// Header file for the SoTrunk class.
#include <Inventor/Win/SoWin.h>
#include <Inventor/Win/viewers/SoWinExaminerViewer.h>
#include <Inventor/nodes/SoSeparator.h>
#include <Inventor/nodes/SoSeparator.h>
#include <Inventor/nodes/SoCoordinate4.h>
#include <Inventor/nodes/SoNurbsSurface.h>
#include <Inventor/nodes/SoComplexity.h>
#include <Inventor/nodes/SoTransform.h>
#include <Inventor/nodes/SoTranslation.h>
#include <Inventor/nodes/SoCylinder.h>
#include <Inventor/nodes/SoMaterial.h>
#include <Inventor/nodes/SoCube.h>
#include <Inventor/VRMLnodes/SoVRMLBackground.h>
#include <Inventor/nodes/SoComplexity.h>
#include <math.h>

#ifndef PI
#define PI 3.14159265358979324
#endif

const float PIf = (float) PI;
const float DEG2RAD = (PIf/180.0f);
const float SQRT3OVER2 = 0.86602540378444f;
const float SQRT3 = 1.73205080756888f;



class SoTrunk
{
protected:
	SoCoordinate4* controlPts;
	SoNurbsSurface* surface;

	void rotatedControlPts (float phi, float kappa, float theta,
		float thetaCtrl, float d, float rotatedControlPtsRet[][4]);

public:
	SoTrunk();
	void newTrunk(SoSeparator* root);
	void setTrunk(float phi, float kappa, float s, float d);
};

class SoTrunkTrans : public SoTrunk
{
protected:
	SoTransform* transform;

public:
	SoTrunkTrans();
	void newTrunk(SoSeparator* root);
	void setTrunk(float phi, float kappa, float s, float d);
};

class SoTrunkActuator
{
protected:
	SoTrunk soTrunk[3];
	SoTranslation* trans[3];
	SoTransform* transform;

public:
	SoTrunkActuator();
	void newTrunkActuator(SoSeparator* root);
	void setTrunkActuator(float phi, float kappa, float s, float d, float r);
};

void setSoTrunkTrans(SoTransform* trans, float phi, float kappa, float s);