119602, -0.645100, -0.754662);
+	glVertex3f(0.107182, -1.297617, 5.525238);
+	glNormal3f(0.099521, 0.771874, -0.627888);
+	glVertex3f(-0.009702, -1.297617, 6.149422);
+	glNormal3f(0.291818, 0.766381, -0.572253);
+	glVertex3f(-0.020572, -1.331070, 6.149422);
+	glNormal3f(0.344523, -0.651753, -0.675619);
+	glVertex3f(0.096312, -1.331070, 5.525238);
+	glEnd();
+	glBegin(GL_QUADS);
+	glNormal3f(0.463332, 0.755608, -0.462935);
+	glVertex3f(-0.041247, -1.359527, 6.149422);
+	glNormal3f(0.528703, -0.664357, -0.528245);
+	glVertex3f(0.075637, -1.359527, 5.525238);
+	glNormal3f(0.344523, -0.651753, -0.675619);
+	glVertex3f(0.096312, -1.331070, 5.525238);
+	glNormal3f(0.291818, 0.766381, -0.572253);
+	glVertex3f(-0.020572, -1.331070, 6.149422);
+	glEnd();
+}
+
+
+//object: Cube.015_5
+void load_5() {
+	float matColors[4];
+	matColors[0] = 0.800000;
+	matColors[1] = 0.799920;
+	matColors[2] = 0.799920;
+	matColors[3] = 1.000000;
+	glMaterialfv(GL_FRONT_AND_BACK,GL_AMBIENT_AND_DIFFUSE,matColors);
+	glBegin(GL_QUADS);
+	glNormal3f(0.577319, -0.577349, -0.577319);
+	glVertex3f(-0.292504, 1.402836, 5.520004);
+	glNormal3f(0.301492, -0.904508, -0.301492);
+	glVertex3f(-0.292504, 1.402836, 5.420003);
+	glNormal3f(-0.408246, -0.816492, -0.408246);
+	glVertex3f(-0.292504, -1.797164, 5.420004);
+	glNormal3f(-0.235694, -0.942808, -0.235694);
+	glVertex3f(-0.292504, -1.797164, 5.520004);
+	glEnd();
+	glBegin(GL_QUADS);
+	glNormal3f(0.577319, -0.577349, -0.577319);
+	glVertex3f(-0.292504, 1.402836, 5.520004);
+	glNormal3f(0.408246, -0.816492, 0.408246);
+	glVertex3f(0.359806, 1.402836, 5.520003);
+	glNormal3f(0.577349, -0.577349, 0.577349);
+	glVertex3f(0.359807, 1.402835, 5.420003);
+	glNormal3f(0.301492, -0.904508, -0.301492);
+	glVertex3f(-0.292504, 1.402836, 5.420003);
+	glEnd();
+	glBegin(GL_QUADS);
+	glNormal3f(-0.408246, -0.816492, -0.408246);
+	glVertex3f(-0.292504, -1.797164, 5.420004);
+	glNormal3f(-0.577349, -0.577319, 0.577349);
+	glVertex3f(0.359806, -1.797165, 5.420004);
+	glNormal3f(-0.577349, -0.577319, 0.577349);
+	glVertex3f(0.359806, -1.797164, 5.520004);
+	glNormal3f(-0.235694, -0.942808, -0.235694);
+	glVertex3f(-0.292504, -1.797164, 5.520004);
+	glEnd();
+	glBegin(GL_TRIANGLES);
+	glNormal3f(-0.235694, -0.942808, 0.235694);
+	glVertex3f(0.359806, -0.489924, 5.420003);
+	glNormal3f(-0.408246, -0.816492, -0.408246);
+	glVertex3f(-0.292504, -1.797164, 5.420004);
+	glNormal3f(0.301492, -0.904508, -0.301492);
+	glVertex3f(-0.292504, 1.402836, 5.420003);
+	glEnd();
+	glBegin(GL_TRIANGLES);
+	glNormal3f(-0.235694, -0.942808, 0.235694);
+	glVertex3f(0.359806, -0.489924, 5.420003);
+	glNormal3f(-0.577349, -0.577319, 0.577349);
+	glVertex3f(0.359806, -1.797165, 5.420004);
+	glNormal3f(-0.408246, -0.816492, -0.408246);
+	glVertex3f(-0.292504, -1.797164, 5.420004);
+	glEnd();
+	glBegin(GL_TRIANGLES);
+	glNormal3f(0.577349, -0.577349, 0.577349);
+	glVertex3f(0.359807, 1.402835, 5.420003);
+	glNormal3f(0.301492, -0.904508, 0.301492);
+	glVertex3f(0.359806, 0.114150, 5.420003);
+	glNormal3f(0.301492, -0.904508, -0.301492);
+	glVertex3f(-0.292504, 1.402836, 5.420003);
+	glEnd();
+	glBegin(GL_TRIANGLES);
+	glNormal3f(0.301492, -0.904508, 0.301492);
+	glVertex3f(0.359806, 0.114150, 5.420003);
+	glNormal3f(-0.235694, -0.942808, 0.235694);
+	glVertex3f(0.359806, -0.489924, 5.420003);
+	glNormal3f(0.301492, -0.904508, -0.301492);
+	glVertex3f(-0.292504, 1.402836, 5.420003);
+	glEnd();
+	glBegin(GL_TRIANGLES);
+	glNormal3f(-0.577349, -0.577319, 0.577349);
+	glVertex3f(0.359806, -0.489923, 5.520004);
+	glNormal3f(-0.577349, -0.577319, 0.577349);
+	glVertex3f(0.359806, -1.797164, 5.520004);
+	glNormal3f(-0.235694, -0.942808, -0.235694);
+	glVertex3f(-0.292504, -1.797164, 5.520004);
+	glEnd();
+	glBegin(GL_TRIANGLES);
+	glNormal3f(0.577319, -0.577349, 0.577319);
+	glVertex3f(0.359806, 0.114151, 5.520003);
+	glNormal3f(-0.577349, -0.577319, 0.577349);
+	glVertex3f(0.359806, -0.489923, 5.520004);
+	glNormal3f(-0.235694, -0.942808, -0.235694);
+	glVertex3f(-0.292504, -1.797164, 5.520004);
+	glEnd();
+	glBegin(GL_TRIANGLES);
+	glNormal3f(0.408246, -0.816492, 0.408246);
+	glVertex3f(0.359806, 1.402836, 5.520003);
+	glNormal3f(0.577319, -0.577349, 0.577319);
+	glVertex3f(0.359806, 0.114151, 5.520003);
+	glNormal3f(-0.235694, -0.942808, -0.235694);
+	glVertex3f(-0.292504, -1.797164, 5.520004);
+	glEnd();
+	glBegin(GL_TRIANGLES);
+	glNormal3f(0.577319, -0.577349, -0.577319);
+	glVertex3f(-0.292504, 1.402836, 5.520004);
+	glNormal3f(0.408246, -0.816492, 0.408246);
+	glVertex3f(0.359806, 1.402836, 5.520003);
+	glNormal3f(-0.235694, -0.942808, -0.235694);
+	glVertex3f(-0.292504, -1.797164, 5.520004);
+	glEnd();
+	glBegin(GL_QUADS);
+	glNormal3f(-0.577349, -0.577319, 0.577349);
+	glVertex3f(0.359806, -1.797165, 5.420004);
+	glNormal3f(-0.235694, -0.942808, 0.235694);
+	glVertex3f(0.359806, -0.489924, 5.420003);
+	glNormal3f(-0.577349, -0.577319, 0.577349);
+	glVertex3f(0.359806, -0.489923, 5.520004);
+	glNormal3f(-0.577349, -0.577319, 0.577349);
+	glVertex3f(0.359806, -1.797164, 5.520004);
+	glEnd();
+	glBegin(GL_QUADS);
+	glNormal3f(0.577349, -0.577349, 0.577349);
+	glVertex3f(0.359807, 1.402835, 5.420003);
+	glNormal3f(0.408246, -0.816492, 0.408246);
+	glVertex3f(0.359806, 1.402836, 5.520003);
+	glNormal3f(0.577319, -0.577349, 0.577319);
+	glVertex3f(0.359806, 0.114151, 5.520003);
+	glNormal3f(0.301492, -0.904508, 0.301492);
+	glVertex3f(0.359806, 0.114150, 5.420003);
+	glEnd();
+	glBegin(GL_QUADS);
+	glNormal3f(0.301492, -0.904508, 0.301492);
+	glVertex3f(0.359806, 0.114150, 5.420003);
+	glNormal3f(0.577319, -0.577349, 0.577319);
+	glVertex3f(0.359806, 0.114151, 5.520003);
+	glNormal3f(0.577349, 0.577319, 0.577349);
+	glVertex3f(1.007068, 0.114151, 5.520004);
+	glNormal3f(0.577319, -0.577349, 0.577349);
+	glVertex3f(1.007068, 0.114150, 5.420004);
+	glEnd();
+	glBegin(GL_QUADS);
+	glNormal3f(-0.235694, -0.942808, 0.235694);
+	glVertex3f(0.359806, -0.489924, 5.420003);
+	glNormal3f(0.301492, -0.904508, 0.301492);
+	glVertex3f(0.359806, 0.114150, 5.420003);
+	glNormal3f(0.577319, -0.577349, 0.577349);
+	glVertex3f(1.007068, 0.114150, 5.420004);
+	glNormal3f(-0.577349, -0.577319, 0.577349);
+	glVertex3f(1.007068, -0.489924, 5.420004);
+	glEnd();
+	glBegin(GL_QUADS);
+	glNormal3f(-0.577349, -0.577319, 0.577349);
+	glVertex3f(0.359806, -0.489923, 5.520004);
+	glNormal3f(-0.235694, -0.942808, 0.235694);
+	glVertex3f(0.359806, -0.489924, 5.420003);
+	glNormal3f(-0.577349, -0.577319, 0.577349);
+	glVertex3f(1.007068, -0.489924, 5.420004);
+	glNormal3f(-0.577319, 0.577349, 0.577319);
+	glVertex3f(1.007068, -0.489923, 5.520005);
+	glEnd();
+	glBegin(GL_QUADS);
+	glNormal3f(0.577319, -0.577349, 0.577319);
+	glVertex3f(0.359806, 0.114151, 5.520003);
+	glNormal3f(-0.577349, -0.577319, 0.577349);
+	glVertex3f(0.359806, -0.489923, 5.520004);
+	glNormal3f(-0.577319, 0.577349, 0.577319);
+	glVertex3f(1.007068, -0.489923, 5.520005);
+	glNormal3f(0.577349, 0.577319, 0.577349);
+	glVertex3f(1.007068, 0.114151, 5.520004);
+	glEnd();
+	glBegin(GL_QUADS);
+	glNormal3f(-0.577319, 0.577349, 0.577319);
+	glVertex3f(1.007068, -0.489923, 5.520005);
+	glNormal3f(-0.577349, -0.577319, 0.577349);
+	glVertex3f(1.007068, -0.489924, 5.420004);
+	glNormal3f(0.577319, -0.577349, 0.577349);
+	glVertex3f(1.007068, 0.114150, 5.420004);
+	glNormal3f(0.577349, 0.577319, 0.577349);
+	glVertex3f(1.007068, 0.114151, 5.520004);
+	glEnd();
+}
+
+
+//object: Cube.014_6
+void load_6() {
+	float matColors[4];
+	matColors[0] = 0.000000;
+	matColors[1] = 0.000000;
+	matColors[2] = 0.000000;
+	matColors[3] = 1.000000;
+	glMaterialfv(GL_FRONT_AND_BACK,GL_AMBIENT_AND_DIFFUSE,matColors);
+	glBegin(GL_QUADS);
+	glNormal3f(0.301492, 0.301492, -0.904508);
+	glVertex3f(0.813352, -0.570647, 5.407064);
+	glNormal3f(0.301492, 0.301492, 0.904508);
+	glVertex3f(0.561164, -0.570648, 5.407064);
+	glNormal3f(0.948668, 0.000000, 0.316202);
+	glVertex3f(0.561164, -0.570647, 5.214740);
+	glNormal3f(1.000000, 0.000000, 0.000000);
+	glVertex3f(0.813352, -0.570647, 5.214741);
+	glEnd();
+	glBegin(GL_QUADS);
+	glNormal3f(-0.707083, 0.000000, -0.707083);
+	glVertex3f(0.813352, 0.322681, 5.214741);
+	glNormal3f(-0.707083, 0.000000, 0.707083);
+	glVertex3f(0.561164, 0.322681, 5.214741);
+	glNormal3f(-0.408246, 0.408246, 0.816492);
+	glVertex3f(0.561164, 0.322681, 5.407064);
+	glNormal3f(-0.408246, 0.408246, -0.816492);
+	glVertex3f(0.813352, 0.322681, 5.407064);
+	glEnd();
+	glBegin(GL_QUADS);
+	glNormal3f(0.301492, 0.301492, 0.904508);
+	glVertex3f(0.561164, -0.570648, 5.407064);
+	glNormal3f(0.301492, 0.301492, -0.904508);
+	glVertex3f(0.813352, -0.570647, 5.407064);
+	glNormal3f(-0.408246, 0.408246, -0.816492);
+	glVertex3f(0.813352, 0.322681, 5.407064);
+	glNormal3f(-0.408246, 0.408246, 0.816492);
+	glVertex3f(0.561164, 0.322681, 5.407064);
+	glEnd();
+	glBegin(GL_TRIANGLES);
+	glNormal3f(0.000000, -0.554674, 0.832026);
+	glVertex3f(0.561164, 0.131466, 5.214741);
+	glNormal3f(0.301492, 0.301492, 0.904508);
+	glVertex3f(0.561164, -0.570648, 5.407064);
+	glNormal3f(-0.408246, 0.408246, 0.816492);
+	glVertex3f(0.561164, 0.322681, 5.407064);
+	glEnd();
+	glBegin(GL_TRIANGLES);
+	glNormal3f(-0.707083, 0.000000, 0.707083);
+	glVertex3f(0.561164, 0.322681, 5.214741);
+	glNormal3f(0.000000, -0.554674, 0.832026);
+	glVertex3f(0.561164, 0.131466, 5.214741);
+	glNormal3f(-0.408246, 0.408246, 0.816492);
+	glVertex3f(0.561164, 0.322681, 5.407064);
+	glEnd();
+	glBegin(GL_TRIANGLES);
+	glNormal3f(0.000000, -0.554674, 0.832026);
+	glVertex3f(0.561164, 0.131466, 5.214741);
+	glNormal3f(-0.447188, 0.000000, 0.894406);
+	glVertex3f(0.561164, -0.388516, 5.214740);
+	glNormal3f(0.301492, 0.301492, 0.904508);
+	glVertex3f(0.561164, -0.570648, 5.407064);
+	glEnd();
+	glBegin(GL_TRIANGLES);
+	glNormal3f(-0.447188, 0.000000, 0.894406);
+	glVertex3f(0.561164, -0.388516, 5.214740);
+	glNormal3f(0.948668, 0.000000, 0.316202);
+	glVertex3f(0.561164, -0.570647, 5.214740);
+	glNormal3f(0.301492, 0.301492, 0.904508);
+	glVertex3f(0.561164, -0.570648, 5.407064);
+	glEnd();
+	glBegin(GL_TRIANGLES);
+	glNormal3f(-0.408246, 0.408246, -0.816492);
+	glVertex3f(0.813352, 0.322681, 5.407064);
+	glNormal3f(0.301492, 0.301492, -0.904508);
+	glVertex3f(0.813352, -0.570647, 5.407064);
+	glNormal3f(0.000000, -0.316202, -0.948668);
+	glVertex3f(0.813352, 0.131466, 5.214741);
+	glEnd();
+	glBegin(GL_TRIANGLES);
+	glNormal3f(0.000000, -0.316202, -0.948668);
+	glVertex3f(0.813352, 0.131466, 5.214741);
+	glNormal3f(-0.707083, 0.000000, -0.707083);
+	glVertex3f(0.813352, 0.322681, 5.214741);
+	glNormal3f(-0.408246, 0.408246, -0.816492);
+	glVertex3f(0.813352, 0.322681, 5.407064);
+	glEnd();
+	glBegin(GL_TRIANGLES);
+	glNormal3f(-0.408246, -0.408246, -0.816492);
+	glVertex3f(0.813352, -0.388517, 5.214741);
+	glNormal3f(0.301492, 0.301492, -0.904508);
+	glVertex3f(0.813352, -0.570647, 5.407064);
+	glNormal3f(0.707083, 0.000000, -0.707083);
+	glVertex3f(0.813352, -0.570647, 5.214741);
+	glEnd();
+	glBegin(GL_TRIANGLES);
+	glNormal3f(0.000000, -0.316202, -0.948668);
+	glVertex3f(0.813352, 0.131466, 5.214741);
+	glNormal3f(0.301492, 0.301492, -0.904508);
+	glVertex3f(0.813352, -0.570647, 5.407064);
+	glNormal3f(-0.408246, -0.408246, -0.816492);
+	glVertex3f(0.813352, -0.388517, 5.214741);
+	glEnd();
+	glBegin(GL_TRIANGLES);
+	glNormal3f(0.000000, -0.316202, -0.948668);
+	glVertex3f(0.813352, 0.131466, 5.214741);
+	glNormal3f(-0.408246, -0.408246, -0.816492);
+	glVertex3f(0.813352, -0.388517, 5.214741);
+	glNormal3f(0.000000, -0.554674, 0.832026);
+	glVertex3f(0.561164, 0.131466, 5.214741);
+	glEnd();
+	glBegin(GL_QUADS);
+	glNormal3f(-0.447188, 0.000000, 0.894406);
+	glVertex3f(0.561164, -0.388516, 5.214740);
+	glNormal3f(0.948668, 0.000000, 0.316202);
+	glVertex3f(0.561164, -0.570647, 5.214740);
+	glNormal3f(0.707083, 0.000000, 0.707083);
+	glVertex3f(0.561164, -0.570647, 5.214740);
+	glNormal3f(0.707083, 0.000000, 0.707083);
+	glVertex3f(0.561164, -0.388516, 5.214740);
+	glEnd();
+	glBegin(GL_QUADS);
+	glNormal3f(1.000000, 0.000000, 0.000000);
+	glVertex3f(0.813352, -0.570647, 5.214741);
+	glNormal3f(0.948668, 0.000000, 0.316202);
+	glVertex3f(0.561164, -0.570647, 5.214740);
+	glNormal3f(0.707083, 0.000000, 0.707083);
+	glVertex3f(0.561164, -0.570647, 5.214740);
+	glNormal3f(1.000000, 0.000000, 0.000000);
+	glVertex3f(0.813352, -0.570647, 5.214741);
+	glEnd();
+	glBegin(GL_QUADS);
+	glNormal3f(-0.408246, -0.408246, -0.816492);
+	glVertex3f(0.813352, -0.388517, 5.214741);
+	glNormal3f(-0.447188, 0.000000, 0.894406);
+	glVertex3f(0.561164, -0.388516, 5.214740);
+	glNormal3f(0.707083, 0.000000, 0.707083);
+	glVertex3f(0.561164, -0.388516, 5.214740);
+	glNormal3f(1.000000, 0.000000, 0.000000);
+	glVertex3f(0.813352, -0.388517, 5.214741);
+	glEnd();
+	glBegin(GL_QUADS);
+	glNormal3f(-0.447188, 0.000000, 0.894406);
+	glVertex3f(0.561164, -0.388516, 5.214740);
+	glNormal3f(-0.408246, -0.408246, -0.816492);
+	glVertex3f(0.813352, -0.388517, 5.214741);
+	glNormal3f(-1.000000, 0.000000, 0.000000);
+	glVertex3f(0.813352, -0.388517, 5.214741);
+	glNormal3f(-0.707083, -0.707083, 0.000000);
+	glVertex3f(0.561164, -0.388516, 5.214740);
+	glEnd();
+	glBegin(GL_QUADS);
+	glNormal3f(-0.408246, -0.408246, -0.816492);
+	glVertex3f(0.813352, -0.388517, 5.214741);
+	glNormal3f(1.000000, 0.000000, 0.000000);
+	glVertex3f(0.813352, -0.388517, 5.214741);
+	glNormal3f(0.967772, -0.230842, 0.100589);
+	glVertex3f(0.813352, -0.388517, 5.214741);
+	glNormal3f(-1.000000, 0.000000, 0.000000);
+	glVertex3f(0.813352, -0.388517, 5.214741);
+	glEnd();
+	glBegin(GL_QUADS);
+	glNormal3f(0.000000, 0.000000, 1.000000);
+	glVertex3f(0.813352, -0.388517, 5.214741);
+	glNormal3f(0.967772, -0.230842, 0.100589);
+	glVertex3f(0.813352, -0.388517, 5.214741);
+	glNormal3f(0.907041, -0.410291, 0.094272);
+	glVertex3f(0.813352, -0.388517, 4.814741);
+	glNormal3f(0.000000, 0.000000, 1.000000);
+	glVertex3f(0.813352, -0.388517, 4.814741);
+	glEnd();
+	glBegin(GL_QUADS);
+	glNormal3f(0.000000, 0.000000, 1.000000);
+	glVertex3f(0.813352, -0.570647, 5.214741);
+	glNormal3f(0.000000, 0.000000, 1.000000);
+	glVertex3f(0.813352, -0.388517, 5.214741);
+	glNormal3f(0.000000, 0.000000, 1.000000);
+	glVertex3f(0.813352, -0.388517, 4.814741);
+	glNormal3f(0.000000, 0.707083, 0.707083);
+	glVertex3f(0.813352, -0.570647, 4.814741);
+	glEnd();
+	glBegin(GL_QUADS);
+	glNormal3f(0.972991, -0.211493, 0.092166);
+	glVertex3f(0.813352, -0.570647, 5.214741);
+	glNormal3f(0.000000, 0.000000, 1.000000);
+	glVertex3f(0.813352, -0.570647, 5.214741);
+	glNormal3f(0.000000, 0.707083, 0.707083);
+	glVertex3f(0.813352, -0.570647, 4.814741);
+	glNormal3f(0.920988, -0.379650, 0.087222);
+	glVertex3f(0.813352, -0.570647, 4.814741);
+	glEnd();
+	glBegin(GL_QUADS);
+	glNormal3f(0.000000, 0.000000, -1.000000);
+	glVertex3f(0.561164, -0.388516, 5.214740);
+	glNormal3f(-0.707083, 0.000000, -0.707083);
+	glVertex3f(0.561164, -0.570647, 5.214740);
+	glNormal3f(-0.707083, 0.000000, -0.707083);
+	glVertex3f(0.561164, -0.570647, 4.814740);
+	glNormal3f(0.000000, 0.000000, -1.000000);
+	glVertex3f(0.561164, -0.388516, 4.814741);
+	glEnd();
+	glBegin(GL_QUADS);
+	glNormal3f(0.947478, -0.225990, 0.226203);
+	glVertex3f(0.561164, -0.388516, 5.214740);
+	glNormal3f(0.000000, 0.000000, -1.000000);
+	glVertex3f(0.561164, -0.388516, 5.214740);
+	glNormal3f(0.000000, 0.000000, -1.000000);
+	glVertex3f(0.561164, -0.388516, 4.814741);
+	glNormal3f(0.890286, -0.402722, 0.212561);
+	glVertex3f(0.561164, -0.388516, 4.814741);
+	glEnd();
+	glBegin(GL_QUADS);
+	glNormal3f(-1.000000, 0.000000, 0.000000);
+	glVertex3f(0.813352, -0.570647, 5.214741);
+	glNormal3f(0.972991, -0.211493, 0.092166);
+	glVertex3f(0.813352, -0.570647, 5.214741);
+	glNormal3f(0.920988, -0.379650, 0.087222);
+	glVertex3f(0.813352, -0.570647, 4.814741);
+	glNormal3f(-1.000000, 0.000000, 0.000000);
+	glVertex3f(0.813352, -0.570647, 4.814741);
+	glEnd();
+	glBegin(GL_QUADS);
+	glNormal3f(-0.707083, 0.000000, -0.707083);
+	glVertex3f(0.561164, -0.570647, 5.214740);
+	glNormal3f(-1.000000, 0.000000, 0.000000);
+	glVertex3f(0.813352, -0.570647, 5.214741);
+	glNormal3f(-1.000000, 0.000000, 0.000000);
+	glVertex3f(0.813352, -0.570647, 4.814741);
+	glNormal3f(-0.707083, 0.000000, -0.707083);
+	glVertex3f(0.561164, -0.570647, 4.814740);
+	glEnd();
+	glBegin(GL_QUADS);
+	glNormal3f(-1.000000, 0.000000, 0.000000);
+	glVertex3f(0.813352, -0.388517, 5.214741);
+	glNormal3f(0.707083, -0.707083, 0.000000);
+	glVertex3f(0.813352, -0.388517, 5.214741);
+	glNormal3f(0.707083, 0.707083, 0.000000);
+	glVertex3f(0.813352, -0.388517, 4.814741);
+	glNormal3f(-1.000000, 0.000000, 0.000000);
+	glVertex3f(0.813352, -0.388517, 4.814741);
+	glEnd();
+	glBegin(GL_QUADS);
+	glNormal3f(-1.000000, 0.000000, 0.000000);
+	glVertex3f(0.561164, -0.388516, 5.214740);
+	glNormal3f(-1.000000, 0.000000, 0.000000);
+	glVertex3f(0.813352, -0.388517, 5.214741);
+	glNormal3f(-1.000000, 0.000000, 0.000000);
+	glVertex3f(0.813352, -0.388517, 4.814741);
+	glNormal3f(-0.707083, 0.707083, 0.000000);
+	glVertex3f(0.561164, -0.388516, 4.814741);
+	glEnd();
+	glBegin(GL_QUADS);
+	glNormal3f(0.947478, -0.225990, 0.226203);
+	glVertex3f(0.561164, -0.388516, 5.214740);
+	glNormal3f(-1.000000, 0.000000, 0.000000);
+	glVertex3f(0.561164, -0.388516, 5.214740);
+	glNormal3f(-0.707083, 0.707083, 0.000000);
+	glVertex3f(0.561164, -0.388516, 4.814741);
+	glNormal3f(0.890286, -0.402722, 0.212561);
+	glVertex3f(0.561164, -0.388516, 4.814741);
+	glEnd();
+	glBegin(GL_QUADS);
+	glNormal3f(-1.000000, 0.000000, 0.000000);
+	glVertex3f(0.813352, -0.570647, 5.214741);
+	glNormal3f(0.972991, -0.211493, 0.092166);
+	glVertex3f(0.813352, -0.570647, 5.214741);
+	glNormal3f(0.920988, -0.379650, 0.087222);
+	glVertex3f(0.813352, -0.570647, 4.814741);
+	glNormal3f(-1.000000, 0.000000, 0.000000);
+	glVertex3f(0.813352, -0.570647, 4.814741);
+	glEnd();
+	glBegin(GL_QUADS);
+	glNormal3f(-1.000000, 0.000000, 0.000000);
+	glVertex3f(0.561164, -0.570647, 5.214740);
+	glNormal3f(-1.000000, 0.000000, 0.000000);
+	glVertex3f(0.813352, -0.570647, 5.214741);
+	glNormal3f(-1.000000, 0.000000, 0.000000);
+	glVertex3f(0.813352, -0.570647, 4.814741);
+	glNormal3f(-0.707083, 0.707083, 0.000000);
+	glVertex3f(0.561164, -0.570647, 4.814740);
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+	glEnd();
+	glBegin(GL_QUADS);
+	glNormal3f(-0.707083, 0.000000, 0.707083);
+	glVertex3f(0.561164, 0.322681, 5.214741);
+	glNormal3f(-0.707083, 0.000000, -0.707083);
+	glVertex3f(0.813352, 0.322681, 5.214741);
+	glNormal3f(-0.707083, 0.000000, -0.707083);
+	glVertex3f(0.813352, 0.322681, 5.214741);
+	glNormal3f(-0.707083, 0.000000, 0.707083);
+	glVertex3f(0.561164, 0.322681, 5.214741);
+	glEnd();
+	glBegin(GL_QUADS);
+	glNormal3f(0.000000, -0.554674, 0.832026);
+	glVertex3f(0.561164, 0.131466, 5.214741);
+	glNormal3f(-0.707083, 0.000000, 0.707083);
+	glVertex3f(0.561164, 0.322681, 5.214741);
+	glNormal3f(-0.707083, 0.000000, 0.707083);
+	glVertex3f(0.561164, 0.322681, 5.214741);
+	glNormal3f(0.707083, 0.000000, 0.707083);
+	glVertex3f(0.561164, 0.131466, 5.214741);
+	glEnd();
+	glBegin(GL_QUADS);
+	glNormal3f(-0.707083, 0.000000, -0.707083);
+	glVertex3f(0.813352, 0.322681, 5.214741);
+	glNormal3f(0.000000, -0.316202, -0.948668);
+	glVertex3f(0.813352, 0.131466, 5.214741);
+	glNormal3f(0.707083, 0.000000, -0.707083);
+	glVertex3f(0.813352, 0.131466, 5.214741);
+	glNormal3f(-0.707083, 0.000000, -0.707083);
+	glVertex3f(0.813352, 0.322681, 5.214741);
+	glEnd();
+	glBegin(GL_QUADS);
+	glNormal3f(0.000000, -0.316202, -0.948668);
+	glVertex3f(0.813352, 0.131466, 5.214741);
+	glNormal3f(0.000000, -0.554674, 0.832026);
+	glVertex3f(0.561164, 0.131466, 5.214741);
+	glNormal3f(0.707083, 0.000000, 0.707083);
+	glVertex3f(0.561164, 0.131466, 5.214741);
+	glNormal3f(0.707083, 0.000000, -0.707083);
+	glVertex3f(0.813352, 0.131466, 5.214741);
+	glEnd();
+	glBegin(GL_QUADS);
+	glNormal3f(-0.707083, 0.000000, 0.707083);
+	glVertex3f(0.561164, 0.322681, 5.214741);
+	glNormal3f(-0.707083, 0.000000, -0.707083);
+	glVertex3f(0.813352, 0.322681, 5.214741);
+	glNormal3f(-0.577349, -0.577349, -0.577349);
+	glVertex3f(0.813352, 0.322681, 4.814741);
+	glNormal3f(-0.577349, -0.577349, 0.577349);
+	glVertex3f(0.561164, 0.322681, 4.814741);
+	glEnd();
+	glBegin(GL_QUADS);
+	glNormal3f(0.707083, 0.000000, 0.707083);
+	glVertex3f(0.561164, 0.131466, 5.214741);
+	glNormal3f(-0.707083, 0.000000, 0.707083);
+	glVertex3f(0.561164, 0.322681, 5.214741);
+	glNormal3f(-0.577349, -0.577349, 0.577349);
+	glVertex3f(0.561164, 0.322681, 4.814741);
+	glNormal3f(0.577349, -0.577349, 0.577349);
+	glVertex3f(0.561164, 0.131466, 4.814741);
+	glEnd();
+	glBegin(GL_QUADS);
+	glNormal3f(-0.707083, 0.000000, -0.707083);
+	glVertex3f(0.813352, 0.322681, 5.214741);
+	glNormal3f(0.707083, 0.000000, -0.707083);
+	glVertex3f(0.813352, 0.131466, 5.214741);
+	glNormal3f(0.577349, -0.577349, -0.577349);
+	glVertex3f(0.813352, 0.131466, 4.814741);
+	glNormal3f(-0.577349, -0.577349, -0.577349);
+	glVertex3f(0.813352, 0.322681, 4.814741);
+	glEnd();
+	glBegin(GL_QUADS);
+	glNormal3f(0.707083, 0.000000, -0.707083);
+	glVertex3f(0.813352, 0.131466, 5.214741);
+	glNormal3f(0.707083, 0.000000, 0.707083);
+	glVertex3f(0.561164, 0.131466, 5.214741);
+	glNormal3f(0.577349, -0.577349, 0.577349);
+	glVertex3f(0.561164, 0.131466, 4.814741);
+	glNormal3f(0.577349, -0.577349, -0.577349);
+	glVertex3f(0.813352, 0.131466, 4.814741);
+	glEnd();
+	glBegin(GL_QUADS);
+	glNormal3f(-0.577349, -0.577349, 0.577349);
+	glVertex3f(0.561164, 0.322681, 4.814741);
+	glNormal3f(-0.577349, -0.577349, -0.577349);
+	glVertex3f(0.813352, 0.322681, 4.814741);
+	glNormal3f(0.577349, -0.577349, -0.577349);
+	glVertex3f(0.813352, 0.131466, 4.814741);
+	glNormal3f(0.577349, -0.577349, 0.577349);
+	glVertex3f(0.561164, 0.131466, 4.814741);
+	glEnd();
+}
+
+
+//object: Cube.013_7
+void load_7() {
+	float matColors[4];
+	matColors[0] = 0.000000;
+	matColors[1] = 0.000000;
+	matColors[2] = 0.000000;
+	matColors[3] = 1.000000;
+	glMaterialfv(GL_FRONT_AND_BACK,GL_AMBIENT_AND_DIFFUSE,matColors);
+	glBegin(GL_QUADS);
+	glNormal3f(0.577349, 0.577349, -0.577349);
+	glVertex3f(0.877993, -0.332096, 5.126026);
+	glNormal3f(0.577349, -0.577349, -0.577349);
+	glVertex3f(0.877993, -0.332096, 4.575594);
+	glNormal3f(-0.577349, -0.577349, -0.577349);
+	glVertex3f(0.877993, 0.068690, 4.575594);
+	glNormal3f(-0.577349, 0.577349, -0.577349);
+	glVertex3f(0.877993, 0.068690, 5.126026);
+	glEnd();
+	glBegin(GL_QUADS);
+	glNormal3f(0.577349, 0.577349, 0.577349);
+	glVertex3f(0.482672, -0.332096, 5.126026);
+	glNormal3f(-0.577349, 0.577349, 0.577349);
+	glVertex3f(0.482672, 0.068690, 5.126026);
+	glNormal3f(-0.577349, -0.577349, 0.577349);
+	glVertex3f(0.482672, 0.068690, 4.575594);
+	glNormal3f(0.577349, -0.577349, 0.577349);
+	glVertex3f(0.482672, -0.332096, 4.575594);
+	glEnd();
+	glBegin(GL_QUADS);
+	glNormal3f(0.577349, 0.577349, -0.577349);
+	glVertex3f(0.877993, -0.332096, 5.126026);
+	glNormal3f(0.577349, 0.577349, 0.577349);
+	glVertex3f(0.482672, -0.332096, 5.126026);
+	glNormal3f(0.577349, -0.577349, 0.577349);
+	glVertex3f(0.482672, -0.332096, 4.575594);
+	glNormal3f(0.577349, -0.577349, -0.577349);
+	glVertex3f(0.877993, -0.332096, 4.575594);
+	glEnd();
+	glBegin(GL_QUADS);
+	glNormal3f(0.577349, -0.577349, -0.577349);
+	glVertex3f(0.877993, -0.332096, 4.575594);
+	glNormal3f(0.577349, -0.577349, 0.577349);
+	glVertex3f(0.482672, -0.332096, 4.575594);
+	glNormal3f(-0.577349, -0.577349, 0.577349);
+	glVertex3f(0.482672, 0.068690, 4.575594);
+	glNormal3f(-0.577349, -0.577349, -0.577349);
+	glVertex3f(0.877993, 0.068690, 4.575594);
+	glEnd();
+	glBegin(GL_QUADS);
+	glNormal3f(-0.577349, -0.577349, -0.577349);
+	glVertex3f(0.877993, 0.068690, 4.575594);
+	glNormal3f(-0.577349, -0.577349, 0.577349);
+	glVertex3f(0.482672, 0.068690, 4.575594);
+	glNormal3f(-0.577349, 0.577349, 0.577349);
+	glVertex3f(0.482672, 0.068690, 5.126026);
+	glNormal3f(-0.577349, 0.577349, -0.577349);
+	glVertex3f(0.877993, 0.068690, 5.126026);
+	glEnd();
+	glBegin(GL_QUADS);
+	glNormal3f(0.577349, 0.577349, 0.577349);
+	glVertex3f(0.482672, -0.332096, 5.126026);
+	glNormal3f(0.577349, 0.577349, -0.577349);
+	glVertex3f(0.877993, -0.332096, 5.126026);
+	glNormal3f(-0.577349, 0.577349, -0.577349);
+	glVertex3f(0.877993, 0.068690, 5.126026);
+	glNormal3f(-0.577349, 0.577349, 0.577349);
+	glVertex3f(0.482672, 0.068690, 5.126026);
+	glEnd();
+}
+
+
+//object: Cube.012_8
+void load_8() {
+	float matColors[4];
+	matColors[0] = 0.000000;
+	matColors[1] = 0.000000;
+	matColors[2] = 0.000000;
+	matColors[3] = 1.000000;
+	glMaterialfv(GL_FRONT_AND_BACK,GL_AMBIENT_AND_DIFFUSE,matColors);
+	glBegin(GL_QUADS);
+	glNormal3f(0.577349, 0.577349, -0.577349);
+	glVertex3f(0.879297, 0.270253, 4.571537);
+	glNormal3f(0.816492, -0.408246, -0.408246);
+	glVertex3f(0.879297, 0.270253, 4.101321);
+	glNormal3f(-0.816492, -0.408246, -0.408246);
+	glVertex3f(0.479297, 0.270253, 4.101321);
+	glNormal3f(-0.408246, 0.816492, -0.408246);
+	glVertex3f(0.479297, 0.270253, 4.571538);
+	glEnd();
+	glBegin(GL_QUADS);
+	glNormal3f(0.577349, 0.577349, 0.577349);
+	glVertex3f(0.879298, -0.332316, 4.571537);
+	glNormal3f(-0.408246, 0.816492, 0.408246);
+	glVertex3f(0.479297, -0.332316, 4.571537);
+	glNormal3f(-0.816492, -0.408246, 0.408246);
+	glVertex3f(0.479297, -0.332316, 4.101321);
+	glNormal3f(0.816492, -0.408246, 0.408246);
+	glVertex3f(0.879296, -0.332316, 4.101320);
+	glEnd();
+	glBegin(GL_QUADS);
+	glNormal3f(0.816492, -0.408246, -0.408246);
+	glVertex3f(0.879297, 0.270253, 4.101321);
+	glNormal3f(0.816492, -0.408246, 0.408246);
+	glVertex3f(0.879296, -0.332316, 4.101320);
+	glNormal3f(-0.816492, -0.408246, 0.408246);
+	glVertex3f(0.479297, -0.332316, 4.101321);
+	glNormal3f(-0.816492, -0.408246, -0.408246);
+	glVertex3f(0.479297, 0.270253, 4.101321);
+	glEnd();
+	glBegin(GL_TRIANGLES);
+	glNormal3f(0.599994, 0.799982, 0.000000);
+	glVertex3f(0.879297, 0.136148, 4.571537);
+	glNormal3f(0.816492, -0.408246, 0.408246);
+	glVertex3f(0.879296, -0.332316, 4.101320);
+	glNormal3f(0.816492, -0.408246, -0.408246);
+	glVertex3f(0.879297, 0.270253, 4.101321);
+	glEnd();
+	glBegin(GL_TRIANGLES);
+	glNormal3f(0.577349, 0.577349, -0.577349);
+	glVertex3f(0.879297, 0.270253, 4.571537);
+	glNormal3f(0.599994, 0.799982, 0.000000);
+	glVertex3f(0.879297, 0.136148, 4.571537);
+	glNormal3f(0.816492, -0.408246, -0.408246);
+	glVertex3f(0.879297, 0.270253, 4.101321);
+	glEnd();
+	glBegin(GL_TRIANGLES);
+	glNormal3f(0.599994, 0.799982, 0.000000);
+	glVertex3f(0.879297, 0.136148, 4.571537);
+	glNormal3f(0.577349, 0.577349, 0.577349);
+	glVertex3f(0.879298, -0.332316, 4.571537);
+	glNormal3f(0.816492, -0.408246, 0.408246);
+	glVertex3f(0.879296, -0.332316, 4.101320);
+	glEnd();
+	glBegin(GL_TRIANGLES);
+	glNormal3f(0.577349, 0.577349, 0.577349);
+	glVertex3f(0.879298, -0.332316, 4.571537);
+	glNormal3f(0.599994, 0.799982, 0.000000);
+	glVertex3f(0.879297, 0.136148, 4.571537);
+	glNormal3f(-0.408246, 0.816492, 0.408246);
+	glVertex3f(0.479297, -0.332316, 4.571537);
+	glEnd();
+	glBegin(GL_TRIANGLES);
+	glNormal3f(0.599994, 0.799982, 0.000000);
+	glVertex3f(0.879297, 0.136148, 4.571537);
+	glNormal3f(0.577349, 0.577349, -0.577349);
+	glVertex3f(0.879297, 0.270253, 4.571537);
+	glNormal3f(-0.408246, 0.816492, -0.408246);
+	glVertex3f(0.479297, 0.270253, 4.571538);
+	glEnd();
+	glBegin(GL_TRIANGLES);
+	glNormal3f(-0.832026, 0.554674, 0.000000);
+	glVertex3f(0.479297, 0.136148, 4.571538);
+	glNormal3f(-0.816492, -0.408246, -0.408246);
+	glVertex3f(0.479297, 0.270253, 4.101321);
+	glNormal3f(-0.816492, -0.408246, 0.408246);
+	glVertex3f(0.479297, -0.332316, 4.101321);
+	glEnd();
+	glBegin(GL_TRIANGLES);
+	glNormal3f(-0.408246, 0.816492, 0.408246);
+	glVertex3f(0.479297, -0.332316, 4.571537);
+	glNormal3f(-0.832026, 0.554674, 0.000000);
+	glVertex3f(0.479297, 0.136148, 4.571538);
+	glNormal3f(-0.816492, -0.408246, 0.408246);
+	glVertex3f(0.479297, -0.332316, 4.101321);
+	glEnd();
+	glBegin(GL_TRIANGLES);
+	glNormal3f(-0.832026, 0.554674, 0.000000);
+	glVertex3f(0.479297, 0.136148, 4.571538);
+	glNormal3f(-0.408246, 0.816492, -0.408246);
+	glVertex3f(0.479297, 0.270253, 4.571538);
+	glNormal3f(-0.816492, -0.408246, -0.408246);
+	glVertex3f(0.479297, 0.270253, 4.101321);
+	glEnd();
+	glBegin(GL_TRIANGLES);
+	glNormal3f(-0.408246, 0.816492, -0.408246);
+	glVertex3f(0.479297, 0.270253, 4.571538);
+	glNormal3f(-0.832026, 0.554674, 0.000000);
+	glVertex3f(0.479297, 0.136148, 4.571538);
+	glNormal3f(0.599994, 0.799982, 0.000000);
+	glVertex3f(0.879297, 0.136148, 4.571537);
+	glEnd();
+	glBegin(GL_TRIANGLES);
+	glNormal3f(-0.832026, 0.554674, 0.000000);
+	glVertex3f(0.479297, 0.136148, 4.571538);
+	glNormal3f(-0.408246, 0.816492, 0.408246);
+	glVertex3f(0.479297, -0.332316, 4.571537);
+	glNormal3f(0.599994, 0.799982, 0.000000);
+	glVertex3f(0.879297, 0.136148, 4.571537);
+	glEnd();
+}
+
+
+//object: Cube.011_9
+void load_9() {
+	float matColors[4];
+	matColors[0] = 0.800000;
+	matColors[1] = 0.800000;
+	matColors[2] = 0.800000;
+	matColors[3] = 1.000000;
+	glMaterialfv(GL_FRONT_AND_BACK,GL_AMBIENT_AND_DIFFUSE,matColors);
+	glBegin(GL_QUADS);
+	glNormal3f(-0.577349, 0.577319, -0.577349);
+	glVertex3f(1.067217, 0.728733, 4.101844);
+	glNormal3f(-0.577349, -0.577349, -0.577349);
+	glVertex3f(1.067217, 0.728733, 3.944579);
+	glNormal3f(-0.577349, -0.577349, 0.577349);
+	glVertex3f(0.141384, 0.728733, 3.944579);
+	glNormal3f(-0.577349, 0.577349, 0.577349);
+	glVertex3f(0.141384, 0.728733, 4.101844);
+	glEnd();
+	glBegin(GL_QUADS);
+	glNormal3f(0.577349, 0.577319, -0.577349);
+	glVertex3f(1.067218, -0.772231, 4.101844);
+	glNormal3f(0.577349, 0.577349, 0.577349);
+	glVertex3f(0.141384, -0.772231, 4.101844);
+	glNormal3f(0.577349, -0.577349, 0.577349);
+	glVertex3f(0.141384, -0.772231, 3.944579);
+	glNormal3f(0.577349, -0.577349, -0.577349);
+	glVertex3f(1.067216, -0.772231, 3.944578);
+	glEnd();
+	glBegin(GL_QUADS);
+	glNormal3f(-0.577349, 0.577319, -0.577349);
+	glVertex3f(1.067217, 0.728733, 4.101844);
+	glNormal3f(0.577349, 0.577319, -0.577349);
+	glVertex3f(1.067218, -0.772231, 4.101844);
+	glNormal3f(0.577349, -0.577349, -0.577349);
+	glVertex3f(1.067216, -0.772231, 3.944578);
+	glNormal3f(-0.577349, -0.577349, -0.577349);
+	glVertex3f(1.067217, 0.728733, 3.944579);
+	glEnd();
+	glBegin(GL_QUADS);
+	glNormal3f(-0.577349, -0.577349, -0.577349);
+	glVertex3f(1.067217, 0.728733, 3.944579);
+	glNormal3f(0.577349, -0.577349, -0.577349);
+	glVertex3f(1.067216, -0.772231, 3.944578);
+	glNormal3f(0.577349, -0.577349, 0.577349);
+	glVertex3f(0.141384, -0.772231, 3.944579);
+	glNormal3f(-0.577349, -0.577349, 0.577349);
+	glVertex3f(0.141384, 0.728733, 3.944579);
+	glEnd();
+	glBegin(GL_QUADS);
+	glNormal3f(-0.577349, -0.577349, 0.577349);
+	glVertex3f(0.141384, 0.728733, 3.944579);
+	glNormal3f(0.577349, -0.577349, 0.577349);
+	glVertex3f(0.141384, -0.772231, 3.944579);
+	glNormal3f(0.577349, 0.577349, 0.577349);
+	glVertex3f(0.141384, -0.772231, 4.101844);
+	glNormal3f(-0.577349, 0.577349, 0.577349);
+	glVertex3f(0.141384, 0.728733, 4.101844);
+	glEnd();
+	glBegin(GL_QUADS);
+	glNormal3f(0.577349, 0.577319, -0.577349);
+	glVertex3f(1.067218, -0.772231, 4.101844);
+	glNormal3f(-0.577349, 0.577319, -0.577349);
+	glVertex3f(1.067217, 0.728733, 4.101844);
+	glNormal3f(-0.577349, 0.577349, 0.577349);
+	glVertex3f(0.141384, 0.728733, 4.101844);
+	glNormal3f(0.577349, 0.577349, 0.577349);
+	glVertex3f(0.141384, -0.772231, 4.101844);
+	glEnd();
+}
+
+
+//object: Cylinder.003_10
+void load_10() {
+	float matColors[4];
+	matColors[0] = 0.104624;
+	matColors[1] = 0.104624;
+	matColors[2] = 0.104624;
+	matColors[3] = 1.000000;
+	glMaterialfv(GL_FRONT_AND_BACK,GL_AMBIENT_AND_DIFFUSE,matColors);
+	glBegin(GL_TRIANGLES);
+	glNormal3f(0.257637, -0.966216, -0.000275);
+	glVertex3f(0.299106, -0.010533, 2.428316);
+	glNormal3f(0.670888, -0.709037, 0.217109);
+	glVertex3f(0.948230, -0.220612, 2.428316);
+	glNormal3f(0.611072, -0.709037, 0.351848);
+	glVertex3f(0.890367, -0.350981, 2.428316);
+	glEnd();
+	glBegin(GL_TRIANGLES);
+	glNormal3f(0.257637, -0.966216, -0.000275);
+	glVertex3f(0.299106, -0.010533, 2.428316);
+	glNormal3f(0.701376, -0.709037, 0.072878);
+	glVertex3f(0.977722, -0.081060, 2.428316);
+	glNormal3f(0.670888, -0.709037, 0.217109);
+	glVertex3f(0.948230, -0.220612, 2.428316);
+	glEnd();
+	glBegin(GL_TRIANGLES);
+	glNormal3f(0.257637, -0.966216, -0.000275);
+	glVertex3f(0.299106, -0.010533, 2.428316);
+	glNormal3f(0.701193, -0.709037, -0.074526);
+	glVertex3f(0.977556, 0.061573, 2.428316);
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+	glNormal3f(0.611072, 0.709037, 0.351848);
+	glVertex3f(0.888594, -0.349957, 3.443685);
+	glNormal3f(0.670888, 0.709037, 0.217109);
+	glVertex3f(0.946283, -0.219979, 3.443685);
+	glEnd();
+	glBegin(GL_TRIANGLES);
+	glNormal3f(0.257637, 0.966216, -0.000275);
+	glVertex3f(0.299106, -0.010532, 3.443685);
+	glNormal3f(0.670888, 0.709037, 0.217109);
+	glVertex3f(0.946283, -0.219979, 3.443685);
+	glNormal3f(0.701376, 0.709037, 0.072878);
+	glVertex3f(0.975687, -0.080848, 3.443685);
+	glEnd();
+	glBegin(GL_TRIANGLES);
+	glNormal3f(0.257637, 0.966216, -0.000275);
+	glVertex3f(0.299106, -0.010532, 3.443685);
+	glNormal3f(0.701376, 0.709037, 0.072878);
+	glVertex3f(0.975687, -0.080848, 3.443685);
+	glNormal3f(0.701193, 0.709037, -0.074526);
+	glVertex3f(0.975521, 0.061358, 3.443685);
+	glEnd();
+	glBegin(GL_TRIANGLES);
+	glNormal3f(0.257637, 0.966216, -0.000275);
+	glVertex3f(0.299106, -0.010532, 3.443685);
+	glNormal3f(0.701193, 0.709037, -0.074526);
+	glVertex3f(0.975521, 0.061358, 3.443685);
+	glNormal3f(0.670370, 0.709037, -0.218665);
+	glVertex3f(0.945792, 0.200423, 3.443685);
+	glEnd();
+	glBegin(GL_TRIANGLES);
+	glNormal3f(0.257637, 0.966216, -0.000275);
+	glVertex3f(0.299106, -0.010532, 3.443685);
+	glNormal3f(0.670370, 0.709037, -0.218665);
+	glVertex3f(0.945792, 0.200423, 3.443685);
+	glNormal3f(0.610248, 0.709037, -0.353282);
+	glVertex3f(0.887800, 0.330266, 3.443685);
+	glEnd();
+	glBegin(GL_TRIANGLES);
+	glNormal3f(0.257637, 0.966216, -0.000275);
+	glVertex3f(0.299106, -0.010532, 3.443685);
+	glNormal3f(0.610248, 0.709037, -0.353282);
+	glVertex3f(0.887800, 0.330266, 3.443685);
+	glNormal3f(0.523484, 0.709037, -0.472427);
+	glVertex3f(0.804080, 0.445215, 3.443685);
+	glEnd();
+	glBegin(GL_TRIANGLES);
+	glNormal3f(0.257637, 0.966216, -0.000275);
+	glVertex3f(0.299106, -0.010532, 3.443685);
+	glNormal3f(0.523484, 0.709037, -0.472427);
+	glVertex3f(0.804080, 0.445215, 3.443685);
+	glNormal3f(0.413800, 0.709037, -0.570971);
+	glVertex3f(0.698289, 0.540247, 3.443685);
+	glEnd();
+	glBegin(GL_TRIANGLES);
+	glNormal3f(0.257637, 0.966216, -0.000275);
+	glVertex3f(0.299106, -0.010532, 3.443685);
+	glNormal3f(0.413800, 0.709037, -0.570971);
+	glVertex3f(0.698289, 0.540247, 3.443685);
+	glNormal3f(0.286050, 0.709037, -0.644520);
+	glVertex3f(0.575053, 0.611204, 3.443685);
+	glEnd();
+	glBegin(GL_TRIANGLES);
+	glNormal3f(0.257637, 0.966216, -0.000275);
+	glVertex3f(0.299106, -0.010532, 3.443685);
+	glNormal3f(0.286050, 0.709037, -0.644520);
+	glVertex3f(0.575053, 0.611204, 3.443685);
+	glNormal3f(0.145787, 0.709037, -0.689901);
+	glVertex3f(0.439756, 0.654991, 3.443685);
+	glEnd();
+	glBegin(GL_TRIANGLES);
+	glNormal3f(0.257637, 0.966216, -0.000275);
+	glVertex3f(0.299106, -0.010532, 3.443685);
+	glNormal3f(0.145787, 0.709037, -0.689901);
+	glVertex3f(0.439756, 0.654991, 3.443685);
+	glNormal3f(0.830226, 0.394696, -0.393506);
+	glVertex3f(0.298312, 0.669691, 3.443685);
+	glEnd();
+	glBegin(GL_TRIANGLES);
+	glNormal3f(0.257637, 0.966216, -0.000275);
+	glVertex3f(0.299106, -0.010532, 3.443685);
+	glNormal3f(0.831141, 0.394696, 0.391583);
+	glVertex3f(0.299899, -0.690758, 3.443685);
+	glNormal3f(0.147404, 0.709037, 0.689566);
+	glVertex3f(0.441308, -0.675727, 3.443685);
+	glEnd();
+	glBegin(GL_TRIANGLES);
+	glNormal3f(0.257637, 0.966216, -0.000275);
+	glVertex3f(0.299106, -0.010532, 3.443685);
+	glNormal3f(0.147404, 0.709037, 0.689566);
+	glVertex3f(0.441308, -0.675727, 3.443685);
+	glNormal3f(0.287545, 0.709037, 0.643849);
+	glVertex3f(0.576502, -0.631626, 3.443685);
+	glEnd();
+	glBegin(GL_TRIANGLES);
+	glNormal3f(0.257637, 0.966216, -0.000275);
+	glVertex3f(0.299106, -0.010532, 3.443685);
+	glNormal3f(0.287545, 0.709037, 0.643849);
+	glVertex3f(0.576502, -0.631626, 3.443685);
+	glNormal3f(0.415143, 0.709037, 0.569994);
+	glVertex3f(0.699573, -0.560380, 3.443685);
+	glEnd();
+	glBegin(GL_TRIANGLES);
+	glNormal3f(0.257637, 0.966216, -0.000275);
+	glVertex3f(0.299106, -0.010532, 3.443685);
+	glNormal3f(0.415143, 0.709037, 0.569994);
+	glVertex3f(0.699573, -0.560380, 3.443685);
+	glNormal3f(0.524583, 0.709037, 0.471206);
+	glVertex3f(0.805141, -0.465104, 3.443685);
+	glEnd();
+	glBegin(GL_TRIANGLES);
+	glNormal3f(0.257637, 0.966216, -0.000275);
+	glVertex3f(0.299106, -0.010532, 3.443685);
+	glNormal3f(0.524583, 0.709037, 0.471206);
+	glVertex3f(0.805141, -0.465104, 3.443685);
+	glNormal3f(0.611072, 0.709037, 0.351848);
+	glVertex3f(0.888594, -0.349957, 3.443685);
+	glEnd();
+	glBegin(GL_TRIANGLES);
+	glNormal3f(0.972777, 0.118168, 0.199194);
+	glVertex3f(0.299619, -0.450298, 2.661067);
+	glNormal3f(0.598712, 0.530320, 0.600238);
+	glVertex3f(0.299901, -0.692804, 2.629510);
+	glNormal3f(0.831141, -0.394726, 0.391583);
+	glVertex3f(0.299896, -0.692803, 2.428316);
+	glEnd();
+	glBegin(GL_TRIANGLES);
+	glNormal3f(0.972777, 0.118168, 0.199194);
+	glVertex3f(0.299619, -0.450298, 2.661067);
+	glNormal3f(0.831141, -0.394726, 0.391583);
+	glVertex3f(0.299896, -0.692803, 2.428316);
+	glNormal3f(0.257637, -0.966216, -0.000275);
+	glVertex3f(0.299106, -0.010533, 2.428316);
+	glEnd();
+	glBegin(GL_TRIANGLES);
+	glNormal3f(0.831141, 0.394696, 0.391583);
+	glVertex3f(0.299899, -0.690758, 3.443685);
+	glNormal3f(0.524857, -0.161504, 0.835719);
+	glVertex3f(0.299899, -0.690758, 3.260653);
+	glNormal3f(0.972777, 0.118168, 0.199194);
+	glVertex3f(0.299619, -0.450298, 2.661067);
+	glEnd();
+	glBegin(GL_TRIANGLES);
+	glNormal3f(0.257637, 0.966216, -0.000275);
+	glVertex3f(0.299106, -0.010532, 3.443685);
+	glNormal3f(0.831141, 0.394696, 0.391583);
+	glVertex3f(0.299899, -0.690758, 3.443685);
+	glNormal3f(0.972777, 0.118168, 0.199194);
+	glVertex3f(0.299619, -0.450298, 2.661067);
+	glEnd();
+	glBegin(GL_TRIANGLES);
+	glNormal3f(0.257637, 0.966216, -0.000275);
+	glVertex3f(0.299106, -0.010532, 3.443685);
+	glNormal3f(0.972777, 0.118168, 0.199194);
+	glVertex3f(0.299619, -0.450298, 2.661067);
+	glNormal3f(0.257637, -0.966216, -0.000275);
+	glVertex3f(0.299106, -0.010533, 2.428316);
+	glEnd();
+	glBegin(GL_TRIANGLES);
+	glNormal3f(0.972320, 0.118198, -0.201453);
+	glVertex3f(0.298593, 0.429232, 2.661067);
+	glNormal3f(0.257637, -0.966216, -0.000275);
+	glVertex3f(0.299106, -0.010533, 2.428316);
+	glNormal3f(0.830256, -0.394696, -0.393506);
+	glVertex3f(0.298313, 0.671738, 2.428316);
+	glEnd();
+	glBegin(GL_TRIANGLES);
+	glNormal3f(0.257637, 0.966216, -0.000275);
+	glVertex3f(0.299106, -0.010532, 3.443685);
+	glNormal3f(0.257637, -0.966216, -0.000275);
+	glVertex3f(0.299106, -0.010533, 2.428316);
+	glNormal3f(0.972320, 0.118198, -0.201453);
+	glVertex3f(0.298593, 0.429232, 2.661067);
+	glEnd();
+	glBegin(GL_TRIANGLES);
+	glNormal3f(0.830226, 0.394696, -0.393506);
+	glVertex3f(0.298312, 0.669691, 3.443685);
+	glNormal3f(0.257637, 0.966216, -0.000275);
+	glVertex3f(0.299106, -0.010532, 3.443685);
+	glNormal3f(0.972320, 0.118198, -0.201453);
+	glVertex3f(0.298593, 0.429232, 2.661067);
+	glEnd();
+	glBegin(GL_TRIANGLES);
+	glNormal3f(0.597308, 0.530320, -0.601611);
+	glVertex3f(0.298310, 0.671739, 2.629509);
+	glNormal3f(0.972320, 0.118198, -0.201453);
+	glVertex3f(0.298593, 0.429232, 2.661067);
+	glNormal3f(0.830256, -0.394696, -0.393506);
+	glVertex3f(0.298313, 0.671738, 2.428316);
+	glEnd();
+	glBegin(GL_TRIANGLES);
+	glNormal3f(0.830226, 0.394696, -0.393506);
+	glVertex3f(0.298312, 0.669691, 3.443685);
+	glNormal3f(0.972320, 0.118198, -0.201453);
+	glVertex3f(0.298593, 0.429232, 2.661067);
+	glNormal3f(0.522904, -0.161504, -0.836940);
+	glVertex3f(0.298312, 0.669691, 3.260653);
+	glEnd();
+}
+
+
+//object: Cube.010_11
+void load_11() {
+	float matColors[4];
+	matColors[0] = 0.222054;
+	matColors[1] = 0.597184;
+	matColors[2] = 0.858247;
+	matColors[3] = 1.000000;
+	glMaterialfv(GL_FRONT_AND_BACK,GL_AMBIENT_AND_DIFFUSE,matColors);
+	glBegin(GL_QUADS);
+	glNormal3f(0.577349, 0.577349, -0.577349);
+	glVertex3f(1.053373, -0.771469, 2.424965);
+	glNormal3f(0.816492, -0.408246, -0.408246);
+	glVertex3f(1.053373, -0.771469, 2.368836);
+	glNormal3f(-0.816492, -0.408216, -0.408246);
+	glVertex3f(1.053373, 0.728531, 2.368836);
+	glNormal3f(-0.408246, 0.816492, -0.408246);
+	glVertex3f(1.053373, 0.728530, 2.424965);
+	glEnd();
+	glBegin(GL_QUADS);
+	glNormal3f(0.832026, 0.000000, 0.554674);
+	glVertex3f(-0.249746, -0.771470, 2.424964);
+	glNormal3f(-0.832026, 0.000000, 0.554674);
+	glVertex3f(-0.249746, 0.728531, 2.424965);
+	glNormal3f(-0.816492, -0.408216, 0.408246);
+	glVertex3f(-0.249746, 0.728531, 2.368836);
+	glNormal3f(0.816492, -0.408246, 0.408246);
+	glVertex3f(-0.249746, -0.771469, 2.368835);
+	glEnd();
+	glBegin(GL_QUADS);
+	glNormal3f(0.816492, -0.408246, -0.408246);
+	glVertex3f(1.053373, -0.771469, 2.368836);
+	glNormal3f(0.816492, -0.408246, 0.408246);
+	glVertex3f(-0.249746, -0.771469, 2.368835);
+	glNormal3f(-0.816492, -0.408216, 0.408246);
+	glVertex3f(-0.249746, 0.728531, 2.368836);
+	glNormal3f(-0.816492, -0.408216, -0.408246);
+	glVertex3f(1.053373, 0.728531, 2.368836);
+	glEnd();
+	glBegin(GL_TRIANGLES);
+	glNormal3f(0.872860, 0.436415, -0.218207);
+	glVertex3f(0.300254, -0.771470, 2.424964);
+	glNormal3f(0.816492, -0.408246, 0.408246);
+	glVertex3f(-0.249746, -0.771469, 2.368835);
+	glNormal3f(0.816492, -0.408246, -0.408246);
+	glVertex3f(1.053373, -0.771469, 2.368836);
+	glEnd();
+	glBegin(GL_TRIANGLES);
+	glNormal3f(0.577349, 0.577349, -0.577349);
+	glVertex3f(1.053373, -0.771469, 2.424965);
+	glNormal3f(0.872860, 0.436415, -0.218207);
+	glVertex3f(0.300254, -0.771470, 2.424964);
+	glNormal3f(0.816492, -0.408246, -0.408246);
+	glVertex3f(1.053373, -0.771469, 2.368836);
+	glEnd();
+	glBegin(GL_TRIANGLES);
+	glNormal3f(0.872860, 0.436415, -0.218207);
+	glVertex3f(0.300254, -0.771470, 2.424964);
+	glNormal3f(0.832026, 0.000000, 0.554674);
+	glVertex3f(-0.249746, -0.771470, 2.424964);
+	glNormal3f(0.816492, -0.408246, 0.408246);
+	glVertex3f(-0.249746, -0.771469, 2.368835);
+	glEnd();
+	glBegin(GL_TRIANGLES);
+	glNormal3f(0.872860, 0.436415, -0.218207);
+	glVertex3f(0.300254, -0.771470, 2.424964);
+	glNormal3f(0.577349, 0.577349, -0.577349);
+	glVertex3f(1.053373, -0.771469, 2.424965);
+	glNormal3f(-0.408246, 0.816492, -0.408246);
+	glVertex3f(1.053373, 0.728530, 2.424965);
+	glEnd();
+	glBegin(GL_TRIANGLES);
+	glNormal3f(-0.872860, 0.218207, -0.436415);
+	glVertex3f(0.300254, 0.728531, 2.424965);
+	glNormal3f(-0.816492, -0.408216, -0.408246);
+	glVertex3f(1.053373, 0.728531, 2.368836);
+	glNormal3f(-0.816492, -0.408216, 0.408246);
+	glVertex3f(-0.249746, 0.728531, 2.368836);
+	glEnd();
+	glBegin(GL_TRIANGLES);
+	glNormal3f(-0.832026, 0.000000, 0.554674);
+	glVertex3f(-0.249746, 0.728531, 2.424965);
+	glNormal3f(-0.872860, 0.218207, -0.436415);
+	glVertex3f(0.300254, 0.728531, 2.424965);
+	glNormal3f(-0.816492, -0.408216, 0.408246);
+	glVertex3f(-0.249746, 0.728531, 2.368836);
+	glEnd();
+	glBegin(GL_TRIANGLES);
+	glNormal3f(-0.872860, 0.218207, -0.436415);
+	glVertex3f(0.300254, 0.728531, 2.424965);
+	glNormal3f(-0.408246, 0.816492, -0.408246);
+	glVertex3f(1.053373, 0.728530, 2.424965);
+	glNormal3f(-0.816492, -0.408216, -0.408246);
+	glVertex3f(1.053373, 0.728531, 2.368836);
+	glEnd();
+	glBegin(GL_TRIANGLES);
+	glNormal3f(-0.408246, 0.816492, -0.408246);
+	glVertex3f(1.053373, 0.728530, 2.424965);
+	glNormal3f(-0.872860, 0.218207, -0.436415);
+	glVertex3f(0.300254, 0.728531, 2.424965);
+	glNormal3f(0.872860, 0.436415, -0.218207);
+	glVertex3f(0.300254, -0.771470, 2.424964);
+	glEnd();
+	glBegin(GL_QUADS);
+	glNormal3f(-0.832026, 0.000000, 0.554674);
+	glVertex3f(-0.249746, 0.728531, 2.424965);
+	glNormal3f(0.832026, 0.000000, 0.554674);
+	glVertex3f(-0.249746, -0.771470, 2.424964);
+	glNormal3f(0.816492, 0.408246, 0.408246);
+	glVertex3f(-0.249747, -0.771470, 3.947337);
+	glNormal3f(-0.666646, 0.666646, 0.333323);
+	glVertex3f(-0.249747, 0.728531, 3.947337);
+	glEnd();
+	glBegin(GL_TRIANGLES);
+	glNormal3f(0.816492, 0.408246, 0.408246);
+	glVertex3f(-0.249747, -0.771470, 3.947337);
+	glNormal3f(0.554674, 0.832026, 0.000000);
+	glVertex3f(0.300254, -0.771470, 3.947337);
+	glNormal3f(-0.666646, 0.666646, 0.333323);
+	glVertex3f(-0.249747, 0.728531, 3.947337);
+	glEnd();
+	glBegin(GL_TRIANGLES);
+	glNormal3f(-0.707083, 0.707083, 0.000000);
+	glVertex3f(0.300253, 0.728531, 3.947337);
+	glNormal3f(-0.666646, 0.666646, 0.333323);
+	glVertex3f(-0.249747, 0.728531, 3.947337);
+	glNormal3f(0.554674, 0.832026, 0.000000);
+	glVertex3f(0.300254, -0.771470, 3.947337);
+	glEnd();
+	glBegin(GL_TRIANGLES);
+	glNormal3f(0.872860, -0.218207, -0.436415);
+	glVertex3f(0.300254, -0.771470, 3.393451);
+	glNormal3f(0.872860, 0.436415, -0.218207);
+	glVertex3f(0.300254, -0.771470, 2.424964);
+	glNormal3f(-0.872860, 0.218207, -0.436415);
+	glVertex3f(0.300254, 0.728531, 2.424965);
+	glEnd();
+	glBegin(GL_TRIANGLES);
+	glNormal3f(0.872860, -0.218207, -0.436415);
+	glVertex3f(0.300254, -0.771470, 3.393451);
+	glNormal3f(0.816492, 0.408246, 0.408246);
+	glVertex3f(-0.249747, -0.771470, 3.947337);
+	glNormal3f(0.832026, 0.000000, 0.554674);
+	glVertex3f(-0.249746, -0.771470, 2.424964);
+	glEnd();
+	glBegin(GL_TRIANGLES);
+	glNormal3f(0.872860, 0.436415, -0.218207);
+	glVertex3f(0.300254, -0.771470, 2.424964);
+	glNormal3f(0.872860, -0.218207, -0.436415);
+	glVertex3f(0.300254, -0.771470, 3.393451);
+	glNormal3f(0.832026, 0.000000, 0.554674);
+	glVertex3f(-0.249746, -0.771470, 2.424964);
+	glEnd();
+	glBegin(GL_TRIANGLES);
+	glNormal3f(0.872860, -0.218207, -0.436415);
+	glVertex3f(0.300254, -0.771470, 3.393451);
+	glNormal3f(0.554674, 0.832026, 0.000000);
+	glVertex3f(0.300254, -0.771470, 3.947337);
+	glNormal3f(0.816492, 0.408246, 0.408246);
+	glVertex3f(-0.249747, -0.771470, 3.947337);
+	glEnd();
+	glBegin(GL_TRIANGLES);
+	glNormal3f(-0.942808, -0.235694, -0.235694);
+	glVertex3f(0.300254, 0.728531, 3.393451);
+	glNormal3f(-0.832026, 0.000000, 0.554674);
+	glVertex3f(-0.249746, 0.728531, 2.424965);
+	glNormal3f(-0.666646, 0.666646, 0.333323);
+	glVertex3f(-0.249747, 0.728531, 3.947337);
+	glEnd();
+	glBegin(GL_TRIANGLES);
+	glNormal3f(-0.707083, 0.707083, 0.000000);
+	glVertex3f(0.300253, 0.728531, 3.947337);
+	glNormal3f(-0.942808, -0.235694, -0.235694);
+	glVertex3f(0.300254, 0.728531, 3.393451);
+	glNormal3f(-0.666646, 0.666646, 0.333323);
+	glVertex3f(-0.249747, 0.728531, 3.947337);
+	glEnd();
+	glBegin(GL_TRIANGLES);
+	glNormal3f(-0.942808, -0.235694, -0.235694);
+	glVertex3f(0.300254, 0.728531, 3.393451);
+	glNormal3f(-0.872860, 0.218207, -0.436415);
+	glVertex3f(0.300254, 0.728531, 2.424965);
+	glNormal3f(-0.832026, 0.000000, 0.554674);
+	glVertex3f(-0.249746, 0.728531, 2.424965);
+	glEnd();
+	glBegin(GL_TRIANGLES);
+	glNormal3f(-0.872860, 0.218207, -0.436415);
+	glVertex3f(0.300254, 0.728531, 2.424965);
+	glNormal3f(-0.942808, -0.235694, -0.235694);
+	glVertex3f(0.300254, 0.728531, 3.393451);
+	glNormal3f(0.872860, -0.218207, -0.436415);
+	glVertex3f(0.300254, -0.771470, 3.393451);
+	glEnd();
+	glBegin(GL_QUADS);
+	glNormal3f(0.872860, -0.218207, -0.436415);
+	glVertex3f(0.300254, -0.771470, 3.393451);
+	glNormal3f(-0.942808, -0.235694, -0.235694);
+	glVertex3f(0.300254, 0.728531, 3.393451);
+	glNormal3f(-0.577349, -0.577349, -0.577349);
+	glVertex3f(1.065257, 0.728531, 3.393452);
+	glNormal3f(0.408246, -0.408246, -0.816492);
+	glVertex3f(1.065257, -0.771469, 3.393451);
+	glEnd();
+	glBegin(GL_QUADS);
+	glNormal3f(-0.942808, -0.235694, -0.235694);
+	glVertex3f(0.300254, 0.728531, 3.393451);
+	glNormal3f(-0.707083, 0.707083, 0.000000);
+	glVertex3f(0.300253, 0.728531, 3.947337);
+	glNormal3f(-0.408246, 0.408246, -0.816492);
+	glVertex3f(1.065257, 0.728531, 3.947338);
+	glNormal3f(-0.577349, -0.577349, -0.577349);
+	glVertex3f(1.065257, 0.728531, 3.393452);
+	glEnd();
+	glBegin(GL_QUADS);
+	glNormal3f(0.554674, 0.832026, 0.000000);
+	glVertex3f(0.300254, -0.771470, 3.947337);
+	glNormal3f(0.872860, -0.218207, -0.436415);
+	glVertex3f(0.300254, -0.771470, 3.393451);
+	glNormal3f(0.408246, -0.408246, -0.816492);
+	glVertex3f(1.065257, -0.771469, 3.393451);
+	glNormal3f(0.577349, 0.577349, -0.577349);
+	glVertex3f(1.065257, -0.771469, 3.947337);
+	glEnd();
+	glBegin(GL_QUADS);
+	glNormal3f(-0.707083, 0.707083, 0.000000);
+	glVertex3f(0.300253, 0.728531, 3.947337);
+	glNormal3f(0.554674, 0.832026, 0.000000);
+	glVertex3f(0.300254, -0.771470, 3.947337);
+	glNormal3f(0.577349, 0.577349, -0.577349);
+	glVertex3f(1.065257, -0.771469, 3.947337);
+	glNormal3f(-0.408246, 0.408246, -0.816492);
+	glVertex3f(1.065257, 0.728531, 3.947338);
+	glEnd();
+	glBegin(GL_TRIANGLES);
+	glNormal3f(0.577349, 0.577349, -0.577349);
+	glVertex3f(1.065257, -0.771469, 3.947337);
+	glNormal3f(0.408246, -0.408246, -0.816492);
+	glVertex3f(1.065257, -0.771469, 3.393451);
+	glNormal3f(-0.408246, 0.408246, -0.816492);
+	glVertex3f(1.065257, 0.728531, 3.947338);
+	glEnd();
+	glBegin(GL_TRIANGLES);
+	glNormal3f(-0.577349, -0.577349, -0.577349);
+	glVertex3f(1.065257, 0.728531, 3.393452);
+	glNormal3f(-0.408246, 0.408246, -0.816492);
+	glVertex3f(1.065257, 0.728531, 3.947338);
+	glNormal3f(0.408246, -0.408246, -0.816492);
+	glVertex3f(1.065257, -0.771469, 3.393451);
+	glEnd();
+}
+
+
+//object: Cube.009_12
+void load_12() {
+	float matColors[4];
+	matColors[0] = 0.000000;
+	matColors[1] = 0.000000;
+	matColors[2] = 0.000000;
+	matColors[3] = 1.000000;
+	glMaterialfv(GL_FRONT_AND_BACK,GL_AMBIENT_AND_DIFFUSE,matColors);
+	glBegin(GL_QUADS);
+	glNormal3f(0.623890, 0.577349, 0.526658);
+	glVertex3f(1.064986, 1.325268, 0.655804);
+	glNormal3f(0.623890, -0.577349, 0.526658);
+	glVertex3f(1.064986, 1.325268, 0.362966);
+	glNormal3f(0.526658, -0.577319, -0.623890);
+	glVertex3f(1.611081, 0.487545, 0.362966);
+	glNormal3f(0.526658, 0.577349, -0.623890);
+	glVertex3f(1.611081, 0.487545, 0.655804);
+	glEnd();
+	glBegin(GL_QUADS);
+	glNormal3f(-0.526658, 0.577319, 0.623890);
+	glVertex3f(1.148758, 1.379878, 0.655803);
+	glNormal3f(-0.623890, 0.577349, -0.526658);
+	glVertex3f(1.694853, 0.542155, 0.655804);
+	glNormal3f(-0.623890, -0.577349, -0.526658);
+	glVertex3f(1.694853, 0.542154, 0.362967);
+	glNormal3f(-0.526658, -0.577349, 0.623890);
+	glVertex3f(1.148758, 1.379877, 0.362966);
+	glEnd();
+	glBegin(GL_QUADS);
+	glNormal3f(0.623890, 0.577349, 0.526658);
+	glVertex3f(1.064986, 1.325268, 0.655804);
+	glNormal3f(-0.526658, 0.577319, 0.623890);
+	glVertex3f(1.148758, 1.379878, 0.655803);
+	glNormal3f(-0.526658, -0.577349, 0.623890);
+	glVertex3f(1.148758, 1.379877, 0.362966);
+	glNormal3f(0.623890, -0.577349, 0.526658);
+	glVertex3f(1.064986, 1.325268, 0.362966);
+	glEnd();
+	glBegin(GL_QUADS);
+	glNormal3f(0.623890, -0.577349, 0.526658);
+	glVertex3f(1.064986, 1.325268, 0.362966);
+	glNormal3f(-0.526658, -0.577349, 0.623890);
+	glVertex3f(1.148758, 1.379877, 0.362966);
+	glNormal3f(-0.623890, -0.577349, -0.526658);
+	glVertex3f(1.694853, 0.542154, 0.362967);
+	glNormal3f(0.526658, -0.577319, -0.623890);
+	glVertex3f(1.611081, 0.487545, 0.362966);
+	glEnd();
+	glBegin(GL_QUADS);
+	glNormal3f(0.526658, -0.577319, -0.623890);
+	glVertex3f(1.611081, 0.487545, 0.362966);
+	glNormal3f(-0.623890, -0.577349, -0.526658);
+	glVertex3f(1.694853, 0.542154, 0.362967);
+	glNormal3f(-0.623890, 0.577349, -0.526658);
+	glVertex3f(1.694853, 0.542155, 0.655804);
+	glNormal3f(0.526658, 0.577349, -0.623890);
+	glVertex3f(1.611081, 0.487545, 0.655804);
+	glEnd();
+	glBegin(GL_QUADS);
+	glNormal3f(-0.526658, 0.577319, 0.623890);
+	glVertex3f(1.148758, 1.379878, 0.655803);
+	glNormal3f(0.623890, 0.577349, 0.526658);
+	glVertex3f(1.064986, 1.325268, 0.655804);
+	glNormal3f(0.526658, 0.577349, -0.623890);
+	glVertex3f(1.611081, 0.487545, 0.655804);
+	glNormal3f(-0.623890, 0.577349, -0.526658);
+	glVertex3f(1.694853, 0.542155, 0.655804);
+	glEnd();
+	glBegin(GL_QUADS);
+	glNormal3f(-0.235023, 0.577349, -0.781915);
+	glVertex3f(1.701089, -0.496687, 0.654190);
+	glNormal3f(-0.235023, -0.577349, -0.781915);
+	glVertex3f(1.701089, -0.496687, 0.361353);
+	glNormal3f(-0.781915, -0.577319, 0.235023);
+	glVertex3f(1.701089, 0.503313, 0.361353);
+	glNormal3f(-0.781915, 0.577349, 0.235023);
+	glVertex3f(1.701089, 0.503313, 0.654190);
+	glEnd();
+	glBegin(GL_QUADS);
+	glNormal3f(0.781915, 0.577319, -0.235023);
+	glVertex3f(1.601089, -0.496687, 0.654189);
+	glNormal3f(0.235023, 0.577349, 0.781915);
+	glVertex3f(1.601089, 0.503313, 0.654190);
+	glNormal3f(0.235023, -0.577349, 0.781915);
+	glVertex3f(1.601089, 0.503314, 0.361353);
+	glNormal3f(0.781915, -0.577349, -0.235023);
+	glVertex3f(1.601089, -0.496686, 0.361352);
+	glEnd();
+	glBegin(GL_QUADS);
+	glNormal3f(-0.235023, 0.577349, -0.781915);
+	glVertex3f(1.701089, -0.496687, 0.654190);
+	glNormal3f(0.781915, 0.577319, -0.235023);
+	glVertex3f(1.601089, -0.496687, 0.654189);
+	glNormal3f(0.781915, -0.577349, -0.235023);
+	glVertex3f(1.601089, -0.496686, 0.361352);
+	glNormal3f(-0.235023, -0.577349, -0.781915);
+	glVertex3f(1.701089, -0.496687, 0.361353);
+	glEnd();
+	glBegin(GL_QUADS);
+	glNormal3f(-0.235023, -0.577349, -0.781915);
+	glVertex3f(1.701089, -0.496687, 0.361353);
+	glNormal3f(0.781915, -0.577349, -0.235023);
+	glVertex3f(1.601089, -0.496686, 0.361352);
+	glNormal3f(0.235023, -0.577349, 0.781915);
+	glVertex3f(1.601089, 0.503314, 0.361353);
+	glNormal3f(-0.781915, -0.577319, 0.235023);
+	glVertex3f(1.701089, 0.503313, 0.361353);
+	glEnd();
+	glBegin(GL_QUADS);
+	glNormal3f(-0.781915, -0.577319, 0.235023);
+	glVertex3f(1.701089, 0.503313, 0.361353);
+	glNormal3f(0.235023, -0.577349, 0.781915);
+	glVertex3f(1.601089, 0.503314, 0.361353);
+	glNormal3f(0.235023, 0.577349, 0.781915);
+	glVertex3f(1.601089, 0.503313, 0.654190);
+	glNormal3f(-0.781915, 0.577349, 0.235023);
+	glVertex3f(1.701089, 0.503313, 0.654190);
+	glEnd();
+	glBegin(GL_QUADS);
+	glNormal3f(0.781915, 0.577319, -0.235023);
+	glVertex3f(1.601089, -0.496687, 0.654189);
+	glNormal3f(-0.235023, 0.577349, -0.781915);
+	glVertex3f(1.701089, -0.496687, 0.654190);
+	glNormal3f(-0.781915, 0.577349, 0.235023);
+	glVertex3f(1.701089, 0.503313, 0.654190);
+	glNormal3f(0.235023, 0.577349, 0.781915);
+	glVertex3f(1.601089, 0.503313, 0.654190);
+	glEnd();
+	glBegin(GL_QUADS);
+	glNormal3f(0.798608, 0.577349, 0.169866);
+	glVertex3f(0.285901, 1.751756, 0.658583);
+	glNormal3f(0.798608, -0.577349, 0.169866);
+	glVertex3f(0.285901, 1.751756, 0.365745);
+	glNormal3f(0.169866, -0.577319, -0.798608);
+	glVertex3f(1.162710, 1.270918, 0.365745);
+	glNormal3f(0.169866, 0.577349, -0.798608);
+	glVertex3f(1.162710, 1.270918, 0.658583);
+	glEnd();
+	glBegin(GL_QUADS);
+	glNormal3f(-0.169866, 0.577319, 0.798608);
+	glVertex3f(0.333984, 1.839437, 0.658582);
+	glNormal3f(-0.798608, 0.577349, -0.169866);
+	glVertex3f(1.210794, 1.358599, 0.658583);
+	glNormal3f(-0.798608, -0.577349, -0.169866);
+	glVertex3f(1.210794, 1.358599, 0.365746);
+	glNormal3f(-0.169866, -0.577349, 0.798608);
+	glVertex3f(0.333985, 1.839437, 0.365745);
+	glEnd();
+	glBegin(GL_QUADS);
+	glNormal3f(0.798608, 0.577349, 0.169866);
+	glVertex3f(0.285901, 1.751756, 0.658583);
+	glNormal3f(-0.169866, 0.577319, 0.798608);
+	glVertex3f(0.333984, 1.839437, 0.658582);
+	glNormal3f(-0.169866, -0.577349, 0.798608);
+	glVertex3f(0.333985, 1.839437, 0.365745);
+	glNormal3f(0.798608, -0.577349, 0.169866);
+	glVertex3f(0.285901, 1.751756, 0.365745);
+	glEnd();
+	glBegin(GL_QUADS);
+	glNormal3f(0.798608, -0.577349, 0.169866);
+	glVertex3f(0.285901, 1.751756, 0.365745);
+	glNormal3f(-0.169866, -0.577349, 0.798608);
+	glVertex3f(0.333985, 1.839437, 0.365745);
+	glNormal3f(-0.798608, -0.577349, -0.169866);
+	glVertex3f(1.210794, 1.358599, 0.365746);
+	glNormal3f(0.169866, -0.577319, -0.798608);
+	glVertex3f(1.162710, 1.270918, 0.365745);
+	glEnd();
+	glBegin(GL_QUADS);
+	glNormal3f(0.169866, -0.577319, -0.798608);
+	glVertex3f(1.162710, 1.270918, 0.365745);
+	glNormal3f(-0.798608, -0.577349, -0.169866);
+	glVertex3f(1.210794, 1.358599, 0.365746);
+	glNormal3f(-0.798608, 0.577349, -0.169866);
+	glVertex3f(1.210794, 1.358599, 0.658583);
+	glNormal3f(0.169866, 0.577349, -0.798608);
+	glVertex3f(1.162710, 1.270918, 0.658583);
+	glEnd();
+	glBegin(GL_QUADS);
+	glNormal3f(-0.169866, 0.577319, 0.798608);
+	glVertex3f(0.333984, 1.839437, 0.658582);
+	glNormal3f(0.798608, 0.577349, 0.169866);
+	glVertex3f(0.285901, 1.751756, 0.658583);
+	glNormal3f(0.169866, 0.577349, -0.798608);
+	glVertex3f(1.162710, 1.270918, 0.658583);
+	glNormal3f(-0.798608, 0.577349, -0.169866);
+	glVertex3f(1.210794, 1.358599, 0.658583);
+	glEnd();
+	glBegin(GL_QUADS);
+	glNormal3f(0.222968, 0.577349, -0.785455);
+	glVertex3f(1.161116, -1.364325, 0.654257);
+	glNormal3f(0.222968, -0.577349, -0.785455);
+	glVertex3f(1.161116, -1.364325, 0.361420);
+	glNormal3f(-0.785455, -0.577319, -0.222968);
+	glVertex3f(1.699591, -0.521684, 0.361420);
+	glNormal3f(-0.785455, 0.577349, -0.222968);
+	glVertex3f(1.699591, -0.521684, 0.654258);
+	glEnd();
+	glBegin(GL_QUADS);
+	glNormal3f(0.785455, 0.577319, 0.222968);
+	glVertex3f(1.076851, -1.310478, 0.654257);
+	glNormal3f(-0.222968, 0.577349, 0.785455);
+	glVertex3f(1.615327, -0.467837, 0.654257);
+	glNormal3f(-0.222968, -0.577349, 0.785455);
+	glVertex3f(1.615327, -0.467836, 0.361420);
+	glNormal3f(0.785455, -0.577349, 0.222968);
+	glVertex3f(1.076852, -1.310477, 0.361419);
+	glEnd();
+	glBegin(GL_QUADS);
+	glNormal3f(0.222968, 0.577349, -0.785455);
+	glVertex3f(1.161116, -1.364325, 0.654257);
+	glNormal3f(0.785455, 0.577319, 0.222968);
+	glVertex3f(1.076851, -1.310478, 0.654257);
+	glNormal3f(0.785455, -0.577349, 0.222968);
+	glVertex3f(1.076852, -1.310477, 0.361419);
+	glNormal3f(0.222968, -0.577349, -0.785455);
+	glVertex3f(1.161116, -1.364325, 0.361420);
+	glEnd();
+	glBegin(GL_QUADS);
+	glNormal3f(0.222968, -0.577349, -0.785455);
+	glVertex3f(1.161116, -1.364325, 0.361420);
+	glNormal3f(0.785455, -0.577349, 0.222968);
+	glVertex3f(1.076852, -1.310477, 0.361419);
+	glNormal3f(-0.222968, -0.577349, 0.785455);
+	glVertex3f(1.615327, -0.467836, 0.361420);
+	glNormal3f(-0.785455, -0.577319, -0.222968);
+	glVertex3f(1.699591, -0.521684, 0.361420);
+	glEnd();
+	glBegin(GL_QUADS);
+	glNormal3f(-0.785455, -0.577319, -0.222968);
+	glVertex3f(1.699591, -0.521684, 0.361420);
+	glNormal3f(-0.222968, -0.577349, 0.785455);
+	glVertex3f(1.615327, -0.467836, 0.361420);
+	glNormal3f(-0.222968, 0.577349, 0.785455);
+	glVertex3f(1.615327, -0.467837, 0.654257);
+	glNormal3f(-0.785455, 0.577349, -0.222968);
+	glVertex3f(1.699591, -0.521684, 0.654258);
+	glEnd();
+	glBegin(GL_QUADS);
+	glNormal3f(0.785455, 0.577319, 0.222968);
+	glVertex3f(1.076851, -1.310478, 0.654257);
+	glNormal3f(0.222968, 0.577349, -0.785455);
+	glVertex3f(1.161116, -1.364325, 0.654257);
+	glNormal3f(-0.785455, 0.577349, -0.222968);
+	glVertex3f(1.699591, -0.521684, 0.654258);
+	glNormal3f(-0.222968, 0.577349, 0.785455);
+	glVertex3f(1.615327, -0.467837, 0.654257);
+	glEnd();
+	glBegin(GL_QUADS);
+	glNormal3f(0.577349, 0.577349, -0.577319);
+	glVertex3f(0.293198, -1.865489, 0.652626);
+	glNormal3f(0.577349, -0.577349, -0.577349);
+	glVertex3f(0.293198, -1.865489, 0.359789);
+	glNormal3f(-0.577349, -0.577319, -0.577349);
+	glVertex3f(1.173930, -1.391874, 0.359789);
+	glNormal3f(-0.577349, 0.577349, -0.577349);
+	glVertex3f(1.173929, -1.391874, 0.652627);
+	glEnd();
+	glBegin(GL_QUADS);
+	glNormal3f(0.577349, 0.577319, 0.577349);
+	glVertex3f(0.245836, -1.777417, 0.652626);
+	glNormal3f(-0.577349, 0.577349, 0.577349);
+	glVertex3f(1.126568, -1.303801, 0.652626);
+	glNormal3f(-0.577349, -0.577349, 0.577319);
+	glVertex3f(1.126568, -1.303801, 0.359789);
+	glNormal3f(0.577349, -0.577349, 0.577319);
+	glVertex3f(0.245837, -1.777416, 0.359788);
+	glEnd();
+	glBegin(GL_QUADS);
+	glNormal3f(0.577349, 0.577349, -0.577319);
+	glVertex3f(0.293198, -1.865489, 0.652626);
+	glNormal3f(0.577349, 0.577319, 0.577349);
+	glVertex3f(0.245836, -1.777417, 0.652626);
+	glNormal3f(0.577349, -0.577349, 0.577319);
+	glVertex3f(0.245837, -1.777416, 0.359788);
+	glNormal3f(0.577349, -0.577349, -0.577349);
+	glVertex3f(0.293198, -1.865489, 0.359789);
+	glEnd();
+	glBegin(GL_QUADS);
+	glNormal3f(0.577349, -0.577349, -0.577349);
+	glVertex3f(0.293198, -1.865489, 0.359789);
+	glNormal3f(0.577349, -0.577349, 0.577319);
+	glVertex3f(0.245837, -1.777416, 0.359788);
+	glNormal3f(-0.577349, -0.577349, 0.577319);
+	glVertex3f(1.126568, -1.303801, 0.359789);
+	glNormal3f(-0.577349, -0.577319, -0.577349);
+	glVertex3f(1.173930, -1.391874, 0.359789);
+	glEnd();
+	glBegin(GL_QUADS);
+	glNormal3f(-0.577349, -0.577319, -0.577349);
+	glVertex3f(1.173930, -1.391874, 0.359789);
+	glNormal3f(-0.577349, -0.577349, 0.577319);
+	glVertex3f(1.126568, -1.303801, 0.359789);
+	glNormal3f(-0.577349, 0.577349, 0.577349);
+	glVertex3f(1.126568, -1.303801, 0.652626);
+	glNormal3f(-0.577349, 0.577349, -0.577349);
+	glVertex3f(1.173929, -1.391874, 0.652627);
+	glEnd();
+	glBegin(GL_QUADS);
+	glNormal3f(0.577349, 0.577319, 0.577349);
+	glVertex3f(0.245836, -1.777417, 0.652626);
+	glNormal3f(0.577349, 0.577349, -0.577319);
+	glVertex3f(0.293198, -1.865489, 0.652626);
+	glNormal3f(-0.577349, 0.577349, -0.577349);
+	glVertex3f(1.173929, -1.391874, 0.652627);
+	glNormal3f(-0.577349, 0.577349, 0.577349);
+	glVertex3f(1.126568, -1.303801, 0.652626);
+	glEnd();
+	glBegin(GL_QUADS);
+	glNormal3f(-0.623890, 0.577349, -0.526658);
+	glVertex3f(-3.201024, -1.285439, 0.636953);
+	glNormal3f(-0.623890, -0.577349, -0.526658);
+	glVertex3f(-3.201024, -1.285439, 0.344116);
+	glNormal3f(-0.526658, -0.577319, 0.623890);
+	glVertex3f(-3.747119, -0.447716, 0.344116);
+	glNormal3f(-0.526658, 0.577349, 0.623890);
+	glVertex3f(-3.747119, -0.447717, 0.636954);
+	glEnd();
+	glBegin(GL_QUADS);
+	glNormal3f(0.526658, 0.577319, -0.623890);
+	glVertex3f(-3.284796, -1.340050, 0.636953);
+	glNormal3f(0.623890, 0.577349, 0.526658);
+	glVertex3f(-3.830891, -0.502326, 0.636953);
+	glNormal3f(0.623890, -0.577349, 0.526658);
+	glVertex3f(-3.830892, -0.502326, 0.344116);
+	glNormal3f(0.526658, -0.577349, -0.623890);
+	glVertex3f(-3.284796, -1.340049, 0.344115);
+	glEnd();
+	glBegin(GL_QUADS);
+	glNormal3f(-0.623890, 0.577349, -0.526658);
+	glVertex3f(-3.201024, -1.285439, 0.636953);
+	glNormal3f(0.526658, 0.577319, -0.623890);
+	glVertex3f(-3.284796, -1.340050, 0.636953);
+	glNormal3f(0.526658, -0.577349, -0.623890);
+	glVertex3f(-3.284796, -1.340049, 0.344115);
+	glNormal3f(-0.623890, -0.577349, -0.526658);
+	glVertex3f(-3.201024, -1.285439, 0.344116);
+	glEnd();
+	glBegin(GL_QUADS);
+	glNormal3f(-0.623890, -0.577349, -0.526658);
+	glVertex3f(-3.201024, -1.285439, 0.344116);
+	glNormal3f(0.526658, -0.577349, -0.623890);
+	glVertex3f(-3.284796, -1.340049, 0.344115);
+	glNormal3f(0.623890, -0.577349, 0.526658);
+	glVertex3f(-3.830892, -0.502326, 0.344116);
+	glNormal3f(-0.526658, -0.577319, 0.623890);
+	glVertex3f(-3.747119, -0.447716, 0.344116);
+	glEnd();
+	glBegin(GL_QUADS);
+	glNormal3f(-0.526658, -0.577319, 0.623890);
+	glVertex3f(-3.747119, -0.447716, 0.344116);
+	glNormal3f(0.623890, -0.577349, 0.526658);
+	glVertex3f(-3.830892, -0.502326, 0.344116);
+	glNormal3f(0.623890, 0.577349, 0.526658);
+	glVertex3f(-3.830891, -0.502326, 0.636953);
+	glNormal3f(-0.526658, 0.577349, 0.623890);
+	glVertex3f(-3.747119, -0.447717, 0.636954);
+	glEnd();
+	glBegin(GL_QUADS);
+	glNormal3f(0.526658, 0.577319, -0.623890);
+	glVertex3f(-3.284796, -1.340050, 0.636953);
+	glNormal3f(-0.623890, 0.577349, -0.526658);
+	glVertex3f(-3.201024, -1.285439, 0.636953);
+	glNormal3f(-0.526658, 0.577349, 0.623890);
+	glVertex3f(-3.747119, -0.447717, 0.636954);
+	glNormal3f(0.623890, 0.577349, 0.526658);
+	glVertex3f(-3.830891, -0.502326, 0.636953);
+	glEnd();
+	glBegin(GL_QUADS);
+	glNormal3f(0.235023, 0.577349, 0.781915);
+	glVertex3f(-3.837127, 0.536515, 0.635340);
+	glNormal3f(0.235023, -0.577349, 0.781915);
+	glVertex3f(-3.837127, 0.536515, 0.342502);
+	glNormal3f(0.781915, -0.577319, -0.235023);
+	glVertex3f(-3.837127, -0.463485, 0.342502);
+	glNormal3f(0.781915, 0.577349, -0.235023);
+	glVertex3f(-3.837128, -0.463484, 0.635340);
+	glEnd();
+	glBegin(GL_QUADS);
+	glNormal3f(-0.781915, 0.577319, 0.235023);
+	glVertex3f(-3.737128, 0.536515, 0.635339);
+	glNormal3f(-0.235023, 0.577349, -0.781915);
+	glVertex3f(-3.737127, -0.463485, 0.635340);
+	glNormal3f(-0.235023, -0.577349, -0.781915);
+	glVertex3f(-3.737128, -0.463485, 0.342503);
+	glNormal3f(-0.781915, -0.577349, 0.235023);
+	glVertex3f(-3.737128, 0.536514, 0.342502);
+	glEnd();
+	glBegin(GL_QUADS);
+	glNormal3f(0.235023, 0.577349, 0.781915);
+	glVertex3f(-3.837127, 0.536515, 0.635340);
+	glNormal3f(-0.781915, 0.577319, 0.235023);
+	glVertex3f(-3.737128, 0.536515, 0.635339);
+	glNormal3f(-0.781915, -0.577349, 0.235023);
+	glVertex3f(-3.737128, 0.536514, 0.342502);
+	glNormal3f(0.235023, -0.577349, 0.781915);
+	glVertex3f(-3.837127, 0.536515, 0.342502);
+	glEnd();
+	glBegin(GL_QUADS);
+	glNormal3f(0.235023, -0.577349, 0.781915);
+	glVertex3f(-3.837127, 0.536515, 0.342502);
+	glNormal3f(-0.781915, -0.577349, 0.235023);
+	glVertex3f(-3.737128, 0.536514, 0.342502);
+	glNormal3f(-0.235023, -0.577349, -0.781915);
+	glVertex3f(-3.737128, -0.463485, 0.342503);
+	glNormal3f(0.781915, -0.577319, -0.235023);
+	glVertex3f(-3.837127, -0.463485, 0.342502);
+	glEnd();
+	glBegin(GL_QUADS);
+	glNormal3f(0.781915, -0.577319, -0.235023);
+	glVertex3f(-3.837127, -0.463485, 0.342502);
+	glNormal3f(-0.235023, -0.577349, -0.781915);
+	glVertex3f(-3.737128, -0.463485, 0.342503);
+	glNormal3f(-0.235023, 0.577349, -0.781915);
+	glVertex3f(-3.737127, -0.463485, 0.635340);
+	glNormal3f(0.781915, 0.577349, -0.235023);
+	glVertex3f(-3.837128, -0.463484, 0.635340);
+	glEnd();
+	glBegin(GL_QUADS);
+	glNormal3f(-0.781915, 0.577319, 0.235023);
+	glVertex3f(-3.737128, 0.536515, 0.635339);
+	glNormal3f(0.235023, 0.577349, 0.781915);
+	glVertex3f(-3.837127, 0.536515, 0.635340);
+	glNormal3f(0.781915, 0.577349, -0.235023);
+	glVertex3f(-3.837128, -0.463484, 0.635340);
+	glNormal3f(-0.235023, 0.577349, -0.781915);
+	glVertex3f(-3.737127, -0.463485, 0.635340);
+	glEnd();
+	glBegin(GL_QUADS);
+	glNormal3f(-0.798608, 0.577349, -0.169866);
+	glVertex3f(-2.421939, -1.711927, 0.639732);
+	glNormal3f(-0.798608, -0.577349, -0.169866);
+	glVertex3f(-2.421939, -1.711927, 0.346895);
+	glNormal3f(-0.169866, -0.577319, 0.798608);
+	glVertex3f(-3.298748, -1.231089, 0.346895);
+	glNormal3f(-0.169866, 0.577349, 0.798608);
+	glVertex3f(-3.298748, -1.231090, 0.639733);
+	glEnd();
+	glBegin(GL_QUADS);
+	glNormal3f(0.169866, 0.577319, -0.798608);
+	glVertex3f(-2.470022, -1.799608, 0.639732);
+	glNormal3f(0.798608, 0.577349, 0.169866);
+	glVertex3f(-3.346832, -1.318770, 0.639732);
+	glNormal3f(0.798608, -0.577349, 0.169866);
+	glVertex3f(-3.346832, -1.318770, 0.346895);
+	glNormal3f(0.169866, -0.577349, -0.798608);
+	glVertex3f(-2.470023, -1.799608, 0.346894);
+	glEnd();
+	glBegin(GL_QUADS);
+	glNormal3f(-0.798608, 0.577349, -0.169866);
+	glVertex3f(-2.421939, -1.711927, 0.639732);
+	glNormal3f(0.169866, 0.577319, -0.798608);
+	glVertex3f(-2.470022, -1.799608, 0.639732);
+	glNormal3f(0.169866, -0.577349, -0.798608);
+	glVertex3f(-2.470023, -1.799608, 0.346894);
+	glNormal3f(-0.798608, -0.577349, -0.169866);
+	glVertex3f(-2.421939, -1.711927, 0.346895);
+	glEnd();
+	glBegin(GL_QUADS);
+	glNormal3f(-0.798608, -0.577349, -0.169866);
+	glVertex3f(-2.421939, -1.711927, 0.346895);
+	glNormal3f(0.169866, -0.577349, -0.798608);
+	glVertex3f(-2.470023, -1.799608, 0.346894);
+	glNormal3f(0.798608, -0.577349, 0.169866);
+	glVertex3f(-3.346832, -1.318770, 0.346895);
+	glNormal3f(-0.169866, -0.577319, 0.798608);
+	glVertex3f(-3.298748, -1.231089, 0.346895);
+	glEnd();
+	glBegin(GL_QUADS);
+	glNormal3f(-0.169866, -0.577319, 0.798608);
+	glVertex3f(-3.298748, -1.231089, 0.346895);
+	glNormal3f(0.798608, -0.577349, 0.169866);
+	glVertex3f(-3.346832, -1.318770, 0.346895);
+	glNormal3f(0.798608, 0.577349, 0.169866);
+	glVertex3f(-3.346832, -1.318770, 0.639732);
+	glNormal3f(-0.169866, 0.577349, 0.798608);
+	glVertex3f(-3.298748, -1.231090, 0.639733);
+	glEnd();
+	glBegin(GL_QUADS);
+	glNormal3f(0.169866, 0.577319, -0.798608);
+	glVertex3f(-2.470022, -1.799608, 0.639732);
+	glNormal3f(-0.798608, 0.577349, -0.169866);
+	glVertex3f(-2.421939, -1.711927, 0.639732);
+	glNormal3f(-0.169866, 0.577349, 0.798608);
+	glVertex3f(-3.298748, -1.231090, 0.639733);
+	glNormal3f(0.798608, 0.577349, 0.169866);
+	glVertex3f(-3.346832, -1.318770, 0.639732);
+	glEnd();
+	glBegin(GL_QUADS);
+	glNormal3f(-0.222968, 0.577349, 0.785455);
+	glVertex3f(-3.297154, 1.404154, 0.635407);
+	glNormal3f(-0.222968, -0.577349, 0.785455);
+	glVertex3f(-3.297154, 1.404154, 0.342570);
+	glNormal3f(0.785455, -0.577319, 0.222968);
+	glVertex3f(-3.835629, 0.561512, 0.342570);
+	glNormal3f(0.785455, 0.577349, 0.222968);
+	glVertex3f(-3.835629, 0.561513, 0.635407);
+	glEnd();
+	glBegin(GL_QUADS);
+	glNormal3f(-0.785455, 0.577319, -0.222968);
+	glVertex3f(-3.212890, 1.350307, 0.635406);
+	glNormal3f(0.222968, 0.577349, -0.785455);
+	glVertex3f(-3.751365, 0.507665, 0.635407);
+	glNormal3f(0.222968, -0.577349, -0.785455);
+	glVertex3f(-3.751365, 0.507664, 0.342570);
+	glNormal3f(-0.785455, -0.577349, -0.222968);
+	glVertex3f(-3.212891, 1.350306, 0.342569);
+	glEnd();
+	glBegin(GL_QUADS);
+	glNormal3f(-0.222968, 0.577349, 0.785455);
+	glVertex3f(-3.297154, 1.404154, 0.635407);
+	glNormal3f(-0.785455, 0.577319, -0.222968);
+	glVertex3f(-3.212890, 1.350307, 0.635406);
+	glNormal3f(-0.785455, -0.577349, -0.222968);
+	glVertex3f(-3.212891, 1.350306, 0.342569);
+	glNormal3f(-0.222968, -0.577349, 0.785455);
+	glVertex3f(-3.297154, 1.404154, 0.342570);
+	glEnd();
+	glBegin(GL_QUADS);
+	glNormal3f(-0.222968, -0.577349, 0.785455);
+	glVertex3f(-3.297154, 1.404154, 0.342570);
+	glNormal3f(-0.785455, -0.577349, -0.222968);
+	glVertex3f(-3.212891, 1.350306, 0.342569);
+	glNormal3f(0.222968, -0.577349, -0.785455);
+	glVertex3f(-3.751365, 0.507664, 0.342570);
+	glNormal3f(0.785455, -0.577319, 0.222968);
+	glVertex3f(-3.835629, 0.561512, 0.342570);
+	glEnd();
+	glBegin(GL_QUADS);
+	glNormal3f(0.785455, -0.577319, 0.222968);
+	glVertex3f(-3.835629, 0.561512, 0.342570);
+	glNormal3f(0.222968, -0.577349, -0.785455);
+	glVertex3f(-3.751365, 0.507664, 0.342570);
+	glNormal3f(0.222968, 0.577349, -0.785455);
+	glVertex3f(-3.751365, 0.507665, 0.635407);
+	glNormal3f(0.785455, 0.577349, 0.222968);
+	glVertex3f(-3.835629, 0.561513, 0.635407);
+	glEnd();
+	glBegin(GL_QUADS);
+	glNormal3f(-0.785455, 0.577319, -0.222968);
+	glVertex3f(-3.212890, 1.350307, 0.635406);
+	glNormal3f(-0.222968, 0.577349, 0.785455);
+	glVertex3f(-3.297154, 1.404154, 0.635407);
+	glNormal3f(0.785455, 0.577349, 0.222968);
+	glVertex3f(-3.835629, 0.561513, 0.635407);
+	glNormal3f(0.222968, 0.577349, -0.785455);
+	glVertex3f(-3.751365, 0.507665, 0.635407);
+	glEnd();
+	glBegin(GL_QUADS);
+	glNormal3f(-0.577349, 0.577349, 0.577319);
+	glVertex3f(-2.429237, 1.905318, 0.633776);
+	glNormal3f(-0.577349, -0.577349, 0.577349);
+	glVertex3f(-2.429237, 1.905318, 0.340939);
+	glNormal3f(0.577349, -0.577319, 0.577349);
+	glVertex3f(-3.309968, 1.431702, 0.340939);
+	glNormal3f(0.577349, 0.577349, 0.577349);
+	glVertex3f(-3.309968, 1.431702, 0.633777);
+	glEnd();
+	glBegin(GL_QUADS);
+	glNormal3f(-0.577349, 0.577319, -0.577349);
+	glVertex3f(-2.381875, 1.817245, 0.633776);
+	glNormal3f(0.577349, 0.577349, -0.577349);
+	glVertex3f(-3.262607, 1.343629, 0.633776);
+	glNormal3f(0.577349, -0.577349, -0.577319);
+	glVertex3f(-3.262607, 1.343629, 0.340939);
+	glNormal3f(-0.577349, -0.577349, -0.577349);
+	glVertex3f(-2.381876, 1.817245, 0.340938);
+	glEnd();
+	glBegin(GL_QUADS);
+	glNormal3f(-0.577349, 0.577349, 0.577319);
+	glVertex3f(-2.429237, 1.905318, 0.633776);
+	glNormal3f(-0.577349, 0.577319, -0.577349);
+	glVertex3f(-2.381875, 1.817245, 0.633776);
+	glNormal3f(-0.577349, -0.577349, -0.577349);
+	glVertex3f(-2.381876, 1.817245, 0.340938);
+	glNormal3f(-0.577349, -0.577349, 0.577349);
+	glVertex3f(-2.429237, 1.905318, 0.340939);
+	glEnd();
+	glBegin(GL_QUADS);
+	glNormal3f(-0.577349, -0.577349, 0.577349);
+	glVertex3f(-2.429237, 1.905318, 0.340939);
+	glNormal3f(-0.577349, -0.577349, -0.577349);
+	glVertex3f(-2.381876, 1.817245, 0.340938);
+	glNormal3f(0.577349, -0.577349, -0.577319);
+	glVertex3f(-3.262607, 1.343629, 0.340939);
+	glNormal3f(0.577349, -0.577319, 0.577349);
+	glVertex3f(-3.309968, 1.431702, 0.340939);
+	glEnd();
+	glBegin(GL_QUADS);
+	glNormal3f(0.577349, -0.577319, 0.577349);
+	glVertex3f(-3.309968, 1.431702, 0.340939);
+	glNormal3f(0.577349, -0.577349, -0.577319);
+	glVertex3f(-3.262607, 1.343629, 0.340939);
+	glNormal3f(0.577349, 0.577349, -0.577349);
+	glVertex3f(-3.262607, 1.343629, 0.633776);
+	glNormal3f(0.577349, 0.577349, 0.577349);
+	glVertex3f(-3.309968, 1.431702, 0.633777);
+	glEnd();
+	glBegin(GL_QUADS);
+	glNormal3f(-0.577349, 0.577319, -0.577349);
+	glVertex3f(-2.381875, 1.817245, 0.633776);
+	glNormal3f(-0.577349, 0.577349, 0.577319);
+	glVertex3f(-2.429237, 1.905318, 0.633776);
+	glNormal3f(0.577349, 0.577349, 0.577349);
+	glVertex3f(-3.309968, 1.431702, 0.633777);
+	glNormal3f(0.577349, 0.577349, -0.577349);
+	glVertex3f(-3.262607, 1.343629, 0.633776);
+	glEnd();
+}
+
+
+//object: Circle.020_13
+void load_13() {
+	float matColors[4];
+}
+
+
+//object: Circle.018_14
+void load_14() {
+	float matColors[4];
+	matColors[0] = 0.301816;
+	matColors[1] = 0.344790;
+	matColors[2] = 0.000000;
+	matColors[3] = 1.000000;
+	glMaterialfv(GL_FRONT_AND_BACK,GL_AMBIENT_AND_DIFFUSE,matColors);
+	glBegin(GL_TRIANGLES);
+	glNormal3f(-0.446669, 0.000000, -0.894681);
+	glVertex3f(-2.637763, 1.090398, 2.241001);
+	glNormal3f(-0.446669, 0.000031, -0.894681);
+	glVertex3f(-2.656932, 1.080817, 2.243026);
+	glNormal3f(-0.446669, 0.000000, -0.894681);
+	glVertex3f(-2.676176, 1.071197, 2.242350);
+	glEnd();
+	glBegin(GL_TRIANGLES);
+	glNormal3f(-0.446669, 0.000000, -0.894681);
+	glVertex3f(-2.637763, 1.090398, 2.241001);
+	glNormal3f(-0.446669, 0.000000, -0.894681);
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+	glVertex3f(-0.062773, -1.138386, 1.976610);
+	glNormal3f(0.000427, 0.000000, -0.999969);
+	glVertex3f(-0.048538, -1.138386, 1.960464);
+	glEnd();
+	glBegin(GL_TRIANGLES);
+	glNormal3f(0.000427, 0.000000, -0.999969);
+	glVertex3f(0.186021, -1.138386, 1.953092);
+	glNormal3f(0.000427, 0.000000, -0.999969);
+	glVertex3f(0.201242, -1.138386, 1.968313);
+	glNormal3f(0.000427, 0.000000, -0.999969);
+	glVertex3f(-0.048538, -1.138386, 1.960464);
+	glEnd();
+	glBegin(GL_TRIANGLES);
+	glNormal3f(0.000427, 0.000000, -0.999969);
+	glVertex3f(0.186021, -1.138386, 1.953092);
+	glNormal3f(0.000427, 0.000000, -0.999969);
+	glVertex3f(-0.048538, -1.138386, 1.960464);
+	glNormal3f(0.000427, 0.000000, -0.999969);
+	glVertex3f(-0.032391, -1.138386, 1.946228);
+	glEnd();
+	glBegin(GL_TRIANGLES);
+	glNormal3f(0.000427, 0.000000, -0.999969);
+	glVertex3f(0.169013, -1.138386, 1.939898);
+	glNormal3f(0.000427, 0.000000, -0.999969);
+	glVertex3f(0.186021, -1.138386, 1.953092);
+	glNormal3f(0.000427, 0.000000, -0.999969);
+	glVertex3f(-0.032391, -1.138386, 1.946228);
+	glEnd();
+	glBegin(GL_TRIANGLES);
+	glNormal3f(0.000427, 0.000000, -0.999969);
+	glVertex3f(0.169013, -1.138386, 1.939898);
+	glNormal3f(0.000427, 0.000000, -0.999969);
+	glVertex3f(-0.032391, -1.138386, 1.946228);
+	glNormal3f(0.000427, 0.000000, -0.999969);
+	glVertex3f(-0.014588, -1.138386, 1.934129);
+	glEnd();
+	glBegin(GL_TRIANGLES);
+	glNormal3f(0.000427, 0.000000, -0.999969);
+	glVertex3f(0.150485, -1.138386, 1.928941);
+	glNormal3f(0.000427, 0.000000, -0.999969);
+	glVertex3f(0.169013, -1.138386, 1.939898);
+	glNormal3f(0.000427, 0.000000, -0.999969);
+	glVertex3f(-0.014588, -1.138386, 1.934129);
+	glEnd();
+	glBegin(GL_TRIANGLES);
+	glNormal3f(0.000427, 0.000000, -0.999969);
+	glVertex3f(0.150485, -1.138386, 1.928941);
+	glNormal3f(0.000427, 0.000000, -0.999969);
+	glVertex3f(-0.014588, -1.138386, 1.934129);
+	glNormal3f(0.000427, 0.000000, -0.999969);
+	glVertex3f(0.004592, -1.138386, 1.924356);
+	glEnd();
+	glBegin(GL_TRIANGLES);
+	glNormal3f(0.000427, 0.000000, -0.999969);
+	glVertex3f(0.130729, -1.138386, 1.920393);
+	glNormal3f(0.000427, 0.000000, -0.999969);
+	glVertex3f(0.150485, -1.138386, 1.928941);
+	glNormal3f(0.000427, 0.000000, -0.999969);
+	glVertex3f(0.004592, -1.138386, 1.924356);
+	glEnd();
+	glBegin(GL_TRIANGLES);
+	glNormal3f(0.000427, 0.000000, -0.999969);
+	glVertex3f(0.130729, -1.138386, 1.920393);
+	glNormal3f(0.000427, 0.000000, -0.999969);
+	glVertex3f(0.004592, -1.138386, 1.924356);
+	glNormal3f(0.000427, 0.000000, -0.999969);
+	glVertex3f(0.024845, -1.138386, 1.917065);
+	glEnd();
+	glBegin(GL_TRIANGLES);
+	glNormal3f(0.000427, 0.000000, -0.999969);
+	glVertex3f(0.110058, -1.138386, 1.914387);
+	glNormal3f(0.000427, 0.000000, -0.999969);
+	glVertex3f(0.130729, -1.138386, 1.920393);
+	glNormal3f(0.000427, 0.000000, -0.999969);
+	glVertex3f(0.024845, -1.138386, 1.917065);
+	glEnd();
+	glBegin(GL_TRIANGLES);
+	glNormal3f(0.000427, 0.000000, -0.999969);
+	glVertex3f(0.110058, -1.138386, 1.914387);
+	glNormal3f(0.000427, 0.000000, -0.999969);
+	glVertex3f(0.024845, -1.138386, 1.917065);
+	glNormal3f(0.000427, 0.000000, -0.999969);
+	glVertex3f(0.045852, -1.138386, 1.912369);
+	glEnd();
+	glBegin(GL_TRIANGLES);
+	glNormal3f(0.000427, 0.000000, -0.999969);
+	glVertex3f(0.088798, -1.138386, 1.911019);
+	glNormal3f(0.000427, 0.000000, -0.999969);
+	glVertex3f(0.110058, -1.138386, 1.914387);
+	glNormal3f(0.000427, 0.000000, -0.999969);
+	glVertex3f(0.045852, -1.138386, 1.912369);
+	glEnd();
+	glBegin(GL_TRIANGLES);
+	glNormal3f(0.000427, 0.000000, -0.999969);
+	glVertex3f(0.088798, -1.138386, 1.911019);
+	glNormal3f(0.000427, 0.000000, -0.999969);
+	glVertex3f(0.045852, -1.138386, 1.912369);
+	glNormal3f(0.000427, 0.000000, -0.999969);
+	glVertex3f(0.067282, -1.138386, 1.910343);
+	glEnd();
+}
+
+
+//object: Cube.003_15
+void load_15() {
+	float matColors[4];
+	matColors[0] = 0.898039;
+	matColors[1] = 0.125490;
+	matColors[2] = 0.007843;
+	matColors[3] = 1.000000;
+	glMaterialfv(GL_FRONT_AND_BACK,GL_AMBIENT_AND_DIFFUSE,matColors);
+	glBegin(GL_QUADS);
+	glNormal3f(0.633076, 0.250679, -0.732353);
+	glVertex3f(0.290165, -1.127358, 0.643951);
+	glNormal3f(0.626942, -0.259682, -0.734489);
+	glVertex3f(-2.409835, -1.127358, 0.643951);
+	glNormal3f(-0.626942, -0.259682, -0.734489);
+	glVertex3f(-2.409835, 1.155924, 0.643951);
+	glNormal3f(-0.625965, 0.261055, -0.734825);
+	glVertex3f(0.290165, 1.155923, 0.643951);
+	glEnd();
+	glBegin(GL_QUADS);
+	glNormal3f(0.633076, 0.250649, 0.732353);
+	glVertex3f(0.290164, -1.127358, 2.359709);
+	glNormal3f(-0.625965, 0.261055, 0.734825);
+	glVertex3f(0.290165, 1.155924, 2.359709);
+	glNormal3f(-0.626942, -0.259682, 0.734489);
+	glVertex3f(-2.409835, 1.155924, 2.359709);
+	glNormal3f(0.626942, -0.259682, 0.734489);
+	glVertex3f(-2.409836, -1.127357, 2.359709);
+	glEnd();
+	glBegin(GL_QUADS);
+	glNormal3f(0.633076, 0.250679, -0.732353);
+	glVertex3f(0.290165, -1.127358, 0.643951);
+	glNormal3f(0.633076, 0.250649, 0.732353);
+	glVertex3f(0.290164, -1.127358, 2.359709);
+	glNormal3f(0.626942, -0.259682, 0.734489);
+	glVertex3f(-2.409836, -1.127357, 2.359709);
+	glNormal3f(0.626942, -0.259682, -0.734489);
+	glVertex3f(-2.409835, -1.127358, 0.643951);
+	glEnd();
+	glBegin(GL_QUADS);
+	glNormal3f(-0.626942, -0.259682, -0.734489);
+	glVertex3f(-2.409835, 1.155924, 0.643951);
+	glNormal3f(-0.626942, -0.259682, 0.734489);
+	glVertex3f(-2.409835, 1.155924, 2.359709);
+	glNormal3f(-0.625965, 0.261055, 0.734825);
+	glVertex3f(0.290165, 1.155924, 2.359709);
+	glNormal3f(-0.625965, 0.261055, -0.734825);
+	glVertex3f(0.290165, 1.155923, 0.643951);
+	glEnd();
+	glBegin(GL_QUADS);
+	glNormal3f(-0.625965, 0.261055, -0.734825);
+	glVertex3f(0.290165, 1.155923, 0.643951);
+	glNormal3f(-0.625965, 0.261055, 0.734825);
+	glVertex3f(0.290165, 1.155924, 2.359709);
+	glNormal3f(-0.334666, 0.813501, 0.475570);
+	glVertex3f(0.589096, 0.854092, 2.359709);
+	glNormal3f(-0.334666, 0.813501, -0.475570);
+	glVertex3f(0.589096, 0.854092, 0.643951);
+	glEnd();
+	glBegin(GL_QUADS);
+	glNormal3f(0.633076, 0.250649, 0.732353);
+	glVertex3f(0.290164, -1.127358, 2.359709);
+	glNormal3f(0.633076, 0.250679, -0.732353);
+	glVertex3f(0.290165, -1.127358, 0.643951);
+	glNormal3f(0.348704, 0.805902, -0.478408);
+	glVertex3f(0.589096, -0.846616, 0.643951);
+	glNormal3f(0.348704, 0.805902, 0.478408);
+	glVertex3f(0.589095, -0.846617, 2.359709);
+	glEnd();
+	glBegin(GL_QUADS);
+	glNormal3f(-0.625965, 0.261055, 0.734825);
+	glVertex3f(0.290165, 1.155924, 2.359709);
+	glNormal3f(0.633076, 0.250649, 0.732353);
+	glVertex3f(0.290164, -1.127358, 2.359709);
+	glNormal3f(0.348704, 0.805902, 0.478408);
+	glVertex3f(0.589095, -0.846617, 2.359709);
+	glNormal3f(-0.334666, 0.813501, 0.475570);
+	glVertex3f(0.589096, 0.854092, 2.359709);
+	glEnd();
+	glBegin(GL_QUADS);
+	glNormal3f(0.633076, 0.250679, -0.732353);
+	glVertex3f(0.290165, -1.127358, 0.643951);
+	glNormal3f(-0.625965, 0.261055, -0.734825);
+	glVertex3f(0.290165, 1.155923, 0.643951);
+	glNormal3f(-0.334666, 0.813501, -0.475570);
+	glVertex3f(0.589096, 0.854092, 0.643951);
+	glNormal3f(0.348704, 0.805902, -0.478408);
+	glVertex3f(0.589096, -0.846616, 0.643951);
+	glEnd();
+	glBegin(GL_QUADS);
+	glNormal3f(0.348704, 0.805902, 0.478408);
+	glVertex3f(0.589095, -0.846617, 2.359709);
+	glNormal3f(0.348704, 0.805902, -0.478408);
+	glVertex3f(0.589096, -0.846616, 0.643951);
+	glNormal3f(-0.334666, 0.813501, -0.475570);
+	glVertex3f(0.589096, 0.854092, 0.643951);
+	glNormal3f(-0.334666, 0.813501, 0.475570);
+	glVertex3f(0.589096, 0.854092, 2.359709);
+	glEnd();
+	glBegin(GL_QUADS);
+	glNormal3f(-0.626942, -0.259682, 0.734489);
+	glVertex3f(-2.409835, 1.155924, 2.359709);
+	glNormal3f(-0.626942, -0.259682, -0.734489);
+	glVertex3f(-2.409835, 1.155924, 0.643951);
+	glNormal3f(-0.336528, -0.812494, -0.475936);
+	glVertex3f(-2.709835, 0.855924, 0.643951);
+	glNormal3f(-0.336528, -0.812494, 0.475936);
+	glVertex3f(-2.709835, 0.855924, 2.359709);
+	glEnd();
+	glBegin(GL_QUADS);
+	glNormal3f(0.626942, -0.259682, -0.734489);
+	glVertex3f(-2.409835, -1.127358, 0.643951);
+	glNormal3f(0.626942, -0.259682, 0.734489);
+	glVertex3f(-2.409836, -1.127357, 2.359709);
+	glNormal3f(0.336528, -0.812494, 0.475936);
+	glVertex3f(-2.709836, -0.827357, 2.359709);
+	glNormal3f(0.336528, -0.812494, -0.475936);
+	glVertex3f(-2.709835, -0.827358, 0.643951);
+	glEnd();
+	glBegin(GL_QUADS);
+	glNormal3f(0.626942, -0.259682, 0.734489);
+	glVertex3f(-2.409836, -1.127357, 2.359709);
+	glNormal3f(-0.626942, -0.259682, 0.734489);
+	glVertex3f(-2.409835, 1.155924, 2.359709);
+	glNormal3f(-0.336528, -0.812494, 0.475936);
+	glVertex3f(-2.709835, 0.855924, 2.359709);
+	glNormal3f(0.336528, -0.812494, 0.475936);
+	glVertex3f(-2.709836, -0.827357, 2.359709);
+	glEnd();
+	glBegin(GL_QUADS);
+	glNormal3f(-0.626942, -0.259682, -0.734489);
+	glVertex3f(-2.409835, 1.155924, 0.643951);
+	glNormal3f(0.626942, -0.259682, -0.734489);
+	glVertex3f(-2.409835, -1.127358, 0.643951);
+	glNormal3f(0.336528, -0.812494, -0.475936);
+	glVertex3f(-2.709835, -0.827358, 0.643951);
+	glNormal3f(-0.336528, -0.812494, -0.475936);
+	glVertex3f(-2.709835, 0.855924, 0.643951);
+	glEnd();
+	glBegin(GL_QUADS);
+	glNormal3f(0.336528, -0.812494, -0.475936);
+	glVertex3f(-2.709835, -0.827358, 0.643951);
+	glNormal3f(0.336528, -0.812494, 0.475936);
+	glVertex3f(-2.709836, -0.827357, 2.359709);
+	glNormal3f(-0.336528, -0.812494, 0.475936);
+	glVertex3f(-2.709835, 0.855924, 2.359709);
+	glNormal3f(-0.336528, -0.812494, -0.475936);
+	glVertex3f(-2.709835, 0.855924, 0.643951);
+	glEnd();
+	glBegin(GL_TRIANGLES);
+	glNormal3f(0.000000, 0.000000, -1.000000);
+	glVertex3f(0.291471, -0.006954, 0.340573);
+	glNormal3f(-0.499985, 0.866024, 0.000000);
+	glVertex3f(0.286340, 1.645948, 0.340573);
+	glNormal3f(-0.491256, 0.491256, -0.719230);
+	glVertex3f(1.053455, 1.203054, 0.340573);
+	glEnd();
+	glBegin(GL_TRIANGLES);
+	glNormal3f(0.000000, 0.372417, 0.928037);
+	glVertex3f(0.288835, -0.006954, 0.643229);
+	glNormal3f(-0.491256, 0.491256, 0.719230);
+	glVertex3f(1.053453, 1.203056, 0.643229);
+	glNormal3f(-0.307291, 0.885525, 0.348369);
+	glVertex3f(0.286338, 1.645948, 0.643229);
+	glEnd();
+	glBegin(GL_TRIANGLES);
+	glNormal3f(0.000000, 0.000000, -1.000000);
+	glVertex3f(0.291471, -0.006954, 0.340573);
+	glNormal3f(-0.491256, 0.491256, -0.719230);
+	glVertex3f(1.053455, 1.203054, 0.340573);
+	glNormal3f(-0.179785, 0.671072, -0.719230);
+	glVertex3f(1.496348, 0.435940, 0.340573);
+	glEnd();
+	glBegin(GL_TRIANGLES);
+	glNormal3f(0.000000, 0.372417, 0.928037);
+	glVertex3f(0.288835, -0.006954, 0.643229);
+	glNormal3f(-0.179785, 0.671072, 0.719230);
+	glVertex3f(1.496348, 0.435942, 0.643229);
+	glNormal3f(-0.491256, 0.491256, 0.719230);
+	glVertex3f(1.053453, 1.203056, 0.643229);
+	glEnd();
+	glBegin(GL_TRIANGLES);
+	glNormal3f(0.000000, 0.000000, -1.000000);
+	glVertex3f(0.291471, -0.006954, 0.340573);
+	glNormal3f(-0.179785, 0.671072, -0.719230);
+	glVertex3f(1.496348, 0.435940, 0.340573);
+	glNormal3f(0.179785, 0.671072, -0.719230);
+	glVertex3f(1.496349, -0.449847, 0.340573);
+	glEnd();
+	glBegin(GL_TRIANGLES);
+	glNormal3f(0.000000, 0.372417, 0.928037);
+	glVertex3f(0.288835, -0.006954, 0.643229);
+	glNormal3f(0.179785, 0.671072, 0.719230);
+	glVertex3f(1.496350, -0.449845, 0.643229);
+	glNormal3f(-0.179785, 0.671072, 0.719230);
+	glVertex3f(1.496348, 0.435942, 0.643229);
+	glEnd();
+	glBegin(GL_TRIANGLES);
+	glNormal3f(0.000000, 0.000000, -1.000000);
+	glVertex3f(0.291471, -0.006954, 0.340573);
+	glNormal3f(0.179785, 0.671072, -0.719230);
+	glVertex3f(1.496349, -0.449847, 0.340573);
+	glNormal3f(0.491256, 0.491256, -0.719230);
+	glVertex3f(1.053456, -1.216962, 0.340573);
+	glEnd();
+	glBegin(GL_TRIANGLES);
+	glNormal3f(0.000000, 0.372417, 0.928037);
+	glVertex3f(0.288835, -0.006954, 0.643229);
+	glNormal3f(0.491256, 0.491256, 0.719230);
+	glVertex3f(1.053457, -1.216960, 0.643229);
+	glNormal3f(0.179785, 0.671072, 0.719230);
+	glVertex3f(1.496350, -0.449845, 0.643229);
+	glEnd();
+	glBegin(GL_TRIANGLES);
+	glNormal3f(0.000000, 0.000000, -1.000000);
+	glVertex3f(0.291471, -0.006954, 0.340573);
+	glNormal3f(0.491256, 0.491256, -0.719230);
+	glVertex3f(1.053456, -1.216962, 0.340573);
+	glNormal3f(0.240181, 0.970702, -0.004547);
+	glVertex3f(0.286342, -1.659856, 0.340573);
+	glEnd();
+	glBegin(GL_TRIANGLES);
+	glNormal3f(0.000000, 0.372417, 0.928037);
+	glVertex3f(0.288835, -0.006954, 0.643229);
+	glNormal3f(0.433607, 0.749748, 0.499832);
+	glVertex3f(0.286343, -1.659855, 0.643229);
+	glNormal3f(0.491256, 0.491256, 0.719230);
+	glVertex3f(1.053457, -1.216960, 0.643229);
+	glEnd();
+	glBegin(GL_QUADS);
+	glNormal3f(-0.499985, 0.866024, 0.000000);
+	glVertex3f(0.286340, 1.645948, 0.340573);
+	glNormal3f(-0.307291, 0.885525, 0.348369);
+	glVertex3f(0.286338, 1.645948, 0.643229);
+	glNormal3f(-0.491256, 0.491256, 0.719230);
+	glVertex3f(1.053453, 1.203056, 0.643229);
+	glNormal3f(-0.491256, 0.491256, -0.719230);
+	glVertex3f(1.053455, 1.203054, 0.340573);
+	glEnd();
+	glBegin(GL_QUADS);
+	glNormal3f(-0.491256, 0.491256, -0.719230);
+	glVertex3f(1.053455, 1.203054, 0.340573);
+	glNormal3f(-0.491256, 0.491256, 0.719230);
+	glVertex3f(1.053453, 1.203056, 0.643229);
+	glNormal3f(-0.179785, 0.671072, 0.719230);
+	glVertex3f(1.496348, 0.435942, 0.643229);
+	glNormal3f(-0.179785, 0.671072, -0.719230);
+	glVertex3f(1.496348, 0.435940, 0.340573);
+	glEnd();
+	glBegin(GL_QUADS);
+	glNormal3f(-0.179785, 0.671072, -0.719230);
+	glVertex3f(1.496348, 0.435940, 0.340573);
+	glNormal3f(-0.179785, 0.671072, 0.719230);
+	glVertex3f(1.496348, 0.435942, 0.643229);
+	glNormal3f(0.179785, 0.671072, 0.719230);
+	glVertex3f(1.496350, -0.449845, 0.643229);
+	glNormal3f(0.179785, 0.671072, -0.719230);
+	glVertex3f(1.496349, -0.449847, 0.340573);
+	glEnd();
+	glBegin(GL_QUADS);
+	glNormal3f(0.179785, 0.671072, -0.719230);
+	glVertex3f(1.496349, -0.449847, 0.340573);
+	glNormal3f(0.179785, 0.671072, 0.719230);
+	glVertex3f(1.496350, -0.449845, 0.643229);
+	glNormal3f(0.491256, 0.491256, 0.719230);
+	glVertex3f(1.053457, -1.216960, 0.643229);
+	glNormal3f(0.491256, 0.491256, -0.719230);
+	glVertex3f(1.053456, -1.216962, 0.340573);
+	glEnd();
+	glBegin(GL_QUADS);
+	glNormal3f(0.491256, 0.491256, -0.719230);
+	glVertex3f(1.053456, -1.216962, 0.340573);
+	glNormal3f(0.491256, 0.491256, 0.719230);
+	glVertex3f(1.053457, -1.216960, 0.643229);
+	glNormal3f(0.433607, 0.749748, 0.499832);
+	glVertex3f(0.286343, -1.659855, 0.643229);
+	glNormal3f(0.240181, 0.970702, -0.004547);
+	glVertex3f(0.286342, -1.659856, 0.340573);
+	glEnd();
+	glBegin(GL_TRIANGLES);
+	glNormal3f(0.000000, 0.372417, 0.928037);
+	glVertex3f(0.288835, -0.006954, 0.643229);
+	glNormal3f(0.433607, 0.749748, 0.499832);
+	glVertex3f(0.286343, -1.659855, 0.643229);
+	glNormal3f(0.240181, 0.970702, -0.004547);
+	glVertex3f(0.286342, -1.659856, 0.340573);
+	glEnd();
+	glBegin(GL_TRIANGLES);
+	glNormal3f(-0.307291, 0.885525, 0.348369);
+	glVertex3f(0.286338, 1.645948, 0.643229);
+	glNormal3f(0.000000, 0.372417, 0.928037);
+	glVertex3f(0.288835, -0.006954, 0.643229);
+	glNormal3f(0.240181, 0.970702, -0.004547);
+	glVertex3f(0.286342, -1.659856, 0.340573);
+	glEnd();
+	glBegin(GL_TRIANGLES);
+	glNormal3f(-0.499985, 0.866024, 0.000000);
+	glVertex3f(0.286340, 1.645948, 0.340573);
+	glNormal3f(-0.307291, 0.885525, 0.348369);
+	glVertex3f(0.286338, 1.645948, 0.643229);
+	glNormal3f(0.240181, 0.970702, -0.004547);
+	glVertex3f(0.286342, -1.659856, 0.340573);
+	glEnd();
+	glBegin(GL_TRIANGLES);
+	glNormal3f(-0.499985, 0.866024, 0.000000);
+	glVertex3f(0.286340, 1.645948, 0.340573);
+	glNormal3f(0.240181, 0.970702, -0.004547);
+	glVertex3f(0.286342, -1.659856, 0.340573);
+	glNormal3f(0.000000, 0.000000, -1.000000);
+	glVertex3f(0.291471, -0.006954, 0.340573);
+	glEnd();
+	glBegin(GL_TRIANGLES);
+	glNormal3f(0.000000, 0.000000, -1.000000);
+	glVertex3f(-2.407557, 0.046286, 0.340169);
+	glNormal3f(0.499985, -0.866024, 0.000000);
+	glVertex3f(-2.402426, -1.606616, 0.340169);
+	glNormal3f(0.491256, -0.491256, -0.719230);
+	glVertex3f(-3.169541, -1.163723, 0.340169);
+	glEnd();
+	glBegin(GL_TRIANGLES);
+	glNormal3f(0.000000, -0.372417, 0.928037);
+	glVertex3f(-2.404921, 0.046286, 0.642825);
+	glNormal3f(0.491256, -0.491256, 0.719230);
+	glVertex3f(-3.169539, -1.163724, 0.642825);
+	glNormal3f(0.307291, -0.885525, 0.348369);
+	glVertex3f(-2.402424, -1.606616, 0.642825);
+	glEnd();
+	glBegin(GL_TRIANGLES);
+	glNormal3f(0.000000, 0.000000, -1.000000);
+	glVertex3f(-2.407557, 0.046286, 0.340169);
+	glNormal3f(0.491256, -0.491256, -0.719230);
+	glVertex3f(-3.169541, -1.163723, 0.340169);
+	glNormal3f(0.179785, -0.671072, -0.719230);
+	glVertex3f(-3.612435, -0.396608, 0.340169);
+	glEnd();
+	glBegin(GL_TRIANGLES);
+	glNormal3f(0.000000, -0.372417, 0.928037);
+	glVertex3f(-2.404921, 0.046286, 0.642825);
+	glNormal3f(0.179785, -0.671072, 0.719230);
+	glVertex3f(-3.612434, -0.396610, 0.642825);
+	glNormal3f(0.491256, -0.491256, 0.719230);
+	glVertex3f(-3.169539, -1.163724, 0.642825);
+	glEnd();
+	glBegin(GL_TRIANGLES);
+	glNormal3f(0.000000, 0.000000, -1.000000);
+	glVertex3f(-2.407557, 0.046286, 0.340169);
+	glNormal3f(0.179785, -0.671072, -0.719230);
+	glVertex3f(-3.612435, -0.396608, 0.340169);
+	glNormal3f(-0.179785, -0.671072, -0.719230);
+	glVertex3f(-3.612435, 0.489179, 0.340169);
+	glEnd();
+	glBegin(GL_TRIANGLES);
+	glNormal3f(0.000000, -0.372417, 0.928037);
+	glVertex3f(-2.404921, 0.046286, 0.642825);
+	glNormal3f(-0.179785, -0.671072, 0.719230);
+	glVertex3f(-3.612435, 0.489177, 0.642825);
+	glNormal3f(0.179785, -0.671072, 0.719230);
+	glVertex3f(-3.612434, -0.396610, 0.642825);
+	glEnd();
+	glBegin(GL_TRIANGLES);
+	glNormal3f(0.000000, 0.000000, -1.000000);
+	glVertex3f(-2.407557, 0.046286, 0.340169);
+	glNormal3f(-0.179785, -0.671072, -0.719230);
+	glVertex3f(-3.612435, 0.489179, 0.340169);
+	glNormal3f(-0.491256, -0.491256, -0.719230);
+	glVertex3f(-3.169541, 1.256294, 0.340169);
+	glEnd();
+	glBegin(GL_TRIANGLES);
+	glNormal3f(0.000000, -0.372417, 0.928037);
+	glVertex3f(-2.404921, 0.046286, 0.642825);
+	glNormal3f(-0.491256, -0.491256, 0.719230);
+	glVertex3f(-3.169543, 1.256292, 0.642825);
+	glNormal3f(-0.179785, -0.671072, 0.719230);
+	glVertex3f(-3.612435, 0.489177, 0.642825);
+	glEnd();
+	glBegin(GL_TRIANGLES);
+	glNormal3f(0.000000, 0.000000, -1.000000);
+	glVertex3f(-2.407557, 0.046286, 0.340169);
+	glNormal3f(-0.491256, -0.491256, -0.719230);
+	glVertex3f(-3.169541, 1.256294, 0.340169);
+	glNormal3f(-0.240181, -0.970702, -0.004547);
+	glVertex3f(-2.402427, 1.699187, 0.340169);
+	glEnd();
+	glBegin(GL_TRIANGLES);
+	glNormal3f(0.000000, -0.372417, 0.928037);
+	glVertex3f(-2.404921, 0.046286, 0.642825);
+	glNormal3f(-0.433607, -0.749748, 0.499832);
+	glVertex3f(-2.402429, 1.699187, 0.642825);
+	glNormal3f(-0.491256, -0.491256, 0.719230);
+	glVertex3f(-3.169543, 1.256292, 0.642825);
+	glEnd();
+	glBegin(GL_QUADS);
+	glNormal3f(0.499985, -0.866024, 0.000000);
+	glVertex3f(-2.402426, -1.606616, 0.340169);
+	glNormal3f(0.307291, -0.885525, 0.348369);
+	glVertex3f(-2.402424, -1.606616, 0.642825);
+	glNormal3f(0.491256, -0.491256, 0.719230);
+	glVertex3f(-3.169539, -1.163724, 0.642825);
+	glNormal3f(0.491256, -0.491256, -0.719230);
+	glVertex3f(-3.169541, -1.163723, 0.340169);
+	glEnd();
+	glBegin(GL_QUADS);
+	glNormal3f(0.491256, -0.491256, -0.719230);
+	glVertex3f(-3.169541, -1.163723, 0.340169);
+	glNormal3f(0.491256, -0.491256, 0.719230);
+	glVertex3f(-3.169539, -1.163724, 0.642825);
+	glNormal3f(0.179785, -0.671072, 0.719230);
+	glVertex3f(-3.612434, -0.396610, 0.642825);
+	glNormal3f(0.179785, -0.671072, -0.719230);
+	glVertex3f(-3.612435, -0.396608, 0.340169);
+	glEnd();
+	glBegin(GL_QUADS);
+	glNormal3f(0.179785, -0.671072, -0.719230);
+	glVertex3f(-3.612435, -0.396608, 0.340169);
+	glNormal3f(0.179785, -0.671072, 0.719230);
+	glVertex3f(-3.612434, -0.396610, 0.642825);
+	glNormal3f(-0.179785, -0.671072, 0.719230);
+	glVertex3f(-3.612435, 0.489177, 0.642825);
+	glNormal3f(-0.179785, -0.671072, -0.719230);
+	glVertex3f(-3.612435, 0.489179, 0.340169);
+	glEnd();
+	glBegin(GL_QUADS);
+	glNormal3f(-0.179785, -0.671072, -0.719230);
+	glVertex3f(-3.612435, 0.489179, 0.340169);
+	glNormal3f(-0.179785, -0.671072, 0.719230);
+	glVertex3f(-3.612435, 0.489177, 0.642825);
+	glNormal3f(-0.491256, -0.491256, 0.719230);
+	glVertex3f(-3.169543, 1.256292, 0.642825);
+	glNormal3f(-0.491256, -0.491256, -0.719230);
+	glVertex3f(-3.169541, 1.256294, 0.340169);
+	glEnd();
+	glBegin(GL_QUADS);
+	glNormal3f(-0.491256, -0.491256, -0.719230);
+	glVertex3f(-3.169541, 1.256294, 0.340169);
+	glNormal3f(-0.491256, -0.491256, 0.719230);
+	glVertex3f(-3.169543, 1.256292, 0.642825);
+	glNormal3f(-0.433607, -0.749748, 0.499832);
+	glVertex3f(-2.402429, 1.699187, 0.642825);
+	glNormal3f(-0.240181, -0.970702, -0.004547);
+	glVertex3f(-2.402427, 1.699187, 0.340169);
+	glEnd();
+	glBegin(GL_TRIANGLES);
+	glNormal3f(0.000000, -0.372417, 0.928037);
+	glVertex3f(-2.404921, 0.046286, 0.642825);
+	glNormal3f(-0.433607, -0.749748, 0.499832);
+	glVertex3f(-2.402429, 1.699187, 0.642825);
+	glNormal3f(-0.240181, -0.970702, -0.004547);
+	glVertex3f(-2.402427, 1.699187, 0.340169);
+	glEnd();
+	glBegin(GL_TRIANGLES);
+	glNormal3f(0.307291, -0.885525, 0.348369);
+	glVertex3f(-2.402424, -1.606616, 0.642825);
+	glNormal3f(0.000000, -0.372417, 0.928037);
+	glVertex3f(-2.404921, 0.046286, 0.642825);
+	glNormal3f(-0.240181, -0.970702, -0.004547);
+	glVertex3f(-2.402427, 1.699187, 0.340169);
+	glEnd();
+	glBegin(GL_TRIANGLES);
+	glNormal3f(0.499985, -0.866024, 0.000000);
+	glVertex3f(-2.402426, -1.606616, 0.340169);
+	glNormal3f(0.307291, -0.885525, 0.348369);
+	glVertex3f(-2.402424, -1.606616, 0.642825);
+	glNormal3f(-0.240181, -0.970702, -0.004547);
+	glVertex3f(-2.402427, 1.699187, 0.340169);
+	glEnd();
+	glBegin(GL_TRIANGLES);
+	glNormal3f(0.499985, -0.866024, 0.000000);
+	glVertex3f(-2.402426, -1.606616, 0.340169);
+	glNormal3f(-0.240181, -0.970702, -0.004547);
+	glVertex3f(-2.402427, 1.699187, 0.340169);
+	glNormal3f(0.000000, 0.000000, -1.000000);
+	glVertex3f(-2.407557, 0.046286, 0.340169);
+	glEnd();
+	matColors[0] = 0.898039;
+	matColors[1] = 0.125490;
+	matColors[2] = 0.007843;
+	matColors[3] = 1.000000;
+	glMaterialfv(GL_FRONT_AND_BACK,GL_AMBIENT_AND_DIFFUSE,matColors);
+	glBegin(GL_QUADS);
+	glNormal3f(0.575915, 0.575793, -0.580279);
+	glVertex3f(0.285599, -1.126825, 0.342417);
+	glNormal3f(0.576983, -0.577105, -0.577929);
+	glVertex3f(-2.401899, -1.125853, 0.342417);
+	glNormal3f(-0.577349, -0.577349, -0.577349);
+	glVertex3f(-2.401899, 1.155390, 0.342417);
+	glNormal3f(-0.576189, 0.576189, -0.579608);
+	glVertex3f(0.285599, 1.155390, 0.342417);
+	glEnd();
+	glBegin(GL_QUADS);
+	glNormal3f(0.578814, 0.578722, 0.574450);
+	glVertex3f(0.287377, -1.126825, 0.642628);
+	glNormal3f(-0.578478, 0.578478, 0.575060);
+	glVertex3f(0.287377, 1.155390, 0.642628);
+	glNormal3f(-0.577349, -0.577349, 0.577349);
+	glVertex3f(-2.401898, 1.155390, 0.642628);
+	glNormal3f(0.577624, -0.577715, 0.576678);
+	glVertex3f(-2.401899, -1.126824, 0.642628);
+	glEnd();
+	glBegin(GL_QUADS);
+	glNormal3f(0.575915, 0.575793, -0.580279);
+	glVertex3f(0.285599, -1.126825, 0.342417);
+	glNormal3f(0.578814, 0.578722, 0.574450);
+	glVertex3f(0.287377, -1.126825, 0.642628);
+	glNormal3f(0.577624, -0.577715, 0.576678);
+	glVertex3f(-2.401899, -1.126824, 0.642628);
+	glNormal3f(0.576983, -0.577105, -0.577929);
+	glVertex3f(-2.401899, -1.125853, 0.342417);
+	glEnd();
+	glBegin(GL_QUADS);
+	glNormal3f(0.576983, -0.577105, -0.577929);
+	glVertex3f(-2.401899, -1.125853, 0.342417);
+	glNormal3f(0.577624, -0.577715, 0.576678);
+	glVertex3f(-2.401899, -1.126824, 0.642628);
+	glNormal3f(-0.577349, -0.577349, 0.577349);
+	glVertex3f(-2.401898, 1.155390, 0.642628);
+	glNormal3f(-0.577349, -0.577349, -0.577349);
+	glVertex3f(-2.401899, 1.155390, 0.342417);
+	glEnd();
+	glBegin(GL_QUADS);
+	glNormal3f(-0.577349, -0.577349, -0.577349);
+	glVertex3f(-2.401899, 1.155390, 0.342417);
+	glNormal3f(-0.577349, -0.577349, 0.577349);
+	glVertex3f(-2.401898, 1.155390, 0.642628);
+	glNormal3f(-0.578478, 0.578478, 0.575060);
+	glVertex3f(0.287377, 1.155390, 0.642628);
+	glNormal3f(-0.576189, 0.576189, -0.579608);
+	glVertex3f(0.285599, 1.155390, 0.342417);
+	glEnd();
+	glBegin(GL_QUADS);
+	glNormal3f(0.578814, 0.578722, 0.574450);
+	glVertex3f(0.287377, -1.126825, 0.642628);
+	glNormal3f(0.575915, 0.575793, -0.580279);
+	glVertex3f(0.285599, -1.126825, 0.342417);
+	glNormal3f(-0.576189, 0.576189, -0.579608);
+	glVertex3f(0.285599, 1.155390, 0.342417);
+	glNormal3f(-0.578478, 0.578478, 0.575060);
+	glVertex3f(0.287377, 1.155390, 0.642628);
+	glEnd();
+}
+
+
+//object: Circle.001_16
+void load_16() {
+	float matColors[4];
+	matColors[0] = 0.898039;
+	matColors[1] = 0.125490;
+	matColors[2] = 0.007843;
+	matColors[3] = 1.000000;
+	glMaterialfv(GL_FRONT_AND_BACK,GL_AMBIENT_AND_DIFFUSE,matColors);
+	glBegin(GL_TRIANGLES);
+	glNormal3f(-0.000488, -0.999969, 0.000000);
+	glVertex3f(-1.886022, 0.016335, 1.836434);
+	glNormal3f(-0.002747, -0.707083, 0.707083);
+	glVertex3f(-1.884085, -1.138017, 1.836433);
+	glNormal3f(-0.158025, -0.715934, 0.680013);
+	glVertex3f(-2.411142, -1.138031, 1.836702);
+	glEnd();
+	glBegin(GL_TRIANGLES);
+	glNormal3f(0.000488, 0.999969, 0.000000);
+	glVertex3f(-1.885752, 0.016335, 2.364655);
+	glNormal3f(-0.157292, 0.716086, 0.680013);
+	glVertex3f(-2.410874, -1.138031, 2.364923);
+	glNormal3f(-0.002045, 0.707083, 0.707083);
+	glVertex3f(-1.883817, -1.138018, 2.364653);
+	glEnd();
+	glBegin(GL_TRIANGLES);
+	glNormal3f(-0.000488, -0.999969, 0.000000);
+	glVertex3f(-1.886022, 0.016335, 1.836434);
+	glNormal3f(-0.158025, -0.715934, 0.680013);
+	glVertex3f(-2.411142, -1.138031, 1.836702);
+	glNormal3f(-0.437452, -0.715781, 0.544267);
+	glVertex3f(-2.886009, -0.909362, 1.836945);
+	glEnd();
+	glBegin(GL_TRIANGLES);
+	glNormal3f(0.000488, 0.999969, 0.000000);
+	glVertex3f(-1.885752, 0.016335, 2.364655);
+	glNormal3f(-0.436720, 0.716239, 0.544267);
+	glVertex3f(-2.885741, -0.909360, 2.365165);
+	glNormal3f(-0.157292, 0.716086, 0.680013);
+	glVertex3f(-2.410874, -1.138031, 2.364923);
+	glEnd();
+	glBegin(GL_TRIANGLES);
+	glNormal3f(-0.000488, -0.999969, 0.000000);
+	glVertex3f(-1.886022, 0.016335, 1.836434);
+	glNormal3f(-0.437452, -0.715781, 0.544267);
+	glVertex3f(-2.886009, -0.909362, 1.836945);
+	glNormal3f(-0.630329, -0.715690, 0.300729);
+	glVertex3f(-3.214635, -0.497301, 1.837113);
+	glEnd();
+	glBegin(GL_TRIANGLES);
+	glNormal3f(0.000488, 0.999969, 0.000000);
+	glVertex3f(-1.885752, 0.016335, 2.364655);
+	glNormal3f(-0.629597, 0.716330, 0.300729);
+	glVertex3f(-3.214366, -0.497299, 2.365334);
+	glNormal3f(-0.436720, 0.716239, 0.544267);
+	glVertex3f(-2.885741, -0.909360, 2.365165);
+	glEnd();
+	glBegin(GL_TRIANGLES);
+	glNormal3f(-0.000488, -0.999969, 0.000000);
+	glVertex3f(-1.886022, 0.016335, 1.836434);
+	glNormal3f(-0.630329, -0.715690, 0.300729);
+	glVertex3f(-3.214635, -0.497301, 1.837113);
+	glNormal3f(-0.698416, -0.715659, -0.002380);
+	glVertex3f(-3.331929, 0.016539, 1.837173);
+	glEnd();
+	glBegin(GL_TRIANGLES);
+	glNormal3f(0.000488, 0.999969, 0.000000);
+	glVertex3f(-1.885752, 0.016335, 2.364655);
+	glNormal3f(-0.697684, 0.716361, -0.002380);
+	glVertex3f(-3.331659, 0.016541, 2.365394);
+	glNormal3f(-0.629597, 0.716330, 0.300729);
+	glVertex3f(-3.214366, -0.497299, 2.365334);
+	glEnd();
+	glBegin(GL_TRIANGLES);
+	glNormal3f(-0.000488, -0.999969, 0.000000);
+	glVertex3f(-1.886022, 0.016335, 1.836434);
+	glNormal3f(-0.698416, -0.715659, -0.002380);
+	glVertex3f(-3.331929, 0.016539, 1.837173);
+	glNormal3f(-0.628254, -0.715690, -0.305002);
+	glVertex3f(-3.214662, 0.530384, 1.837114);
+	glEnd();
+	glBegin(GL_TRIANGLES);
+	glNormal3f(0.000488, 0.999969, 0.000000);
+	glVertex3f(-1.885752, 0.016335, 2.364655);
+	glNormal3f(-0.627522, 0.716330, -0.305002);
+	glVertex3f(-3.214391, 0.530387, 2.365334);
+	glNormal3f(-0.697684, 0.716361, -0.002380);
+	glVertex3f(-3.331659, 0.016541, 2.365394);
+	glEnd();
+	glBegin(GL_TRIANGLES);
+	glNormal3f(-0.000488, -0.999969, 0.000000);
+	glVertex3f(-1.886022, 0.016335, 1.836434);
+	glNormal3f(-0.628254, -0.715690, -0.305002);
+	glVertex3f(-3.214662, 0.530384, 1.837114);
+	glNormal3f(-0.433729, -0.715781, -0.547258);
+	glVertex3f(-2.886058, 0.942462, 1.836946);
+	glEnd();
+	glBegin(GL_TRIANGLES);
+	glNormal3f(0.000488, 0.999969, 0.000000);
+	glVertex3f(-1.885752, 0.016335, 2.364655);
+	glNormal3f(-0.432997, 0.716239, -0.547227);
+	glVertex3f(-2.885786, 0.942464, 2.365167);
+	glNormal3f(-0.627522, 0.716330, -0.305002);
+	glVertex3f(-3.214391, 0.530387, 2.365334);
+	glEnd();
+	glBegin(GL_TRIANGLES);
+	glNormal3f(-0.000488, -0.999969, 0.000000);
+	glVertex3f(-1.886022, 0.016335, 1.836434);
+	glNormal3f(-0.433729, -0.715781, -0.547258);
+	glVertex3f(-2.886058, 0.942462, 1.836946);
+	glNormal3f(-0.153356, -0.715934, -0.681082);
+	glVertex3f(-2.411202, 1.171156, 1.836703);
+	glEnd();
+	glBegin(GL_TRIANGLES);
+	glNormal3f(0.000488, 0.999969, 0.000000);
+	glVertex3f(-1.885752, 0.016335, 2.364655);
+	glNormal3f(-0.152623, 0.716086, -0.681082);
+	glVertex3f(-2.410929, 1.171157, 2.364924);
+	glNormal3f(-0.432997, 0.716239, -0.547227);
+	glVertex3f(-2.885786, 0.942464, 2.365167);
+	glEnd();
+	glBegin(GL_TRIANGLES);
+	glNormal3f(-0.000488, -0.999969, 0.000000);
+	glVertex3f(-1.886022, 0.016335, 1.836434);
+	glNormal3f(-0.153356, -0.715934, -0.681082);
+	glVertex3f(-2.411202, 1.171156, 1.836703);
+	glNormal3f(0.002045, -0.707083, -0.707083);
+	glVertex3f(-1.884145, 1.171170, 1.836434);
+	glEnd();
+	glBegin(GL_TRIANGLES);
+	glNormal3f(0.000488, 0.999969, 0.000000);
+	glVertex3f(-1.885752, 0.016335, 2.364655);
+	glNormal3f(0.002747, 0.707083, -0.707083);
+	glVertex3f(-1.883872, 1.171169, 2.364655);
+	glNormal3f(-0.152623, 0.716086, -0.681082);
+	glVertex3f(-2.410929, 1.171157, 2.364924);
+	glEnd();
+	glBegin(GL_QUADS);
+	glNormal3f(-0.002747, -0.707083, 0.707083);
+	glVertex3f(-1.884085, -1.138017, 1.836433);
+	glNormal3f(-0.002045, 0.707083, 0.707083);
+	glVertex3f(-1.883817, -1.138018, 2.364653);
+	glNormal3f(-0.157292, 0.716086, 0.680013);
+	glVertex3f(-2.410874, -1.138031, 2.364923);
+	glNormal3f(-0.158025, -0.715934, 0.680013);
+	glVertex3f(-2.411142, -1.138031, 1.836702);
+	glEnd();
+	glBegin(GL_QUADS);
+	glNormal3f(-0.158025, -0.715934, 0.680013);
+	glVertex3f(-2.411142, -1.138031, 1.836702);
+	glNormal3f(-0.157292, 0.716086, 0.680013);
+	glVertex3f(-2.410874, -1.138031, 2.364923);
+	glNormal3f(-0.436720, 0.716239, 0.544267);
+	glVertex3f(-2.885741, -0.909360, 2.365165);
+	glNormal3f(-0.437452, -0.715781, 0.544267);
+	glVertex3f(-2.886009, -0.909362, 1.836945);
+	glEnd();
+	glBegin(GL_QUADS);
+	glNormal3f(-0.437452, -0.715781, 0.544267);
+	glVertex3f(-2.886009, -0.909362, 1.836945);
+	glNormal3f(-0.436720, 0.716239, 0.544267);
+	glVertex3f(-2.885741, -0.909360, 2.365165);
+	glNormal3f(-0.629597, 0.716330, 0.300729);
+	glVertex3f(-3.214366, -0.497299, 2.365334);
+	glNormal3f(-0.630329, -0.715690, 0.300729);
+	glVertex3f(-3.214635, -0.497301, 1.837113);
+	glEnd();
+	glBegin(GL_QUADS);
+	glNormal3f(-0.630329, -0.715690, 0.300729);
+	glVertex3f(-3.214635, -0.497301, 1.837113);
+	glNormal3f(-0.629597, 0.716330, 0.300729);
+	glVertex3f(-3.214366, -0.497299, 2.365334);
+	glNormal3f(-0.697684, 0.716361, -0.002380);
+	glVertex3f(-3.331659, 0.016541, 2.365394);
+	glNormal3f(-0.698416, -0.715659, -0.002380);
+	glVertex3f(-3.331929, 0.016539, 1.837173);
+	glEnd();
+	glBegin(GL_QUADS);
+	glNormal3f(-0.698416, -0.715659, -0.002380);
+	glVertex3f(-3.331929, 0.016539, 1.837173);
+	glNormal3f(-0.697684, 0.716361, -0.002380);
+	glVertex3f(-3.331659, 0.016541, 2.365394);
+	glNormal3f(-0.627522, 0.716330, -0.305002);
+	glVertex3f(-3.214391, 0.530387, 2.365334);
+	glNormal3f(-0.628254, -0.715690, -0.305002);
+	glVertex3f(-3.214662, 0.530384, 1.837114);
+	glEnd();
+	glBegin(GL_QUADS);
+	glNormal3f(-0.628254, -0.715690, -0.305002);
+	glVertex3f(-3.214662, 0.530384, 1.837114);
+	glNormal3f(-0.627522, 0.716330, -0.305002);
+	glVertex3f(-3.214391, 0.530387, 2.365334);
+	glNormal3f(-0.432997, 0.716239, -0.547227);
+	glVertex3f(-2.885786, 0.942464, 2.365167);
+	glNormal3f(-0.433729, -0.715781, -0.547258);
+	glVertex3f(-2.886058, 0.942462, 1.836946);
+	glEnd();
+	glBegin(GL_QUADS);
+	glNormal3f(-0.433729, -0.715781, -0.547258);
+	glVertex3f(-2.886058, 0.942462, 1.836946);
+	glNormal3f(-0.432997, 0.716239, -0.547227);
+	glVertex3f(-2.885786, 0.942464, 2.365167);
+	glNormal3f(-0.152623, 0.716086, -0.681082);
+	glVertex3f(-2.410929, 1.171157, 2.364924);
+	glNormal3f(-0.153356, -0.715934, -0.681082);
+	glVertex3f(-2.411202, 1.171156, 1.836703);
+	glEnd();
+	glBegin(GL_QUADS);
+	glNormal3f(-0.153356, -0.715934, -0.681082);
+	glVertex3f(-2.411202, 1.171156, 1.836703);
+	glNormal3f(-0.152623, 0.716086, -0.681082);
+	glVertex3f(-2.410929, 1.171157, 2.364924);
+	glNormal3f(0.002747, 0.707083, -0.707083);
+	glVertex3f(-1.883872, 1.171169, 2.364655);
+	glNormal3f(0.002045, -0.707083, -0.707083);
+	glVertex3f(-1.884145, 1.171170, 1.836434);
+	glEnd();
+	glBegin(GL_TRIANGLES);
+	glNormal3f(0.000488, -0.999969, 0.000000);
+	glVertex3f(-0.226887, 0.008901, 1.829437);
+	glNormal3f(0.003082, -0.707083, -0.707083);
+	glVertex3f(-0.228298, 1.163253, 1.829436);
+	glNormal3f(0.158330, -0.715934, -0.679952);
+	glVertex3f(0.298759, 1.163027, 1.829705);
+	glEnd();
+	glBegin(GL_TRIANGLES);
+	glNormal3f(-0.000488, 0.999969, 0.000000);
+	glVertex3f(-0.227157, 0.008901, 2.357658);
+	glNormal3f(0.157598, 0.716086, -0.679952);
+	glVertex3f(0.298491, 1.163027, 2.357926);
+	glNormal3f(0.002350, 0.707083, -0.707083);
+	glVertex3f(-0.228566, 1.163254, 2.357656);
+	glEnd();
+	glBegin(GL_TRIANGLES);
+	glNormal3f(0.000488, -0.999969, 0.000000);
+	glVertex3f(-0.226887, 0.008901, 1.829437);
+	glNormal3f(0.158330, -0.715934, -0.679952);
+	glVertex3f(0.298759, 1.163027, 1.829705);
+	glNormal3f(0.437696, -0.715781, -0.544084);
+	glVertex3f(0.773522, 0.934142, 1.829948);
+	glEnd();
+	glBegin(GL_TRIANGLES);
+	glNormal3f(-0.000488, 0.999969, 0.000000);
+	glVertex3f(-0.227157, 0.008901, 2.357658);
+	glNormal3f(0.436964, 0.716239, -0.544084);
+	glVertex3f(0.773254, 0.934140, 2.358168);
+	glNormal3f(0.157598, 0.716086, -0.679952);
+	glVertex3f(0.298491, 1.163027, 2.357926);
+	glEnd();
+	glBegin(GL_TRIANGLES);
+	glNormal3f(0.000488, -0.999969, 0.000000);
+	glVertex3f(-0.226887, 0.008901, 1.829437);
+	glNormal3f(0.437696, -0.715781, -0.544084);
+	glVertex3f(0.773522, 0.934142, 1.829948);
+	glNormal3f(0.630451, -0.715690, -0.300424);
+	glVertex3f(1.101960, 0.521931, 1.830116);
+	glEnd();
+	glBegin(GL_TRIANGLES);
+	glNormal3f(-0.000488, 0.999969, 0.000000);
+	glVertex3f(-0.227157, 0.008901, 2.357658);
+	glNormal3f(0.629719, 0.716330, -0.300424);
+	glVertex3f(1.101691, 0.521929, 2.358337);
+	glNormal3f(0.436964, 0.716239, -0.544084);
+	glVertex3f(0.773254, 0.934140, 2.358168);
+	glEnd();
+	glBegin(GL_TRIANGLES);
+	glNormal3f(0.000488, -0.999969, 0.000000);
+	glVertex3f(-0.226887, 0.008901, 1.829437);
+	glNormal3f(0.630451, -0.715690, -0.300424);
+	glVertex3f(1.101960, 0.521931, 1.830116);
+	glNormal3f(0.698416, -0.715659, 0.002686);
+	glVertex3f(1.219020, 0.008038, 1.830176);
+	glEnd();
+	glBegin(GL_TRIANGLES);
+	glNormal3f(-0.000488, 0.999969, 0.000000);
+	glVertex3f(-0.227157, 0.008901, 2.357658);
+	glNormal3f(0.697684, 0.716361, 0.002686);
+	glVertex3f(1.218750, 0.008036, 2.358397);
+	glNormal3f(0.629719, 0.716330, -0.300424);
+	glVertex3f(1.101691, 0.521929, 2.358337);
+	glEnd();
+	glBegin(GL_TRIANGLES);
+	glNormal3f(0.000488, -0.999969, 0.000000);
+	glVertex3f(-0.226887, 0.008901, 1.829437);
+	glNormal3f(0.698416, -0.715659, 0.002686);
+	glVertex3f(1.219020, 0.008038, 1.830176);
+	glNormal3f(0.628101, -0.715690, 0.305307);
+	glVertex3f(1.101519, -0.505754, 1.830117);
+	glEnd();
+	glBegin(GL_TRIANGLES);
+	glNormal3f(-0.000488, 0.999969, 0.000000);
+	glVertex3f(-0.227157, 0.008901, 2.357658);
+	glNormal3f(0.627369, 0.716330, 0.305307);
+	glVertex3f(1.101247, -0.505756, 2.358337);
+	glNormal3f(0.697684, 0.716361, 0.002686);
+	glVertex3f(1.218750, 0.008036, 2.358397);
+	glEnd();
+	glBegin(GL_TRIANGLES);
+	glNormal3f(0.000488, -0.999969, 0.000000);
+	glVertex3f(-0.226887, 0.008901, 1.829437);
+	glNormal3f(0.628101, -0.715690, 0.305307);
+	glVertex3f(1.101519, -0.505754, 1.830117);
+	glNormal3f(0.433485, -0.715781, 0.547441);
+	glVertex3f(0.772727, -0.917682, 1.829949);
+	glEnd();
+	glBegin(GL_TRIANGLES);
+	glNormal3f(-0.000488, 0.999969, 0.000000);
+	glVertex3f(-0.227157, 0.008901, 2.357658);
+	glNormal3f(0.432752, 0.716239, 0.547441);
+	glVertex3f(0.772455, -0.917684, 2.358169);
+	glNormal3f(0.627369, 0.716330, 0.305307);
+	glVertex3f(1.101247, -0.505756, 2.358337);
+	glEnd();
+	glBegin(GL_TRIANGLES);
+	glNormal3f(0.000488, -0.999969, 0.000000);
+	glVertex3f(-0.226887, 0.008901, 1.829437);
+	glNormal3f(0.433485, -0.715781, 0.547441);
+	glVertex3f(0.772727, -0.917682, 1.829949);
+	glNormal3f(0.153050, -0.715934, 0.681143);
+	glVertex3f(0.297767, -1.146160, 1.829706);
+	glEnd();
+	glBegin(GL_TRIANGLES);
+	glNormal3f(-0.000488, 0.999969, 0.000000);
+	glVertex3f(-0.227157, 0.008901, 2.357658);
+	glNormal3f(0.152318, 0.716086, 0.681143);
+	glVertex3f(0.297494, -1.146160, 2.357927);
+	glNormal3f(0.432752, 0.716239, 0.547441);
+	glVertex3f(0.772455, -0.917684, 2.358169);
+	glEnd();
+	glBegin(GL_TRIANGLES);
+	glNormal3f(0.000488, -0.999969, 0.000000);
+	glVertex3f(-0.226887, 0.008901, 1.829437);
+	glNormal3f(0.153050, -0.715934, 0.681143);
+	glVertex3f(0.297767, -1.146160, 1.829706);
+	glNormal3f(-0.002350, -0.707083, 0.707083);
+	glVertex3f(-0.229290, -1.145934, 1.829437);
+	glEnd();
+	glBegin(GL_TRIANGLES);
+	glNormal3f(-0.000488, 0.999969, 0.000000);
+	glVertex3f(-0.227157, 0.008901, 2.357658);
+	glNormal3f(-0.003082, 0.707083, 0.707083);
+	glVertex3f(-0.229563, -1.145932, 2.357657);
+	glNormal3f(0.152318, 0.716086, 0.681143);
+	glVertex3f(0.297494, -1.146160, 2.357927);
+	glEnd();
+	glBegin(GL_QUADS);
+	glNormal3f(0.003082, -0.707083, -0.707083);
+	glVertex3f(-0.228298, 1.163253, 1.829436);
+	glNormal3f(0.002350, 0.707083, -0.707083);
+	glVertex3f(-0.228566, 1.163254, 2.357656);
+	glNormal3f(0.157598, 0.716086, -0.679952);
+	glVertex3f(0.298491, 1.163027, 2.357926);
+	glNormal3f(0.158330, -0.715934, -0.679952);
+	glVertex3f(0.298759, 1.163027, 1.829705);
+	glEnd();
+	glBegin(GL_QUADS);
+	glNormal3f(0.158330, -0.715934, -0.679952);
+	glVertex3f(0.298759, 1.163027, 1.829705);
+	glNormal3f(0.157598, 0.716086, -0.679952);
+	glVertex3f(0.298491, 1.163027, 2.357926);
+	glNormal3f(0.436964, 0.716239, -0.544084);
+	glVertex3f(0.773254, 0.934140, 2.358168);
+	glNormal3f(0.437696, -0.715781, -0.544084);
+	glVertex3f(0.773522, 0.934142, 1.829948);
+	glEnd();
+	glBegin(GL_QUADS);
+	glNormal3f(0.437696, -0.715781, -0.544084);
+	glVertex3f(0.773522, 0.934142, 1.829948);
+	glNormal3f(0.436964, 0.716239, -0.544084);
+	glVertex3f(0.773254, 0.934140, 2.358168);
+	glNormal3f(0.629719, 0.716330, -0.300424);
+	glVertex3f(1.101691, 0.521929, 2.358337);
+	glNormal3f(0.630451, -0.715690, -0.300424);
+	glVertex3f(1.101960, 0.521931, 1.830116);
+	glEnd();
+	glBegin(GL_QUADS);
+	glNormal3f(0.630451, -0.715690, -0.300424);
+	glVertex3f(1.101960, 0.521931, 1.830116);
+	glNormal3f(0.629719, 0.716330, -0.300424);
+	glVertex3f(1.101691, 0.521929, 2.358337);
+	glNormal3f(0.697684, 0.716361, 0.002686);
+	glVertex3f(1.218750, 0.008036, 2.358397);
+	glNormal3f(0.698416, -0.715659, 0.002686);
+	glVertex3f(1.219020, 0.008038, 1.830176);
+	glEnd();
+	glBegin(GL_QUADS);
+	glNormal3f(0.698416, -0.715659, 0.002686);
+	glVertex3f(1.219020, 0.008038, 1.830176);
+	glNormal3f(0.697684, 0.716361, 0.002686);
+	glVertex3f(1.218750, 0.008036, 2.358397);
+	glNormal3f(0.627369, 0.716330, 0.305307);
+	glVertex3f(1.101247, -0.505756, 2.358337);
+	glNormal3f(0.628101, -0.715690, 0.305307);
+	glVertex3f(1.101519, -0.505754, 1.830117);
+	glEnd();
+	glBegin(GL_QUADS);
+	glNormal3f(0.628101, -0.715690, 0.305307);
+	glVertex3f(1.101519, -0.505754, 1.830117);
+	glNormal3f(0.627369, 0.716330, 0.305307);
+	glVertex3f(1.101247, -0.505756, 2.358337);
+	glNormal3f(0.432752, 0.716239, 0.547441);
+	glVertex3f(0.772455, -0.917684, 2.358169);
+	glNormal3f(0.433485, -0.715781, 0.547441);
+	glVertex3f(0.772727, -0.917682, 1.829949);
+	glEnd();
+	glBegin(GL_QUADS);
+	glNormal3f(0.433485, -0.715781, 0.547441);
+	glVertex3f(0.772727, -0.917682, 1.829949);
+	glNormal3f(0.432752, 0.716239, 0.547441);
+	glVertex3f(0.772455, -0.917684, 2.358169);
+	glNormal3f(0.152318, 0.716086, 0.681143);
+	glVertex3f(0.297494, -1.146160, 2.357927);
+	glNormal3f(0.153050, -0.715934, 0.681143);
+	glVertex3f(0.297767, -1.146160, 1.829706);
+	glEnd();
+	glBegin(GL_QUADS);
+	glNormal3f(0.153050, -0.715934, 0.681143);
+	glVertex3f(0.297767, -1.146160, 1.829706);
+	glNormal3f(0.152318, 0.716086, 0.681143);
+	glVertex3f(0.297494, -1.146160, 2.357927);
+	glNormal3f(-0.003082, 0.707083, 0.707083);
+	glVertex3f(-0.229563, -1.145932, 2.357657);
+	glNormal3f(-0.002350, -0.707083, 0.707083);
+	glVertex3f(-0.229290, -1.145934, 1.829437);
+	glEnd();
+}
+
+
+//object: Cylinder_17
+void load_17() {
+	float matColors[4];
+	matColors[0] = 0.000000;
+	matColors[1] = 0.000000;
+	matColors[2] = 0.000000;
+	matColors[3] = 1.000000;
+	glMaterialfv(GL_FRONT_AND_BACK,GL_AMBIENT_AND_DIFFUSE,matColors);
+	glBegin(GL_QUADS);
+	glNormal3f(0.376751, 0.406079, 0.832545);
+	glVertex3f(0.752234, -1.270885, 2.359936);
+	glNormal3f(0.376751, 0.406079, 0.832545);
+	glVertex3f(0.752230, -1.270889, 2.389997);
+	glNormal3f(0.424665, 0.355632, 0.832545);
+	glVertex3f(0.579831, -1.434966, 2.389997);
+	glNormal3f(0.424665, 0.355632, 0.832545);
+	glVertex3f(0.579834, -1.434964, 2.359936);
+	glEnd();
+	glBegin(GL_QUADS);
+	glNormal3f(0.424665, 0.355632, 0.832545);
+	glVertex3f(0.579834, -1.434964, 2.359936);
+	glNormal3f(0.424665, 0.355632, 0.832545);
+	glVertex3f(0.579831, -1.434966, 2.389997);
+	glNormal3f(0.458663, 0.311411, 0.832209);
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+	glNormal3f(0.187628, -0.521165, 0.832545);
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+	glEnd();
+	glBegin(GL_QUADS);
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+	glEnd();
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+	glEnd();
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+	glEnd();
+	glBegin(GL_QUADS);
+	glNormal3f(-0.086642, -0.547105, 0.832545);
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+	glEnd();
+	glBegin(GL_QUADS);
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+	glVertex3f(-3.255903, 0.669652, 2.360919);
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+	glNormal3f(-0.219977, -0.508377, 0.832545);
+	glVertex3f(-3.151392, 0.960327, 2.360919);
+	glEnd();
+	glBegin(GL_QUADS);
+	glNormal3f(-0.219977, -0.508377, 0.832545);
+	glVertex3f(-3.151392, 0.960327, 2.360919);
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+	glEnd();
+	glBegin(GL_QUADS);
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+	glEnd();
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+	glEnd();
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+	glEnd();
+	glBegin(GL_TRIANGLES);
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+	glEnd();
+	glBegin(GL_TRIANGLES);
+	glNormal3f(0.251473, -0.493545, 0.832545);
+	glVertex3f(-3.085678, -1.133542, 2.360919);
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+	glNormal3f(-0.219977, -0.508377, 0.832545);
+	glVertex3f(-3.151392, 0.960327, 2.360919);
+	glEnd();
+	glBegin(GL_TRIANGLES);
+	glNormal3f(0.187628, -0.521165, 0.832545);
+	glVertex3f(-3.208210, -0.850011, 2.360919);
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+	glNormal3f(-0.219977, -0.508377, 0.832545);
+	glVertex3f(-3.151392, 0.960327, 2.360919);
+	glEnd();
+	glBegin(GL_TRIANGLES);
+	glNormal3f(0.187628, -0.521165, 0.832545);
+	glVertex3f(-3.208210, -0.850011, 2.360919);
+	glNormal3f(-0.219977, -0.508377, 0.832545);
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+	glNormal3f(-0.154546, -0.531938, 0.832545);
+	glVertex3f(-3.255903, 0.669652, 2.360919);
+	glEnd();
+	glBegin(GL_TRIANGLES);
+	glNormal3f(0.120823, -0.540574, 0.832545);
+	glVertex3f(-3.294287, -0.553339, 2.360919);
+	glNormal3f(0.187628, -0.521165, 0.832545);
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+	glNormal3f(-0.154546, -0.531938, 0.832545);
+	glVertex3f(-3.255903, 0.669652, 2.360919);
+	glEnd();
+	glBegin(GL_TRIANGLES);
+	glNormal3f(0.120823, -0.540574, 0.832545);
+	glVertex3f(-3.294287, -0.553339, 2.360919);
+	glNormal3f(-0.154546, -0.531938, 0.832545);
+	glVertex3f(-3.255903, 0.669652, 2.360919);
+	glNormal3f(-0.086642, -0.547105, 0.832545);
+	glVertex3f(-3.323208, 0.368152, 2.360919);
+	glEnd();
+	glBegin(GL_TRIANGLES);
+	glNormal3f(0.066469, -0.703269, 0.707785);
+	glVertex3f(-3.342552, -0.248203, 2.360919);
+	glNormal3f(0.120823, -0.540574, 0.832545);
+	glVertex3f(-3.294287, -0.553339, 2.360919);
+	glNormal3f(-0.086642, -0.547105, 0.832545);
+	glVertex3f(-3.323208, 0.368152, 2.360919);
+	glEnd();
+	glBegin(GL_TRIANGLES);
+	glNormal3f(0.066469, -0.703269, 0.707785);
+	glVertex3f(-3.342552, -0.248203, 2.360919);
+	glNormal3f(-0.086642, -0.547105, 0.832545);
+	glVertex3f(-3.323208, 0.368152, 2.360919);
+	glNormal3f(-0.028077, -0.893613, 0.447920);
+	glVertex3f(-3.352243, 0.060584, 2.360919);
+	glEnd();
+	glBegin(GL_TRIANGLES);
+	glNormal3f(0.342235, -0.431989, 0.834407);
+	glVertex3f(-2.928626, -1.399455, 2.389502);
+	glNormal3f(0.510147, -0.489608, 0.707114);
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+	glNormal3f(-0.251350, -0.369854, 0.894406);
+	glVertex3f(-2.837899, 1.491115, 2.389502);
+	glEnd();
+	glBegin(GL_TRIANGLES);
+	glNormal3f(0.342235, -0.431989, 0.834407);
+	glVertex3f(-2.928626, -1.399455, 2.389502);
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+	glVertex3f(-2.837899, 1.491115, 2.389502);
+	glNormal3f(-0.281961, -0.476791, 0.832545);
+	glVertex3f(-3.011319, 1.235598, 2.389502);
+	glEnd();
+	glBegin(GL_TRIANGLES);
+	glNormal3f(0.251473, -0.493545, 0.832545);
+	glVertex3f(-3.085680, -1.133537, 2.389502);
+	glNormal3f(0.342235, -0.431989, 0.834407);
+	glVertex3f(-2.928626, -1.399455, 2.389502);
+	glNormal3f(-0.281961, -0.476791, 0.832545);
+	glVertex3f(-3.011319, 1.235598, 2.389502);
+	glEnd();
+	glBegin(GL_TRIANGLES);
+	glNormal3f(0.251473, -0.493545, 0.832545);
+	glVertex3f(-3.085680, -1.133537, 2.389502);
+	glNormal3f(-0.281961, -0.476791, 0.832545);
+	glVertex3f(-3.011319, 1.235598, 2.389502);
+	glNormal3f(-0.219977, -0.508377, 0.832545);
+	glVertex3f(-3.151390, 0.960331, 2.389502);
+	glEnd();
+	glBegin(GL_TRIANGLES);
+	glNormal3f(0.187628, -0.521165, 0.832545);
+	glVertex3f(-3.208212, -0.850006, 2.389502);
+	glNormal3f(0.251473, -0.493545, 0.832545);
+	glVertex3f(-3.085680, -1.133537, 2.389502);
+	glNormal3f(-0.219977, -0.508377, 0.832545);
+	glVertex3f(-3.151390, 0.960331, 2.389502);
+	glEnd();
+	glBegin(GL_TRIANGLES);
+	glNormal3f(0.187628, -0.521165, 0.832545);
+	glVertex3f(-3.208212, -0.850006, 2.389502);
+	glNormal3f(-0.219977, -0.508377, 0.832545);
+	glVertex3f(-3.151390, 0.960331, 2.389502);
+	glNormal3f(-0.154546, -0.531938, 0.832545);
+	glVertex3f(-3.255902, 0.669656, 2.389502);
+	glEnd();
+	glBegin(GL_TRIANGLES);
+	glNormal3f(0.120823, -0.540574, 0.832545);
+	glVertex3f(-3.294289, -0.553334, 2.389502);
+	glNormal3f(0.187628, -0.521165, 0.832545);
+	glVertex3f(-3.208212, -0.850006, 2.389502);
+	glNormal3f(-0.154546, -0.531938, 0.832545);
+	glVertex3f(-3.255902, 0.669656, 2.389502);
+	glEnd();
+	glBegin(GL_TRIANGLES);
+	glNormal3f(0.120823, -0.540574, 0.832545);
+	glVertex3f(-3.294289, -0.553334, 2.389502);
+	glNormal3f(-0.154546, -0.531938, 0.832545);
+	glVertex3f(-3.255902, 0.669656, 2.389502);
+	glNormal3f(-0.086642, -0.547105, 0.832545);
+	glVertex3f(-3.323207, 0.368157, 2.389502);
+	glEnd();
+	glBegin(GL_TRIANGLES);
+	glNormal3f(0.066469, -0.703269, 0.707785);
+	glVertex3f(-3.342553, -0.248198, 2.389502);
+	glNormal3f(0.120823, -0.540574, 0.832545);
+	glVertex3f(-3.294289, -0.553334, 2.389502);
+	glNormal3f(-0.086642, -0.547105, 0.832545);
+	glVertex3f(-3.323207, 0.368157, 2.389502);
+	glEnd();
+	glBegin(GL_TRIANGLES);
+	glNormal3f(0.066469, -0.703269, 0.707785);
+	glVertex3f(-3.342553, -0.248198, 2.389502);
+	glNormal3f(-0.086642, -0.547105, 0.832545);
+	glVertex3f(-3.323207, 0.368157, 2.389502);
+	glNormal3f(-0.028077, -0.893613, 0.447920);
+	glVertex3f(-3.352243, 0.060589, 2.389502);
+	glEnd();
+}
+
+
+void loadModel() {
+	load_0();	//object: Circle.005
+	load_1();	//object: Circle.004
+	load_2();	//object: Circle.003
+	load_3();	//object: Circle
+	load_4();	//object: Cylinder.009
+	load_5();	//object: Cube.015
+	load_6();	//object: Cube.014
+	load_7();	//object: Cube.013
+	load_8();	//object: Cube.012
+	load_9();	//object: Cube.011
+	load_10();	//object: Cylinder.003
+	load_11();	//object: Cube.010
+	load_12();	//object: Cube.009
+	load_13();	//object: Circle.020
+	load_14();	//object: Circle.018
+	load_15();	//object: Cube.003
+	load_16();	//object: Circle.001
+	load_17();	//object: Cylinder
+}

Added: trunk/src/components/introrob_qt/pioneer/pioneeropengl.h
===================================================================
--- trunk/src/components/introrob_qt/pioneer/pioneeropengl.h	                        (rev 0)
+++ trunk/src/components/introrob_qt/pioneer/pioneeropengl.h	2013-04-10 06:44:26 UTC (rev 899)
@@ -0,0 +1,29 @@
+#ifdef __cplusplus
+extern "C" {
+#endif 
+
+#include <GL/gl.h>
+
+void loadModel();
+void load_0();	//object: Circle
+void load_1();	//object: Cylinder.009
+void load_2();	//object: Cube.015
+void load_3();	//object: Cube.014
+void load_4();	//object: Cube.013
+void load_5();	//object: Cube.012
+void load_6();	//object: Cube.011
+void load_7();	//object: Cylinder.003
+void load_8();	//object: Cube.010
+void load_9();	//object: Cube.009
+void load_10();	//object: Circle.021
+void load_11();	//object: Circle.020
+void load_12();	//object: Circle.018
+void load_13();	//object: Cube.003
+void load_14();	//object: Circle.001
+void load_15();	//object: Cylinder.005
+void load_16();	//object: Cylinder.004
+void load_17();	//object: Cylinder
+
+#ifdef __cplusplus
+}
+#endif 

Added: trunk/src/components/introrob_qt/resources.qrc
===================================================================
--- trunk/src/components/introrob_qt/resources.qrc	                        (rev 0)
+++ trunk/src/components/introrob_qt/resources.qrc	2013-04-10 06:44:26 UTC (rev 899)
@@ -0,0 +1,7 @@
+<RCC>
+    <qresource prefix="/">
+        <file>images/pelota.png</file>
+        <file>images/play.png</file>
+        <file>images/stop.png</file>
+    </qresource>
+</RCC>

Added: trunk/src/components/introrob_qt/robot/actuators.cpp
===================================================================
--- trunk/src/components/introrob_qt/robot/actuators.cpp	                        (rev 0)
+++ trunk/src/components/introrob_qt/robot/actuators.cpp	2013-04-10 06:44:26 UTC (rev 899)
@@ -0,0 +1,107 @@
+#include "actuators.h"
+
+Actuators::Actuators(Ice::CommunicatorPtr ic)
+{
+    this->ic = ic;
+
+    // Contact to MOTORS interface
+    Ice::ObjectPrx baseMotors = ic->propertyToProxy("introrob.Motors.Proxy");
+    if (0 == baseMotors)
+        throw "Could not create proxy with motors";
+    // Cast to motors
+    mprx = jderobot::MotorsPrx::checkedCast(baseMotors);
+    if (0 == mprx)
+        throw "Invalid proxy introrob.Motors.Proxy";
+
+    motorVout= 0;
+    motorWout = 0;
+    motorLout= 0;
+
+}
+
+void Actuators::update()
+{
+    mutex.lock();
+
+    motorVin = this->mprx->getV();
+    motorWin = this->mprx->getW();
+    motorLin = this->mprx->getL();
+
+    mutex.unlock();
+}
+
+void Actuators::setActuators()
+{
+    mutex.lock();
+
+    if (motorWout < 5 && motorWout>-5)
+        this->mprx->setW(0.);
+
+    this->mprx->setW(motorWout);
+    this->mprx->setL(motorLout);
+    this->mprx->setV(motorVout);
+
+    mutex.unlock();
+}
+
+
+///////////////// GETTER //////////////////
+float Actuators::getMotorV()
+{
+    mutex.lock();
+    float v = motorVin;
+    mutex.unlock();
+
+    return v;
+}
+
+float Actuators::getMotorW()
+{
+    mutex.lock();
+    float w = motorWin;
+    mutex.unlock();
+
+    return w;
+}
+
+float Actuators::getMotorL()
+{
+    mutex.lock();
+    float l = motorLin;
+    mutex.unlock();
+    return l;
+}
+
+///////////////// SETTER //////////////////
+void Actuators::setMotorSTOP()
+{
+    mutex.lock();
+    this->motorVout = 0;
+    this->motorWout = 0;
+    this->motorLout = 0;
+    mutex.unlock();
+}
+
+void Actuators::setMotorV(float motorV)
+{
+    mutex.lock();
+    this->motorVout = motorV;
+    mutex.unlock();
+}
+
+void Actuators::setMotorW(float motorW)
+{
+    mutex.lock();
+    this->motorWout = motorW;
+    mutex.unlock();
+
+}
+
+void Actuators::setMotorL(float motorL)
+{
+    mutex.lock();
+    this->motorLout = motorL;
+    mutex.unlock();
+
+}
+


Property changes on: trunk/src/components/introrob_qt/robot/actuators.cpp
___________________________________________________________________
Added: svn:executable
   + *

Added: trunk/src/components/introrob_qt/robot/actuators.h
===================================================================
--- trunk/src/components/introrob_qt/robot/actuators.h	                        (rev 0)
+++ trunk/src/components/introrob_qt/robot/actuators.h	2013-04-10 06:44:26 UTC (rev 899)
@@ -0,0 +1,47 @@
+#ifndef ACTUATORS_H
+#define ACTUATORS_H
+
+#include <QMutex>
+
+#include <Ice/Ice.h>
+#include <IceUtil/IceUtil.h>
+
+#include <jderobot/motors.h>
+
+class Actuators
+{
+public:
+    Actuators(Ice::CommunicatorPtr ic);
+    void update();
+    void setActuators();
+
+    // GETS
+    float getMotorV();
+    float getMotorW();
+    float getMotorL();
+
+    //SETS
+    void setMotorV(float motorV);
+    void setMotorW(float motorW);
+    void setMotorL(float motorL);
+    void setMotorSTOP();
+
+private:
+
+    QMutex mutex;
+
+    Ice::CommunicatorPtr ic;
+
+    // ICE INTERFACES
+    jderobot::MotorsPrx mprx;
+
+    float motorVin;
+    float motorWin;
+    float motorLin;
+
+    float motorVout;
+    float motorWout;
+    float motorLout;
+
+};
+#endif // ACTUATORS_H


Property changes on: trunk/src/components/introrob_qt/robot/actuators.h
___________________________________________________________________
Added: svn:executable
   + *

Added: trunk/src/components/introrob_qt/robot/robot.cpp
===================================================================
--- trunk/src/components/introrob_qt/robot/robot.cpp	                        (rev 0)
+++ trunk/src/components/introrob_qt/robot/robot.cpp	2013-04-10 06:44:26 UTC (rev 899)
@@ -0,0 +1,30 @@
+#include "robot.h"
+
+Robot::Robot(Ice::CommunicatorPtr ic)
+{
+    sensors = new Sensors(ic);
+    actuators = new Actuators(ic);
+
+    pthread_mutex_init (&mutex, NULL);
+
+}
+
+Sensors* Robot::getSensors()
+{
+    return this->sensors;
+}
+
+Actuators* Robot::getActuators()
+{
+    return this->actuators;
+}
+
+void Robot::update()
+{
+    this->sensors->update();
+    this->actuators->update();
+}
+
+
+
+

Added: trunk/src/components/introrob_qt/robot/robot.h
===================================================================
--- trunk/src/components/introrob_qt/robot/robot.h	                        (rev 0)
+++ trunk/src/components/introrob_qt/robot/robot.h	2013-04-10 06:44:26 UTC (rev 899)
@@ -0,0 +1,30 @@
+#ifndef ROBOT_H
+#define ROBOT_H
+
+#include <QtGui>
+
+#include "sensors.h"
+#include "actuators.h"
+
+#include <stdio.h>
+
+class Robot: public QObject
+{
+    Q_OBJECT
+
+public:
+    Robot(Ice::CommunicatorPtr ic);
+
+    void update();
+
+    Actuators* getActuators();
+    Sensors* getSensors();
+
+private:
+    pthread_mutex_t mutex;
+
+    Sensors* sensors;
+    Actuators* actuators;
+};
+
+#endif // ROBOT_H

Added: trunk/src/components/introrob_qt/robot/sensors.cpp
===================================================================
--- trunk/src/components/introrob_qt/robot/sensors.cpp	                        (rev 0)
+++ trunk/src/components/introrob_qt/robot/sensors.cpp	2013-04-10 06:44:26 UTC (rev 899)
@@ -0,0 +1,150 @@
+#include "sensors.h"
+
+Sensors::Sensors(Ice::CommunicatorPtr ic)
+{
+    this-> ic = ic;
+    Ice::PropertiesPtr prop = ic->getProperties();
+
+
+    ////////////////////////////// ENCODERS //////////////////////////////
+    // Contact to ENCODERS interface
+    Ice::ObjectPrx baseEncoders = ic->propertyToProxy("introrob.Encoders.Proxy");
+    if (0 == baseEncoders)
+        throw "Could not create proxy with encoders";
+
+    // Cast to encoders
+    eprx = jderobot::EncodersPrx::checkedCast(baseEncoders);
+    if (0 == eprx)
+        throw "Invalid proxy introrob.Encoders.Proxy";
+
+    ////////////////////////////// CAMERA1 /////////////////////////////2
+
+    Ice::ObjectPrx baseCamera1 = ic->propertyToProxy("introrob.Camera1.Proxy");
+    if (0==baseCamera1)
+      throw "Could not create proxy";
+
+    /*cast to CameraPrx*/
+    camera1 = jderobot::CameraPrx::checkedCast(baseCamera1);
+    if (0==camera1)
+      throw "Invalid proxy";
+
+    jderobot::ImageDataPtr data = camera1->getImageData();
+    image1.create(data->description->height, data->description->width, CV_8UC3);
+
+    ////////////////////////////// CAMERA2 /////////////////////////////2
+    Ice::ObjectPrx baseCamera2 = ic->propertyToProxy("introrob.Camera2.Proxy");
+    if (0==baseCamera2)
+      throw "Could not create proxy";
+
+    /*cast to CameraPrx*/
+    camera2 = jderobot::CameraPrx::checkedCast(baseCamera2);
+    if (0==camera2)
+      throw "Invalid proxy";
+
+    data = camera2->getImageData();
+    image2.create(data->description->height, data->description->width, CV_8UC3);
+
+    ////////////////////////////// LASER //////////////////////////////
+    boolLaser = prop->getPropertyAsInt("introrob.Laser");
+
+    std::cout << "Laser " <<  boolLaser << std::endl;
+    if(boolLaser){
+        // Contact to LASER interface
+        Ice::ObjectPrx laserICE = ic->propertyToProxy("introrob.Laser.Proxy");
+        if (0 == laserICE)
+            throw "Could not create proxy with Laser";
+
+        // Cast to LASER
+        laserprx = jderobot::LaserPrx::checkedCast(laserICE);
+        if (0 == laserprx){
+           throw std::string("Invalid proxy introrob.Laser.Proxy");
+        }
+    }
+}
+
+cv::Mat Sensors::getCamera1()
+{
+    mutex.lock();
+    cv::Mat result = image1.clone();
+    mutex.unlock();
+    return result;
+
+}
+
+cv::Mat Sensors::getCamera2()
+{
+    mutex.lock();
+    cv::Mat result = image2.clone();
+    mutex.unlock();
+    return result;
+}
+
+void Sensors::update()
+{
+    encodersData = this->eprx->getEncodersData();
+    jderobot::ImageDataPtr data = camera1->getImageData();
+    jderobot::ImageDataPtr data2 = camera2->getImageData();
+
+
+    mutex.lock();
+    robotx = encodersData->robotx;
+    roboty = encodersData->roboty;
+    robottheta = encodersData->robottheta;
+
+    if(boolLaser){
+        ld = laserprx->getLaserData();
+        laserData.resize(ld->numLaser);
+        for(int i = 0; i< ld->numLaser; i++ ){
+            laserData[i] = ld->distanceData[i];
+        }
+    }
+
+    memcpy((unsigned char *) image1.data ,&(data->pixelData[0]), image1.cols*image1.rows * 3);
+
+    memcpy((unsigned char *) image2.data ,&(data2->pixelData[0]), image2.cols*image2.rows * 3);
+
+    mutex.unlock();
+}
+
+bool Sensors::getBoolLaser()
+{
+    mutex.lock();
+    float x = boolLaser;
+    mutex.unlock();
+    return x;
+}
+
+
+float Sensors::getRobotPoseX()
+{
+    mutex.lock();
+    float x = robotx;
+    mutex.unlock();
+    return x;
+}
+
+float Sensors::getRobotPoseY()
+{
+    mutex.lock();
+    float y = roboty;
+    mutex.unlock();
+    return y;
+}
+
+float Sensors::getRobotPoseTheta()
+{
+    mutex.lock();
+    float theta = robottheta;
+    mutex.unlock();
+    return theta;
+}
+
+std::vector<float> Sensors::getLaserData()
+{
+    std::vector<float> laserDataAux;
+    mutex.lock();
+    laserDataAux = laserData;
+    mutex.unlock();
+    return laserDataAux;
+}
+


Property changes on: trunk/src/components/introrob_qt/robot/sensors.cpp
___________________________________________________________________
Added: svn:executable
   + *

Added: trunk/src/components/introrob_qt/robot/sensors.h
===================================================================
--- trunk/src/components/introrob_qt/robot/sensors.h	                        (rev 0)
+++ trunk/src/components/introrob_qt/robot/sensors.h	2013-04-10 06:44:26 UTC (rev 899)
@@ -0,0 +1,66 @@
+#ifndef SENSORS_H
+#define SENSORS_H
+
+#include <QMutex>
+
+#include <Ice/Ice.h>
+#include <IceUtil/IceUtil.h>
+
+#include <jderobot/encoders.h>
+#include <jderobot/camera.h>
+#include <jderobot/laser.h>
+
+//Opencv
+#include <opencv2/core/core.hpp>
+#include <opencv2/imgproc/imgproc.hpp>
+#include <opencv2/highgui/highgui.hpp>
+
+class Sensors
+{
+public:
+    Sensors(Ice::CommunicatorPtr ic);
+
+    void update();
+
+    float getRobotPoseX();
+    float getRobotPoseY();
+    float getRobotPoseTheta();
+    std::vector<float> getLaserData();
+
+    bool getBoolLaser();
+    cv::Mat getCamera2();
+    cv::Mat getCamera1();
+
+
+private:
+
+    QMutex mutex;
+
+    Ice::CommunicatorPtr ic;
+
+    // ICE INTERFACES
+    jderobot::EncodersPrx eprx;
+    jderobot::EncodersDataPtr encodersData;
+    jderobot::CameraPrx camera2;
+    jderobot::CameraPrx camera1;
+
+    //ROBOT POSE
+    double robotx;
+    double roboty;
+    double robottheta;
+
+    //LASER DATA
+    bool boolLaser;
+    jderobot::LaserPrx laserprx;
+    jderobot::LaserDataPtr ld;
+    std::vector<float> laserData;
+
+    //CAMERADATA7
+
+    cv::Mat image1;
+    cv::Mat image2;
+
+
+};
+
+#endif // SENSORS_H


Property changes on: trunk/src/components/introrob_qt/robot/sensors.h
___________________________________________________________________
Added: svn:executable
   + *

Added: trunk/src/components/introrob_qt/robot/threadupdaterobot.cpp
===================================================================
--- trunk/src/components/introrob_qt/robot/threadupdaterobot.cpp	                        (rev 0)
+++ trunk/src/components/introrob_qt/robot/threadupdaterobot.cpp	2013-04-10 06:44:26 UTC (rev 899)
@@ -0,0 +1,42 @@
+#include "threadupdaterobot.h"
+
+ThreadUpdateRobot::ThreadUpdateRobot(Robot *robot, StateGUI *state)
+{
+    this->robot = robot;
+    this->state = state;
+}
+
+void ThreadUpdateRobot::run()
+{
+    struct timeval a, b;
+    long totalb, totala;
+    long diff;
+
+    while (true) {
+        gettimeofday(&a, NULL);
+        totala = a.tv_sec * 1000000 + a.tv_usec;
+
+        this->robot->update();
+        this->robot->getActuators()->setActuators();
+
+
+        if(state->getMyAlgorithm()){
+            RunNavigationAlgorithm();
+        }
+
+        gettimeofday(&b, NULL);
+        totalb = b.tv_sec * 1000000 + b.tv_usec;
+        diff = (totalb - totala) / 1000;
+
+        if (diff < 0 || diff > cycle_update_robot)
+            diff = cycle_update_robot;
+        else
+            diff = cycle_update_robot - diff;
+
+
+        /*Sleep Algorithm*/
+        usleep(diff * 1000);
+        if (diff < 33)
+            usleep(33 * 1000);
+    }
+}

Added: trunk/src/components/introrob_qt/robot/threadupdaterobot.h
===================================================================
--- trunk/src/components/introrob_qt/robot/threadupdaterobot.h	                        (rev 0)
+++ trunk/src/components/introrob_qt/robot/threadupdaterobot.h	2013-04-10 06:44:26 UTC (rev 899)
@@ -0,0 +1,29 @@
+#ifndef THREADUPDATEROBOT_H
+#define THREADUPDATEROBOT_H
+
+#include <QtGui>
+
+#include <iostream>
+#include <sys/time.h>
+
+#include "robot.h"
+#include "../gui/stategui.h"
+
+#define cycle_update_robot 20 //miliseconds
+
+
+class ThreadUpdateRobot:public QThread
+{
+public:
+    ThreadUpdateRobot(Robot *robot, StateGUI* state);
+    void RunNavigationAlgorithm();
+
+private:
+    Robot *robot;
+    StateGUI* state;
+
+protected:
+    void run();
+};
+
+#endif // THREADUPDATEROBOT_H



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