# -*- tcl -*-
# $LAAS$
#
# GDHE initialization file - to be copied into .gdherc
# a couple of examples of what can be done...
# More examples can be found in the ${GDHE}/examples directory. 

puts .gdherc

# access some interesting global variables (the oberver's postion and attitude)
# global obsDist obsElev obsAzi obsX obsY obsZ

# Define some robots in the scene 
# set robots(r2) junior
# set pos(r2) { 2 -1 0 }
# set platform(r2) {junior_platform 0}
#  
#set robots(r1) h2bis
#set pos(r1) { 0 0 0 }
#set platform(r1) {arm 20 175 20 90 30 135}
#
# set robots(table) { color 60 120 60 ; box 0 0 0.7 1 1 0.05 }
# set pos(table) { 1.2 0 0 }
# 
# set robots(r3) hilare2
# set pos(r3) { 2 -3 0 }
# set platform(r3) {h2_platform 0}
 
# Place a red frame at origin
# set pos(r0) { 0 0 0 }
# set robots(r0) { color 255 0 0 ; repere  1 }

# An example to display the "lama" robot and control its joints 
#global lamaReperes
#set lamaReperes true
#set robots(lama) { lama 0 0 0 0 80 }
#set pos(lama) {0 0 0 0 0 0}
#set platform(lama) {lamaPlatine 0 0}
#lamaControls

# Display a numerical terrain model 
# package require Terrain
# puts "Terrain module loaded"
# set mntColor(1) { 20 0 0 }
# set mntColor(0) { 120 60 00 }
# readTerrainGeroms eden ed20223.fz
# readTerrain eden /home/haddad/pilot/gdhe/t3
# set mnt eden
# clearColor 128 80 0

# Display a grid in the z=0 plane 
# source $gdhe_library/grid.tcl
# set robots(grid) { grille -10 -10 10 10 0.5 }
# set pos(grid) { 0 0 0 }

# load a Martha-like environnement
# source $gdhe_library/zingaro.tcl

# Define the background color
clearColor 255 255 255

# Set the initial observer's position and attitude 
set obsX 0
set obsY 0
set obsZ 0
set obsElev 30
set obsDist 0.5

