D:/Basile/VisualCppProjects/hydroMEX3/hydroMEX3/oGL_graphics/solid_objects.cpp

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#include "solid_objects.h"




SolidObject hullStruct; 
SolidObject *hull = &hullStruct;

SolidObject rSwimmStruct; 
SolidObject *rSwimm = &rSwimmStruct;

SolidObject lSwimmStruct; 
SolidObject *lSwimm = &lSwimmStruct;

SolidObject bridgeMainStruct; 
SolidObject *bridgeMain = &bridgeMainStruct;

SolidObject bridge2Struct; 
SolidObject *bridge2 = &bridge2Struct;

SolidObject mastStruct; 
SolidObject *mast = &mastStruct;

SolidObject foilRightStruct; 
SolidObject *foilr = &foilRightStruct;

SolidObject foilLeftStruct; 
SolidObject *foill = &foilLeftStruct;

SolidObject yawStruct; 
SolidObject *yaw = &yawStruct;

SolidObject pitchStruct; 
SolidObject *pitch = &pitchStruct;



void SolidObject_create(SolidObject *so, int N, int M)
{// allocate 2D arrays
        int n;

        so->N = N;
        so->M = M;

        so->X = new float* [N];
        so->Y = new float* [N];
        so->Z = new float* [N];

        so->nX = new float* [N];
        so->nY = new float* [N];
        so->nZ = new float* [N];

        so->R = new float* [N];
        so->G = new float* [N];
        so->B = new float* [N];

        for (n=0; n<N; n++)
        {
                so->X[n] = new float[M];
                so->Y[n] = new float[M];
                so->Z[n] = new float[M];

                so->nX[n] = new float[M];
                so->nY[n] = new float[M];
                so->nZ[n] = new float[M];

                so->R[n] = new float[M];
                so->G[n] = new float[M];
                so->B[n] = new float[M];
        }
}


void SolidObject_delete(SolidObject *so)
{//delete 2D arrays
        int n, N;
        N = so->N;

        for (n=0; n<N; n++)
        {
                delete [] so->X[n];
                delete [] so->Y[n];
                delete [] so->Z[n];

                delete [] so->nX[n];
                delete [] so->nY[n];
                delete [] so->nZ[n];

                delete [] so->R[n];
                delete [] so->G[n];
                delete [] so->B[n];
        }
        delete [] so->X;
        delete [] so->Y;
        delete [] so->Z;

        delete [] so->nX;
        delete [] so->nY;
        delete [] so->nZ;

        delete [] so->R;
        delete [] so->G;
        delete [] so->B;
}





void cross_product(float *va, float *vb, float *vc)
{// computes     vc = va x vb
        vc[0] = va[1]*vb[2] - va[2]*vb[1];
        vc[1] = va[2]*vb[0] - va[0]*vb[2];
        vc[2] = va[0]*vb[1] - va[1]*vb[0];
}

void one_normal(float *v1, float *v2, float *v3, float *v4, float *vn)
{// computes     vn = c/|c|,  c = v1 x v2 + v2 x v3 + v3 x v4 + v4 x v1
        float c12[3]; //v1 x v2
        float c23[3]; //v2 x v3
        float c34[3]; //v3 x v4
        float c41[3]; //v4 x v1

        float vectorNorm, temp;

        cross_product(v1, v2, c12);
        cross_product(v2, v3, c23);
        cross_product(v3, v4, c34);
        cross_product(v4, v1, c41);


        vn[0] = (c12[0]) + (c23[0]) + (c34[0]) + (c41[0]);
        vn[1] = (c12[1]) + (c23[1]) + (c34[1]) + (c41[1]);
        vn[2] = (c12[2]) + (c23[2]) + (c34[2]) + (c41[2]);

        vectorNorm = sqrt(vn[0]*vn[0] + vn[1]*vn[1] + vn[2]*vn[2]);

        if (vectorNorm != (0.0f))
        {
                vn[0] /= vectorNorm;
                vn[1] /= vectorNorm;
                vn[2] /= vectorNorm;
        }
        //printf("normed: vn[0]=%f, vn[1]=%f, vn[2]=%f \n",vn[0],vn[1],vn[2]);
}

void SolidObject_compute_normals(SolidObject *so)
{
        int m, n;
        int *kx, *ky;
        int ix, iy;

        float v1[3]; //vectors between vetexes
        float v2[3];
        float v3[3];
        float v4[3];

        float vn[3]; // one normal vector (normalized)

        float **X, **Y, **Z;

        kx = new int [so->N+2];
        ky = new int [so->M+2];

        X = so->X; //solidObject vertexes coordiantes
        Y = so->Y;
        Z = so->Z;

        kx[0]=so->N-1;                                           //
        for (n=1; n<so->N+1; n++) kx[n]=n-1; // make index vector kx = {N-1, 0, 1, 2, ..., N-2, N-1, 0}
        kx[so->N+1] = 0;                                         // for easy wraping on Solidobject data

        ky[0]=so->M-1;                                           //
        for (m=1; m<so->M+1; m++) ky[m]=m-1; // make index vector ky = {M-1, 0, 1, 2, ..., M-2, M-1, 0}
        ky[so->M+1] = 0;                                         // for easy wraping on Solidobject data

        //       v2
        //       ¦
        //  v3 --p-- v1
        //       ¦
        //       v4
        //
        //normal at point p:  n = c/|c|,  c = v1 x v2 + v2 x v3 + v3 x v4 + v4 x v1

        for (n=1; n<so->N+1; n++)
        {
                for (m=1; m<so->M+1; m++)
                {
                        //compute vectors v1 ... v4
                        v1[0] = X[kx[n+1]][ky[m]]-X[kx[n]][ky[m]];
                        v1[1] = Y[kx[n+1]][ky[m]]-Y[kx[n]][ky[m]];
                        v1[2] = Z[kx[n+1]][ky[m]]-Z[kx[n]][ky[m]];

                        v2[0] = X[kx[n]][ky[m+1]]-X[kx[n]][ky[m]];
                        v2[1] = Y[kx[n]][ky[m+1]]-Y[kx[n]][ky[m]];
                        v2[2] = Z[kx[n]][ky[m+1]]-Z[kx[n]][ky[m]];

                        v3[0] = X[kx[n-1]][ky[m]]-X[kx[n]][ky[m]];
                        v3[1] = Y[kx[n-1]][ky[m]]-Y[kx[n]][ky[m]];
                        v3[2] = Z[kx[n-1]][ky[m]]-Z[kx[n]][ky[m]];

                        v4[0] = X[kx[n-1]][ky[m-1]]-X[kx[n]][ky[m]];
                        v4[1] = Y[kx[n-1]][ky[m-1]]-Y[kx[n]][ky[m]];
                        v4[2] = Z[kx[n-1]][ky[m-1]]-Z[kx[n]][ky[m]];

                        one_normal(v1, v2, v3, v4, vn);

                        // copy normal vector to solidObject nX, nY and nZ arrays
                        so->nX[kx[n]][ky[m]] = vn[0]; 
                        so->nY[kx[n]][ky[m]] = vn[1];
                        so->nZ[kx[n]][ky[m]] = vn[2];
                }
        }
        
        delete [] kx;
        delete [] ky;
}


void SolidObject_draw(SolidObject *so)
{
        int N, M, n, m;

        N = so->N;
        M = so->M;
        
        glBegin(GL_QUADS);      
        for (n=0; n<N-1; n++)
        {
                for (m=0; m<M-1; m++)
                {
                        glColor3f(so->R[n][m], so->G[n][m], so->B[n][m]);
                        glNormal3f(so->nX[n][m], so->nY[n][m], so->nZ[n][m]);
                        glVertex3f(so->X[n][m], so->Y[n][m], so->Z[n][m]);

                        glColor3f(so->R[n+1][m], so->G[n+1][m], so->B[n+1][m]);
                        glNormal3f(so->nX[n+1][m], so->nY[n+1][m], so->nZ[n+1][m]);
                        glVertex3f(so->X[n+1][m], so->Y[n+1][m], so->Z[n+1][m]);

                        glColor3f(so->R[n+1][m+1], so->G[n+1][m+1], so->B[n+1][m+1]);
                        glNormal3f(so->nX[n+1][m+1], so->nY[n+1][m+1], so->nZ[n+1][m+1]);
                        glVertex3f(so->X[n+1][m+1], so->Y[n+1][m+1], so->Z[n+1][m+1]);

                        glColor3f(so->R[n][m+1], so->G[n][m+1], so->B[n][m+1]);
                        glNormal3f(so->nX[n][m+1], so->nY[n][m+1], so->nZ[n][m+1]);
                        glVertex3f(so->X[n][m+1], so->Y[n][m+1], so->Z[n][m+1]);        
                }
        }
        glEnd();
}


void Sail_create_and_draw(datas *d)
{
        float v1[3], v2[3], vc[3], normv;

        //sail_E:
        v1[0] = d->x_sail - d->x_sail;
        v1[1] = d->y_sail - d->y_sail;
        v1[2] = d->z_foils+2.0f - d->z_foils+d->L_mast;

        v2[0] = d->x_sail - d->Baume/(sqrt(1.0 + d->tanAngle_sail*d->tanAngle_sail)) - d->x_sail;
        v2[1] = d->y_sail - d->Baume*d->tanAngle_sail/(sqrt(1.0 + d->tanAngle_sail*d->tanAngle_sail)) - d->y_sail;
        v2[2] = d->z_foils + 2.0f - d->z_foils+d->L_mast;

        cross_product(v1, v2 ,vc);

        normv = sqrt(vc[0]*vc[0] + vc[1]*vc[1] + vc[2]*vc[2]);

        vc[0] /= normv;
        vc[1] /= normv;
        vc[2] /= normv;

        glBegin(GL_TRIANGLES);
                glNormal3f(vc[0],vc[1],vc[2]);
                glColor3f(0.9f,0.9f,0.9f);
                glVertex3f(d->x_sail, d->y_sail, d->z_foils+2.0f);                              
                glVertex3f(d->x_sail, d->y_sail, d->z_foils+d->L_mast);                         
                glVertex3f(d->x_sail - d->Baume/(sqrt(1.0 + d->tanAngle_sail*d->tanAngle_sail)), d->y_sail - d->Baume*d->tanAngle_sail/(sqrt(1.0 + d->tanAngle_sail*d->tanAngle_sail)), d->z_foils + 2.0f);
        glEnd();
}


void RelativeWind_draw(datas *d)
{
        glLineWidth(1.0f);
        glColor3f(0.9, 0.2, 0.2);
        glPushMatrix();                              //stock current matrix
        glTranslatef(d->x_sail,d->y_sail,d->z_foils+d->L_mast); //translate it on top of mast
        glRotatef(-57.2958*d->psi,0.0f,0.0f,1.0f);       //unrotate psi
        glRotatef(-57.2958*d->theta,0.0f,1.0f,0.0f); //unrotate theta
        glRotatef(-57.2958*d->phi,1.0f,0.0f,0.0f);   //unrotate phi
        glBegin(GL_LINES); //draw relative wind vector in boat coordinates (but with "grand coordinate system"-coordinates => wrong)
                glVertex3f(0.0f, 0.0f, 0.0f);
                glVertex3f(d->Wind_x - d->dx, d->Wind_y - d->dy, 0.0f);
        glEnd();
        glPopMatrix();                               //restore matrix
}


void Target_draw(float x, float y)
{
        int k, N;
        float a;
        glLineWidth(1.0f);
        glNormal3f(0.0,0.0,1.0);

        glColor3f(0.0, 0.0, 0.0);
        glBegin(GL_LINE_STRIP);
        for (a=0.0f; a<6.2834; a+=0.3141f)
        {
                glVertex3f(cos(a),sin(a),0.0f);
        }
        glEnd();

        glColor3f(0.0, 0.0, 0.0);
        glBegin(GL_LINES);
                glVertex3f(-1.1f, 0.0f, 0.0f);
                glVertex3f( 1.1f, 0.0f, 0.0f);
                glVertex3f( 0.0f,-1.1f, 0.0f);
                glVertex3f( 0.0f, 1.1f, 0.0f);
        glEnd();

        glLineWidth(2.0f);
        glColor3f(1.0, 0.0, 0.0);
        glBegin(GL_LINES);
                glVertex3f(-0.15f + x, 0.0f + y, 0.01f);
                glVertex3f( 0.15f + x, 0.0f + y, 0.01f);
                glVertex3f( 0.0f + x,-0.15f + y, 0.01f);
                glVertex3f( 0.0f + x, 0.15f + y, 0.01f);
        glEnd();
}


void VSlider_draw(float x)
{
        glLineWidth(1.0f);
        glColor3f(0.0,0.0,0.0);
        //scale:
        glBegin(GL_LINES);
                glVertex3f(0.0f, 0.5f, 0.0f);
                glVertex3f(0.0f,-0.5f, 0.0f);

                glVertex3f(-0.1f, 0.5f, 0.0f);
                glVertex3f( 0.1f, 0.5f, 0.0f);

                glVertex3f(-0.1f, 0.0f, 0.0f);
                glVertex3f( 0.1f, 0.0f, 0.0f);

                glVertex3f(-0.1f, -0.5f, 0.0f);
                glVertex3f( 0.1f, -0.5f, 0.0f);
        glEnd();

                glLineWidth(2.0f);
                glColor3f(1.0,0.0,0.0);

        //indicator:
        glBegin(GL_LINES);
                glVertex3f(-0.1f, 0.5f*x, 0.01f);
                glVertex3f( 0.1f, 0.5f*x, 0.01f);
        glEnd();
}

void HSlider_draw(float x)
{
        glLineWidth(1.0f);
        glColor3f(0.0,0.0,0.0);
        //scale:
        glBegin(GL_LINES);
                glVertex3f(-0.5f, 0.0f, 0.0f);
                glVertex3f( 0.5f,0.0f, 0.0f);

                glVertex3f( 0.5f,-0.1f, 0.0f);
                glVertex3f( 0.5f, 0.1f, 0.0f);

                glVertex3f( 0.0f,-0.1f, 0.0f);
                glVertex3f( 0.0f, 0.1f, 0.0f);

                glVertex3f(-0.5f,-0.1f, 0.0f);
                glVertex3f(-0.5f, 0.1f, 0.0f);
        glEnd();

                glLineWidth(2.0f);
                glColor3f(1.0,0.0,0.0);

        //indicator:
        glBegin(GL_LINES);
                glVertex3f( 0.5f*x,-0.1f, 0.0f);
                glVertex3f( 0.5f*x, 0.1f, 0.0f);
        glEnd();
}


void Girouette_draw(datas *d) // I don't know the english name for a "girouette" :-) ...
{
        float rx,lx,y, a, arrow_angle, hypo, baume_angle;
        float ax, ay;
        float Vrbx, Vrby, normVb, normVrb, num, denom;
        float va[3], vb[3], vc[3];
        a=0.5236; //Girouette half-opening angle (30 deg)
        y=-cos(a);
        rx=sin(a);
        lx=-rx;
        glLineWidth(1.0f);
        glNormal3f(0.0,0.0,1.0);

        glColor3f(0.0, 0.0, 0.0);
        //girouette arms
        glBegin(GL_LINES);
                glVertex3f(0.0f, 0.0f, 0.0f);
                glVertex3f(rx, y, 0.0f);

                glVertex3f(0.0f, 0.0f, 0.0f);
                glVertex3f(lx, y, 0.0f);
        glEnd();

        //red girouette pads:
        glColor3f(0.85,0.05,0.05);
        glBegin(GL_QUADS);
                glVertex3f(rx+0.1f, y+0.1f, 0.0f);
                glVertex3f(rx-0.1f, y+0.1f, 0.0f);
                glVertex3f(rx-0.1f, y-0.1f, 0.0f);
                glVertex3f(rx+0.1f, y-0.1f, 0.0f);

                glVertex3f(lx+0.1f, y+0.1f, 0.0f);
                glVertex3f(lx-0.1f, y+0.1f, 0.0f);
                glVertex3f(lx-0.1f, y-0.1f, 0.0f);
                glVertex3f(lx+0.1f, y-0.1f, 0.0f);
        glEnd();

        //girouette arrow (wind)
        ax = - (d->Wind_x - d->dx);
        ay = - (d->Wind_y - d->dy);
        hypo = sqrt(ax*ax + ay*ay);
        if (hypo != 0.0)
        {
                Vrbx = d->Wind_x - d->dx;
                Vrby = d->Wind_y - d->dy;
                num = -d->dx*Vrbx - d->dy*Vrby;
                denom = sqrt(d->dx*d->dx + d->dy*d->dy)*sqrt(Vrbx*Vrbx + Vrby*Vrby);
                arrow_angle = 57.2958f*acos(num/denom);
                va[0]=Vrbx;
                va[1]=Vrby;
                va[2]=0.0f;
                vb[0]=-d->dx;
                vb[1]=-d->dy;
                vb[2]=0.0f;
                cross_product(va, vb, vc);
                if (vc[2]>0.0f) arrow_angle *= -1.0f;
                d->angle_girouette = arrow_angle/57.2958f;

        //      if (Vrby<0.0f) arrow_angle *= -1.0f;
                //arrow_angle = 57.2958f*acos(ax/hypo);
                //if (ay<0.0f) arrow_angle = - arrow_angle; //cosinus ambiguity
                //arrow_angle = 57.2958f*(atan(d->tanAngle_sail) - atan(d->Tan_AoA_sail));
                //arrow_angle += 57.2958f*d->psi;
                //printf("ax=%f, ay=%f, angle=%f , psi=%f \n",ax, ay, arrow_angle, 57.2958f*d->psi);
                glLineWidth(2.0f);
                glPushMatrix() ;
                glRotatef(arrow_angle, 0.0f, 0.0f, 1.0f);
                glBegin(GL_LINES);
                        glVertex3f(0.0f, 0.0f, 0.0f);
                        glVertex3f(0.0f, -0.8f, 0.0f);

                        glVertex3f(0.0f, -0.8f, 0.0f);
                        glVertex3f(0.1f, -0.7f, 0.0f);
        
                        glVertex3f(0.0f, -0.8f, 0.0f);
                        glVertex3f(-0.1f, -0.7f, 0.0f);
                glEnd();
                glPopMatrix() ;

                //baume
                baume_angle = atan(d->tanAngle_sail);
                glColor3f(0.9,0.9,0.05);
                glBegin(GL_LINES);
                        glVertex3f(0.0f, 0.0f, -0.001f);
                        glVertex3f(1.2f*sin(baume_angle), -1.2f*cos(baume_angle), -0.001f);
                glEnd();
        }
}




void Boat_draw()
{
        SolidObject_draw(hull);

        SolidObject_draw(rSwimm);
        SolidObject_draw(lSwimm);

        SolidObject_draw(bridgeMain);
        SolidObject_draw(bridge2);

        SolidObject_draw(mast);

        SolidObject_draw(foilr);
        SolidObject_draw(foill);

        SolidObject_draw(yaw);

        SolidObject_draw(pitch);
}

void Boat_delete()
{
        SolidObject_delete(hull);

        SolidObject_delete(rSwimm);
        SolidObject_delete(lSwimm);

        SolidObject_delete(bridgeMain);
        SolidObject_delete(bridge2);

        SolidObject_delete(mast);

        SolidObject_delete(foilr);
        SolidObject_delete(foill);

        SolidObject_delete(yaw);

        SolidObject_delete(pitch);
}





void Boat_create(datas *d)
{
        int n,m,k,q;
        float temp1, temp2;

        SolidObject_create(hull, 8, 9);
        SolidObject_create(rSwimm, 8, 9);
        SolidObject_create(lSwimm, 8, 9);
        SolidObject_create(bridgeMain, 4, 5);
        SolidObject_create(bridge2, 5, 5);
        SolidObject_create(mast, 2, 5);
        SolidObject_create(foilr, 2, 2);
        SolidObject_create(foill, 2, 2);
        SolidObject_create(yaw, 2, 2);
        SolidObject_create(pitch, 2, 2);
        

//hull coordinates (column by collumn)

        for (k=0; k<9; k++) hull->X[0][k] = d->x_yaw-0.001;

        hull->X[1][0]=d->x_yaw-0.001;
        hull->X[1][8]=d->x_yaw-0.001;
        hull->X[1][6]=d->x_yaw-0.001;
        hull->X[1][1]=d->x_yaw-0.15f-0.001;
        hull->X[1][5]=d->x_yaw-0.15f-0.001;
        hull->X[1][2]=d->x_yaw-0.25f-0.001;
        hull->X[1][4]=d->x_yaw-0.25f-0.001;
        hull->X[1][3]=d->x_yaw-0.3f-0.001;
        hull->X[1][7]=d->x_yaw-0.1f-0.001;

        hull->X[2][0]=d->x_yaw;
        hull->X[2][8]=d->x_yaw;
        hull->X[2][6]=d->x_yaw;
        hull->X[2][1]=d->x_yaw-0.15f;
        hull->X[2][5]=d->x_yaw-0.15f;
        hull->X[2][2]=d->x_yaw-0.25f;
        hull->X[2][4]=d->x_yaw-0.25f;
        hull->X[2][3]=d->x_yaw-0.3f;
        hull->X[2][7]=d->x_yaw-0.1f;

        for (k=0; k<9; k++) hull->X[3][k] = d->x_yaw+(d->Long/3.0);
        for (k=0; k<9; k++) hull->X[4][k] = d->x_yaw+2.0*(d->Long/4.0);
        for (k=0; k<9; k++) hull->X[5][k] = d->x_yaw+3.0*(d->Long/4.0);
        for (k=0; k<9; k++) hull->X[6][k] = d->x_yaw+4.0*(d->Long/4.0);
        for (k=0; k<9; k++) hull->X[7][k] = d->x_yaw+4.0*(d->Long/4.0)-0.01;


        for (k=0; k<9; k++) hull->Y[0][k] = d->y_yaw;

        hull->Y[1][0] = d->y_yaw - 0.3f;
        hull->Y[1][8] = d->y_yaw - 0.3f;
        hull->Y[1][6] = d->y_yaw + 0.3f;
        hull->Y[1][1] = d->y_yaw - 0.3f;
        hull->Y[1][5] = d->y_yaw + 0.3f;
        hull->Y[1][2] = d->y_yaw - 0.2f;
        hull->Y[1][4] = d->y_yaw + 0.2f;
        hull->Y[1][3] = d->y_yaw;
        hull->Y[1][7] = d->y_yaw;
        
        hull->Y[2][0] = d->y_yaw - 0.3f;
        hull->Y[2][8] = d->y_yaw - 0.3f;
        hull->Y[2][6] = d->y_yaw + 0.3f;
        hull->Y[2][1] = d->y_yaw - 0.3f;
        hull->Y[2][5] = d->y_yaw + 0.3f;
        hull->Y[2][2] = d->y_yaw - 0.2f;
        hull->Y[2][4] = d->y_yaw + 0.2f;
        hull->Y[2][3] = d->y_yaw;
        hull->Y[2][7] = d->y_yaw;

        hull->Y[3][0] = d->y_yaw - 0.65f;
        hull->Y[3][8] = d->y_yaw - 0.65f;
        hull->Y[3][6] = d->y_yaw + 0.65f;
        hull->Y[3][1] = d->y_yaw - 0.65f;
        hull->Y[3][5] = d->y_yaw + 0.65f;
        hull->Y[3][2] = d->y_yaw - 0.4f;
        hull->Y[3][4] = d->y_yaw + 0.4f;
        hull->Y[3][3] = d->y_yaw;
        hull->Y[3][7] = d->y_yaw;

        hull->Y[4][0] = d->y_yaw - 0.8f;
        hull->Y[4][8] = d->y_yaw - 0.8f;
        hull->Y[4][6] = d->y_yaw + 0.8f;
        hull->Y[4][1] = d->y_yaw - 0.8f;
        hull->Y[4][5] = d->y_yaw + 0.8f;
        hull->Y[4][2] = d->y_yaw - 0.6f;
        hull->Y[4][4] = d->y_yaw + 0.6f;
        hull->Y[4][3] = d->y_yaw;
        hull->Y[4][7] = d->y_yaw;

        hull->Y[5][0] = d->y_yaw - 0.5f;
        hull->Y[5][8] = d->y_yaw - 0.5f;
        hull->Y[5][6] = d->y_yaw + 0.5f;
        hull->Y[5][1] = d->y_yaw - 0.5f;
        hull->Y[5][5] = d->y_yaw + 0.5f;
        hull->Y[5][2] = d->y_yaw - 0.3f;
        hull->Y[5][4] = d->y_yaw + 0.3f;
        hull->Y[5][3] = d->y_yaw;
        hull->Y[5][7] = d->y_yaw;

        hull->Y[6][0] = d->y_yaw - 0.01f;
        hull->Y[6][8] = d->y_yaw - 0.01f;
        hull->Y[6][6] = d->y_yaw + 0.01f;
        hull->Y[6][1] = d->y_yaw - 0.01f;
        hull->Y[6][5] = d->y_yaw + 0.01f;
        hull->Y[6][2] = d->y_yaw - 0.005f;
        hull->Y[6][4] = d->y_yaw + 0.005f;
        hull->Y[6][3] = d->y_yaw;
        hull->Y[6][7] = d->y_yaw;

        hull->Y[7][0] = d->y_yaw - 0.0f;
        hull->Y[7][8] = d->y_yaw - 0.0f;
        hull->Y[7][6] = d->y_yaw + 0.0f;
        hull->Y[7][1] = d->y_yaw - 0.0f;
        hull->Y[7][5] = d->y_yaw + 0.0f;
        hull->Y[7][2] = d->y_yaw - 0.0f;
        hull->Y[7][4] = d->y_yaw + 0.0f;
        hull->Y[7][3] = d->y_yaw;
        hull->Y[7][7] = d->y_yaw;


        for (k=0; k<9; k++) hull->Z[0][k] = d->z_foils;

        hull->Z[1][7] = d->z_foils + 0.03f;
        hull->Z[1][0] = d->z_foils - 0.0f;
        hull->Z[1][8] = d->z_foils - 0.0f;
        hull->Z[1][6] = d->z_foils - 0.0f;
        hull->Z[1][1] = d->z_foils - 0.3f;
        hull->Z[1][5] = d->z_foils - 0.3f;
        hull->Z[1][2] = d->z_foils - 0.5f;
        hull->Z[1][4] = d->z_foils - 0.5f;
        hull->Z[1][3] = d->z_foils - 0.6f;

        hull->Z[2][7] = d->z_foils + 0.03f;
        hull->Z[2][0] = d->z_foils - 0.0f;
        hull->Z[2][8] = d->z_foils - 0.0f;
        hull->Z[2][6] = d->z_foils - 0.0f;
        hull->Z[2][1] = d->z_foils - 0.3f;
        hull->Z[2][5] = d->z_foils - 0.3f;
        hull->Z[2][2] = d->z_foils - 0.5f;
        hull->Z[2][4] = d->z_foils - 0.5f;
        hull->Z[2][3] = d->z_foils - 0.6f;

        hull->Z[3][7] = d->z_foils + 0.07f;
        hull->Z[3][0] = d->z_foils - 0.0f;
        hull->Z[3][8] = d->z_foils - 0.0f;
        hull->Z[3][6] = d->z_foils - 0.0f;
        hull->Z[3][1] = d->z_foils - 0.4f;
        hull->Z[3][5] = d->z_foils - 0.4f;
        hull->Z[3][2] = d->z_foils - 0.8f;
        hull->Z[3][4] = d->z_foils - 0.8f;
        hull->Z[3][3] = d->z_foils - 1.1f;

        hull->Z[4][7] = d->z_foils + 0.1f;
        hull->Z[4][0] = d->z_foils - 0.0f;
        hull->Z[4][8] = d->z_foils - 0.0f;
        hull->Z[4][6] = d->z_foils - 0.0f;
        hull->Z[4][1] = d->z_foils - 0.4f;
        hull->Z[4][5] = d->z_foils - 0.4f;
        hull->Z[4][2] = d->z_foils - 0.9f;
        hull->Z[4][4] = d->z_foils - 0.9f;
        hull->Z[4][3] = d->z_foils - 1.2f;

        hull->Z[5][7] = d->z_foils + 0.06f;
        hull->Z[5][0] = d->z_foils - 0.0f;
        hull->Z[5][8] = d->z_foils - 0.0f;
        hull->Z[5][6] = d->z_foils - 0.0f;
        hull->Z[5][1] = d->z_foils - 0.3f;
        hull->Z[5][5] = d->z_foils - 0.3f;
        hull->Z[5][2] = d->z_foils - 0.7f;
        hull->Z[5][4] = d->z_foils - 0.7f;
        hull->Z[5][3] = d->z_foils - 1.0f;

        hull->Z[6][7] = d->z_foils + 0.0f;
        hull->Z[6][0] = d->z_foils - 0.0f;
        hull->Z[6][8] = d->z_foils - 0.0f;
        hull->Z[6][6] = d->z_foils - 0.0f;
        hull->Z[6][1] = d->z_foils - 0.2f;
        hull->Z[6][5] = d->z_foils - 0.2f;
        hull->Z[6][2] = d->z_foils - 0.35f;
        hull->Z[6][4] = d->z_foils - 0.35f;
        hull->Z[6][3] = d->z_foils - 0.5f;

        hull->Z[7][7] = d->z_foils + 0.0f;
        hull->Z[7][0] = d->z_foils - 0.0f;
        hull->Z[7][8] = d->z_foils - 0.0f;
        hull->Z[7][6] = d->z_foils - 0.0f;
        hull->Z[7][1] = d->z_foils - 0.2f;
        hull->Z[7][5] = d->z_foils - 0.2f;
        hull->Z[7][2] = d->z_foils - 0.35f;
        hull->Z[7][4] = d->z_foils - 0.35f;
        hull->Z[7][3] = d->z_foils - 0.5f;

        for (q=0; q<8; q++)
        {
                for(k=0; k<9; k++)
                {
                        hull->R[q][k]=0.95;
                        hull->G[q][k]=0.95;
                        hull->B[q][k]=0.95;
                }
        }


        //swimmers (same as hull but smaller)
        //right swimmer:
        for (q=0; q<8; q++)
        {
                for(k=0; k<9; k++)
                {
                        rSwimm->X[q][k] = hull->X[q][k];
                        rSwimm->Y[q][k] = hull->Y[q][k] - d->y_yaw;
                        rSwimm->Z[q][k] = hull->Z[q][k] - d->z_foils;

                        rSwimm->R[q][k] = hull->R[q][k];
                        rSwimm->G[q][k] = hull->G[q][k];
                        rSwimm->B[q][k] = hull->B[q][k];

                        //resize:
                        rSwimm->X[q][k] *=0.45;
                        rSwimm->Y[q][k] *=0.45;
                        rSwimm->Z[q][k] *=0.45;

                        //translate:
                        rSwimm->X[q][k] += d->x_foils -1.0;
                        rSwimm->Y[q][k] += d->y_foil_right;
                        rSwimm->Z[q][k] += d->z_foils;                  
                }
        }

        //left swimmer:
        for (q=0; q<8; q++)
        {
                for(k=0; k<9; k++)
                {
                        lSwimm->X[q][k] = hull->X[q][k];
                        lSwimm->Y[q][k] = hull->Y[q][k] - d->y_yaw;
                        lSwimm->Z[q][k] = hull->Z[q][k] - d->z_foils;

                        lSwimm->R[q][k] = hull->R[q][k];
                        lSwimm->G[q][k] = hull->G[q][k];
                        lSwimm->B[q][k] = hull->B[q][k];

                        //resize:
                        lSwimm->X[q][k] *=0.45;
                        lSwimm->Y[q][k] *=0.45;
                        lSwimm->Z[q][k] *=0.45;

                        //translate:
                        lSwimm->X[q][k] += d->x_foils -1.0;
                        lSwimm->Y[q][k] += d->y_foil_left;
                        lSwimm->Z[q][k] += d->z_foils;                  
                }
        }


        //hull is too "flat"...:
        for (q=0; q<8; q++)
        {
                for(k=0; k<9; k++)
                {
                        hull->Z[q][k]*=1.5;
                }
        }


        //Bridge main:
        temp1 = 0.7;
        temp2 = 0.2;

        for (k=0; k<4; k++)
        {
                bridgeMain->X[k][0] = d->x_foils + temp2 - temp1;
                bridgeMain->X[k][1] = d->x_foils + temp2 - temp1;
                bridgeMain->X[k][2] = d->x_foils - temp2 - temp1;
                bridgeMain->X[k][3] = d->x_foils - temp2 - temp1;
                bridgeMain->X[k][4] = d->x_foils + temp2 - temp1;
        }

        for (q=0; q<5; q++)
        {
                bridgeMain->Y[0][q] = d->y_foil_left;
                bridgeMain->Y[1][q] = d->y_foil_left + 0.001*d->y_foil_right;
                bridgeMain->Y[2][q] = d->y_foil_right + 0.001*d->y_foil_left;
                bridgeMain->Y[3][q] = d->y_foil_right;
        }

        for (k=0; k<4; k++)
        {
                bridgeMain->Z[k][0] = d->z_foils + temp2;
                bridgeMain->Z[k][1] = d->z_foils - temp2;
                bridgeMain->Z[k][2] = d->z_foils - temp2;
                bridgeMain->Z[k][3] = d->z_foils + temp2;
                bridgeMain->Z[k][4] = d->z_foils + temp2;
        }

        for (q=0; q<4; q++)
        {
                for(k=0; k<5; k++)
                {
                        bridgeMain->R[q][k] = hull->R[q][k];
                        bridgeMain->G[q][k] = hull->G[q][k];
                        bridgeMain->B[q][k] = hull->B[q][k]; 
                }
        }


        // bridge2:

        for (k=0; k<5;k++)
        {
                bridge2->X[k][0] = d->x_foils + temp2 - d->Chord_max + temp1;
                bridge2->X[k][1] = d->x_foils + temp2 - d->Chord_max + temp1;
                bridge2->X[k][2] = d->x_foils - temp2 - d->Chord_max + temp1;
                bridge2->X[k][3] = d->x_foils - temp2 - d->Chord_max + temp1;
                bridge2->X[k][4] = d->x_foils + temp2 - d->Chord_max + temp1;
        }

        for (k=0; k<5;k++)
        {
                bridge2->X[2][k] -= 1.5;
        }


        for (q=0; q<5; q++)
        {
                bridge2->Y[0][q] = d->y_foil_left;
                bridge2->Y[1][q] = d->y_foil_left + 0.001*d->y_foil_right;
                bridge2->Y[2][q] = 0.5*(d->y_foil_right+d->y_foil_left);
                bridge2->Y[3][q] = d->y_foil_right + 0.001*d->y_foil_left;
                bridge2->Y[4][q] = d->y_foil_right;
        }


        for (q=0; q<5; q++)
        {
                bridge2->Z[q][0] = d->z_foils + temp2;
                bridge2->Z[q][1] = d->z_foils - temp2;
                bridge2->Z[q][2] = d->z_foils - temp2;
                bridge2->Z[q][3] = d->z_foils + temp2;
                bridge2->Z[q][4] = d->z_foils + temp2;
        }


        for (q=0; q<5; q++)
        {
                for(k=0; k<5; k++)
                {
                        bridge2->R[q][k] = hull->R[q][k];
                        bridge2->G[q][k] = hull->G[q][k];
                        bridge2->B[q][k] = hull->B[q][k]; 
                }
        }

        // mast
        for (k=0; k<2; k++)
        {
                mast->X[k][0] = d->x_sail - 0.18;
                mast->X[k][1] = d->x_sail + 0.18;
                mast->X[k][2] = d->x_sail + 0.18;
                mast->X[k][3] = d->x_sail - 0.18;
                mast->X[k][4] = d->x_sail - 0.18;

                mast->Y[k][0] = d->y_sail - 0.18;
                mast->Y[k][1] = d->y_sail - 0.18;
                mast->Y[k][2] = d->y_sail + 0.18;
                mast->Y[k][3] = d->y_sail + 0.18;
                mast->Y[k][4] = d->y_sail - 0.18;

                mast->nX[k][0] = - sqrt(2.0);
                mast->nX[k][1] = + sqrt(2.0);
                mast->nX[k][2] = + sqrt(2.0);
                mast->nX[k][3] = - sqrt(2.0);
                mast->nX[k][4] = - sqrt(2.0);

                mast->nY[k][0] = - sqrt(2.0);
                mast->nY[k][1] = - sqrt(2.0);
                mast->nY[k][2] = + sqrt(2.0);
                mast->nY[k][3] = + sqrt(2.0);
                mast->nY[k][4] = - sqrt(2.0);
        }
        for (k=0; k<5; k++)
        {
                mast->Z[0][k] = d->z_foils+d->L_mast;
                mast->Z[1][k] = d->z_foils;
                
                for (q=0; q<2; q++)
                {
                        mast->nZ[q][k] = 0.0;

                        mast->R[q][k] = 0.85;
                        mast->G[q][k] = 0.85;
                        mast->B[q][k] = 0.95;
                }
        }


        //right foil:

        foilr->X[0][0] = d->x_foils-d->Chord_min;
        foilr->X[0][1] = d->x_foils;
        foilr->X[1][0] = d->x_foils-d->Chord_max;
        foilr->X[1][1] = d->x_foils;

        foilr->Y[0][0] = d->y_foil_right+cos(d->alpha_right)*d->E_foils;
        foilr->Y[0][1] = d->y_foil_right+cos(d->alpha_right)*d->E_foils;
        foilr->Y[1][0] = d->y_foil_right;
        foilr->Y[1][1] = d->y_foil_right;

        foilr->Z[0][0] = d->z_foils-sin(d->alpha_right)*d->E_foils;
        foilr->Z[0][1] = d->z_foils-sin(d->alpha_right)*d->E_foils;
        foilr->Z[1][0] = d->z_foils;
        foilr->Z[1][1] = d->z_foils;

        for (k=0; k<2; k++)
        {
                for (q=0; q<2; q++)
                {
                        foilr->nX[k][q] = 0.0;
                        foilr->nY[k][q] = sin(d->alpha_right);
                        foilr->nZ[k][q] = cos(d->alpha_right);

                        foilr->R[k][q] = hull->R[0][0];
                        foilr->G[k][q] = hull->G[0][0];
                        foilr->B[k][q] = hull->B[0][0];
                }
        }

        //left foil:

        foill->X[1][0] = d->x_foils-d->Chord_min;
        foill->X[1][1] = d->x_foils;
        foill->X[0][0] = d->x_foils-d->Chord_max;
        foill->X[0][1] = d->x_foils;

        foill->Y[1][0] = d->y_foil_left-cos(d->alpha_left)*d->E_foils;
        foill->Y[1][1] = d->y_foil_left-cos(d->alpha_left)*d->E_foils;
        foill->Y[0][0] = d->y_foil_left;
        foill->Y[0][1] = d->y_foil_left;

        foill->Z[1][0] = d->z_foils-sin(d->alpha_left)*d->E_foils;
        foill->Z[1][1] = d->z_foils-sin(d->alpha_left)*d->E_foils;
        foill->Z[0][0] = d->z_foils;
        foill->Z[0][1] = d->z_foils;

        for (k=0; k<2; k++)
        {
                for (q=0; q<2; q++)
                {
                        foill->nX[k][q] = 0.0;
                        foill->nY[k][q] = -sin(d->alpha_right);
                        foill->nZ[k][q] = cos(d->alpha_right);

                        foill->R[k][q] = hull->R[0][0];
                        foill->G[k][q] = hull->G[0][0];
                        foill->B[k][q] = hull->B[0][0];
                }
        }


        //yaw
        for (q=0; q<2; q++)
        {
                yaw->X[0][q] = d->x_yaw;
                yaw->X[1][q] = d->x_yaw+d->Chord_yaw;

                yaw->Z[q][0] = d->z_foils;
                yaw->Z[q][1] = d->z_yaw-d->E_yaw;
                
                for (k=0; k<2; k++)
                {
                        yaw->Y[k][q] = d->y_yaw;

                        yaw->nX[k][q] = 0.0;
                        yaw->nY[k][q] = 1.0;
                        yaw->nZ[k][q] = 0.0;

                        yaw->R[k][q] = hull->R[0][0];
                        yaw->G[k][q] = hull->G[0][0];
                        yaw->B[k][q] = hull->B[0][0];
                }
        }


        //pitch
        for (q=0; q<2; q++)
        {
                pitch->X[q][0] = d->x_pitch;
                pitch->X[q][1] = d->x_pitch+d->Chord_pitch;

                pitch->Y[0][q] = d->y_pitch+0.5*d->Env_pitch;
                pitch->Y[1][q] = d->y_pitch-0.5*d->Env_pitch;

                for (k=0; k<2; k++)
                {
                        pitch->Z[k][q] = d->z_pitch;

                        pitch->nX[k][q] = 0.0;
                        pitch->nY[k][q] = 0.0;
                        pitch->nZ[k][q] = 1.0;

                        pitch->R[k][q] = hull->R[0][0];
                        pitch->G[k][q] = hull->G[0][0];
                        pitch->B[k][q] = hull->B[0][0];
                }
        }


        SolidObject_compute_normals(hull);
        SolidObject_compute_normals(rSwimm);
        SolidObject_compute_normals(lSwimm);
        SolidObject_compute_normals(bridgeMain);
        SolidObject_compute_normals(bridge2);

        for (k=0;k<8;k++)//normals errors at junction...:
        {
                hull->nX[k][0] = hull->nX[k][6];
                hull->nX[k][8] = hull->nX[k][6];
                hull->nY[k][0] =-hull->nY[k][6];
                hull->nY[k][8] =-hull->nY[k][6];
                hull->nZ[k][0] = hull->nZ[k][6];
                hull->nZ[k][8] = hull->nZ[k][6];

                rSwimm->nX[k][0] = rSwimm->nX[k][6];
                rSwimm->nX[k][8] = rSwimm->nX[k][6];
                rSwimm->nY[k][0] =-rSwimm->nY[k][6];
                rSwimm->nY[k][8] =-rSwimm->nY[k][6];
                rSwimm->nZ[k][0] = rSwimm->nZ[k][6];
                rSwimm->nZ[k][8] = rSwimm->nZ[k][6];

                lSwimm->nX[k][0] = lSwimm->nX[k][6];
                lSwimm->nX[k][8] = lSwimm->nX[k][6];
                lSwimm->nY[k][0] =-lSwimm->nY[k][6];
                lSwimm->nY[k][8] =-lSwimm->nY[k][6];
                lSwimm->nZ[k][0] = lSwimm->nZ[k][6];
                lSwimm->nZ[k][8] = lSwimm->nZ[k][6];
        }
        // mast normals entered by hand
        // foils normals entered by hand
}

 

---