/* stairs.c                                          */

/* We use the object view function in the display callback to point
   the eye, whose position can be altered by the
   x,X,y,Y,z and Z keys for eye position
   r,R,p,P,h and H keys for roll, pitch and heading
   The perspective view is set in the reshape callback */
   
#include <GL/glut.h>
#include <stdlib.h>
#include <string.h>

static GLfloat roll    =350.0;
static GLfloat pitch   =294.0;
static GLfloat heading =358.0;
static GLfloat width   = 900;
static GLfloat height  = 900;
static GLfloat a       = 1.8;

void objectView()
{
  glRotatef(roll, 0.0, 1.0, 0.0);
  glRotatef(pitch, 1.0, 0.0, 0.0);
  glRotatef(heading, 0.0, 0.0, 1.0);
}

void display(void)
{
  char text2[]="roll, pitch, heading  r, R=ddd, p, P=ddd, h, H=ddd";
  char rolld[4], pitchd[4], headingd[4];
  char *p;
  
  glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
  glPushMatrix();
  glLoadIdentity();
  objectView();
  /* draw wall */
  glBegin(GL_POLYGON);
  glColor3f(0.6, 0.5, 0.5); /* gray side 1*/
    glVertex3f(-1.0, 1.0, -1.0);
    glVertex3f( 1.0, 1.0, -1.0);
    glVertex3f( 1.0, 1.0,  1.0);
    glVertex3f( 0.8, 1.0,  1.0);
    glVertex3f( 0.6, 1.0,  0.96);
    glVertex3f( 0.6, 1.0,  1.0);
    glVertex3f( 0.4, 1.0,  0.96);
    glVertex3f( 0.4, 1.0,  1.0);
    glVertex3f( 0.2, 1.0,  0.96);
    glVertex3f( 0.2, 1.0,  1.0);
    glVertex3f( 0.0, 1.0,  0.96);
    glVertex3f( 0.0, 1.0,  1.0);
    glVertex3f(-0.2, 1.0,  0.96);
    glVertex3f(-0.2, 1.0,  1.0);
    glVertex3f(-0.4, 1.0,  0.96);
    glVertex3f(-0.4, 1.0,  1.0);
    glVertex3f(-0.6, 1.0,  0.96);
    glVertex3f(-0.6, 1.0,  1.0);
    glVertex3f(-0.8, 1.0,  0.96);
    glVertex3f(-0.8, 1.0,  1.0);
    glVertex3f(-1.0, 1.0,  1.0);
  glEnd();
  glBegin(GL_POLYGON); /* inside 1 */
  glColor3f(0.5, 0.4, 0.4); /* darker */
    glVertex3f(-0.8, 0.8, -1.0);
    glVertex3f( 0.8, 0.8, -1.0);
    glVertex3f( 0.8, 0.8,  1.0);
    glVertex3f( 0.6, 0.8,  0.96);
    glVertex3f( 0.6, 0.8,  1.0);
    glVertex3f( 0.4, 0.8,  0.96);
    glVertex3f( 0.4, 0.8,  1.0);
    glVertex3f( 0.2, 0.8,  0.96);
    glVertex3f( 0.2, 0.8,  1.0);
    glVertex3f( 0.0, 0.8,  0.96);
    glVertex3f( 0.0, 0.8,  1.0);
    glVertex3f(-0.2, 0.8,  0.96);
    glVertex3f(-0.2, 0.8,  1.0);
    glVertex3f(-0.4, 0.8,  0.96);
    glVertex3f(-0.4, 0.8,  1.0);
    glVertex3f(-0.6, 0.8,  0.96);
    glVertex3f(-0.6, 0.8,  1.0);
    glVertex3f(-0.8, 0.8,  0.96);
    glVertex3f(-0.8, 0.8,  1.0);
  glEnd();
  glColor3f(0.8, 0.5, 0.5); /* gray top 1*/
  glBegin(GL_POLYGON);
    glVertex3f(  1.0, 1.0,  1.0);
    glVertex3f(  0.8, 1.0,  1.0);
    glVertex3f(  0.8, 0.8,  1.0);
    glVertex3f(  1.0, 0.8,  1.0);
  glEnd();
  glColor3f(0.7, 0.5, 0.5); /* gray top 1*/
  glBegin(GL_POLYGON);
    glVertex3f( 0.8, 1.0,  1.0);
    glVertex3f( 0.6, 1.0,  0.96);
    glVertex3f( 0.6, 0.8,  0.96);
    glVertex3f( 0.8, 0.8,  1.0);
  glEnd();
  glColor3f(0.6, 0.4, 0.4); /* gray top 1*/
  glBegin(GL_POLYGON);
    glVertex3f( 0.6, 1.0,  1.0);
    glVertex3f( 0.6, 1.0,  0.96);
    glVertex3f( 0.6, 0.8,  0.96);
    glVertex3f( 0.6, 0.8,  1.0);
  glEnd();
  glBegin(GL_POLYGON);
  glColor3f(0.7, 0.5, 0.5); /* gray top 1*/
    glVertex3f( 0.6, 1.0,  1.0);
    glVertex3f( 0.4, 1.0,  0.96);
    glVertex3f( 0.4, 0.8,  0.96);
    glVertex3f( 0.6, 0.8,  1.0);
  glEnd();
  glColor3f(0.6, 0.4, 0.4); /* gray top 1*/
  glBegin(GL_POLYGON);
    glVertex3f( 0.4, 1.0,  1.0);
    glVertex3f( 0.4, 1.0,  0.96);
    glVertex3f( 0.4, 0.8,  0.96);
    glVertex3f( 0.4, 0.8,  1.0);
  glEnd();
  glBegin(GL_POLYGON);
  glColor3f(0.7, 0.5, 0.5); /* gray top 1*/
    glVertex3f( 0.4, 1.0,  1.0);
    glVertex3f( 0.2, 1.0,  0.96);
    glVertex3f( 0.2, 0.8,  0.96);
    glVertex3f( 0.4, 0.8,  1.0);
  glEnd();
  glColor3f(0.6, 0.4, 0.4); /* gray top 1*/
  glBegin(GL_POLYGON);
    glVertex3f( 0.2, 1.0,  1.0);
    glVertex3f( 0.2, 1.0,  0.96);
    glVertex3f( 0.2, 0.8,  0.96);
    glVertex3f( 0.2, 0.8,  1.0);
  glEnd();
  glColor3f(0.7, 0.5, 0.5); /* gray top 1*/
  glBegin(GL_POLYGON);
    glVertex3f( 0.2, 1.0,  1.0);
    glVertex3f( 0.0, 1.0,  0.96);
    glVertex3f( 0.0, 0.8,  0.96);
    glVertex3f( 0.2, 0.8,  1.0);
  glEnd();
  glColor3f(0.6, 0.4, 0.4); /* gray top 1*/
  glBegin(GL_POLYGON);
    glVertex3f( 0.0, 1.0,  1.0);
    glVertex3f( 0.0, 1.0,  0.96);
    glVertex3f( 0.0, 0.8,  0.96);
    glVertex3f( 0.0, 0.8,  1.0);
  glEnd();
  glColor3f(0.7, 0.5, 0.5); /* gray top 1*/
  glBegin(GL_POLYGON);
    glVertex3f( 0.0, 1.0,  1.0);
    glVertex3f(-0.2, 1.0,  0.96);
    glVertex3f(-0.2, 0.8,  0.96);
    glVertex3f( 0.0, 0.8,  1.00);
  glEnd();
  glColor3f(0.6, 0.4, 0.4); /* gray top 1*/
  glBegin(GL_POLYGON);
    glVertex3f(-0.2, 1.0,  1.0);
    glVertex3f(-0.2, 1.0,  0.96);
    glVertex3f(-0.2, 0.8,  0.96);
    glVertex3f(-0.2, 0.8,  1.0);
  glEnd();
  glColor3f(0.7, 0.5, 0.5); /* gray top 1*/
  glBegin(GL_POLYGON);
    glVertex3f(-0.2, 1.0,  1.0);
    glVertex3f(-0.4, 1.0,  0.96);
    glVertex3f(-0.4, 0.8,  0.96);
    glVertex3f(-0.2, 0.8,  1.0);
  glEnd();
  glColor3f(0.6, 0.4, 0.4); /* gray top 1*/
  glBegin(GL_POLYGON);
    glVertex3f(-0.4, 1.0,  1.0);
    glVertex3f(-0.4, 1.0,  0.96);
    glVertex3f(-0.4, 0.8,  0.96);
    glVertex3f(-0.4, 0.8,  1.0);
  glEnd();
  glColor3f(0.7, 0.5, 0.5); /* gray top 1*/
  glBegin(GL_POLYGON);
    glVertex3f(-0.4, 1.0,  1.0);
    glVertex3f(-0.6, 1.0,  0.96);
    glVertex3f(-0.6, 0.8,  0.96);
    glVertex3f(-0.4, 0.8,  1.0);
  glEnd();
  glColor3f(0.6, 0.4, 0.4); /* gray top 1*/
  glBegin(GL_POLYGON);
    glVertex3f(-0.6, 1.0,  1.0);
    glVertex3f(-0.6, 1.0,  0.96);
    glVertex3f(-0.6, 0.8,  0.96);
    glVertex3f(-0.6, 0.8,  1.0);
  glEnd();
  glColor3f(0.7, 0.5, 0.5); /* gray top 1*/
  glBegin(GL_POLYGON);
    glVertex3f(-0.6, 1.0,  1.0);
    glVertex3f(-0.8, 1.0,  0.96);
    glVertex3f(-0.8, 0.8,  0.96);
    glVertex3f(-0.6, 0.8,  1.0);
  glEnd();
  glColor3f(0.6, 0.4, 0.4); /* gray top 1*/
  glBegin(GL_POLYGON);
    glVertex3f(-0.8, 1.0,  1.0);
    glVertex3f(-0.8, 1.0,  0.96);
    glVertex3f(-0.8, 0.8,  0.96);
    glVertex3f(-0.8, 0.8,  1.0);
  glEnd();

  glBegin(GL_POLYGON);
  glColor3f(0.5, 0.6, 0.5); /* gray  side 3*/
    glVertex3f(-1.0, -1.0, -1.0);
    glVertex3f( 1.0, -1.0, -1.0);
    glVertex3f( 1.0, -1.0,  1.0);
    glVertex3f( 0.8, -1.0,  1.0);
    glVertex3f( 0.8, -1.0,  0.96);
    glVertex3f( 0.6, -1.0,  1.0);
    glVertex3f( 0.6, -1.0,  0.96);
    glVertex3f( 0.4, -1.0,  1.0);
    glVertex3f( 0.4, -1.0,  0.96);
    glVertex3f( 0.2, -1.0,  1.0);
    glVertex3f( 0.2, -1.0,  0.96);
    glVertex3f( 0.0, -1.0,  1.0);
    glVertex3f( 0.0, -1.0,  0.96);
    glVertex3f(-0.2, -1.0,  1.0);
    glVertex3f(-0.2, -1.0,  0.96);
    glVertex3f(-0.4, -1.0,  1.0);
    glVertex3f(-0.4, -1.0,  0.96);
    glVertex3f(-0.6, -1.0,  1.0);
    glVertex3f(-0.6, -1.0,  0.96);
    glVertex3f(-0.8, -1.0,  1.0);
    glVertex3f(-1.0, -1.0,  1.0);
  glEnd();
  glBegin(GL_POLYGON); /* inside 3 */
  glColor3f(0.4, 0.5, 0.4); /* darker */
    glVertex3f(-0.8, -0.8, -1.0);
    glVertex3f( 0.8, -0.8, -1.0);
    glVertex3f( 0.8, -0.8,  0.96);
    glVertex3f( 0.6, -0.8,  1.0);
    glVertex3f( 0.6, -0.8,  0.96);
    glVertex3f( 0.4, -0.8,  1.0);
    glVertex3f( 0.4, -0.8,  0.96);
    glVertex3f( 0.2, -0.8,  1.0);
    glVertex3f( 0.2, -0.8,  0.96);
    glVertex3f( 0.0, -0.8,  1.0);
    glVertex3f( 0.0, -0.8,  0.96);
    glVertex3f(-0.2, -0.8,  1.0);
    glVertex3f(-0.2, -0.8,  0.96);
    glVertex3f(-0.4, -0.8,  1.0);
    glVertex3f(-0.4, -0.8,  0.96);
    glVertex3f(-0.6, -0.8,  1.0);
    glVertex3f(-0.6, -0.8,  0.96);
    glVertex3f(-0.8, -0.8,  1.0);
    glVertex3f(-0.8, -0.8,  0.96);
  glEnd();
  glColor3f(0.5, 0.8, 0.5); /* gray top 3*/
  glBegin(GL_POLYGON);
    glVertex3f( -1.0, -1.0,  1.0);
    glVertex3f( -0.8, -1.0,  1.0);
    glVertex3f( -0.8, -0.8,  1.0);
    glVertex3f( -1.0, -0.8,  1.0);
  glEnd();
  glColor3f(0.4, 0.6, 0.4); /* gray top 3*/
  glBegin(GL_POLYGON);
    glVertex3f( 0.8, -1.0,  1.0);
    glVertex3f( 0.8, -1.0,  0.96);
    glVertex3f( 0.8, -0.8,  0.96);
    glVertex3f( 0.8, -0.8,  1.0);
  glEnd();
  glColor3f(0.5, 0.7, 0.5); /* gray top 3*/
  glBegin(GL_POLYGON);
    glVertex3f( 0.8, -1.0,  0.96);
    glVertex3f( 0.6, -1.0,  1.0);
    glVertex3f( 0.6, -0.8,  1.0);
    glVertex3f( 0.8, -0.8,  0.96);
  glEnd();
  glColor3f(0.4, 0.6, 0.4); /* gray top 3*/
  glBegin(GL_POLYGON);
    glVertex3f( 0.6, -1.0,  1.0);
    glVertex3f( 0.6, -1.0,  0.96);
    glVertex3f( 0.6, -0.8,  0.96);
    glVertex3f( 0.6, -0.8,  1.0);
  glEnd();
  glColor3f(0.5, 0.7, 0.5); /* gray top 3*/
  glBegin(GL_POLYGON);
    glVertex3f( 0.6, -1.0,  0.96);
    glVertex3f( 0.4, -1.0,  1.0);
    glVertex3f( 0.4, -0.8,  1.0);
    glVertex3f( 0.6, -0.8,  0.96);
  glEnd();
  glColor3f(0.4, 0.6, 0.4); /* gray top 3*/
  glBegin(GL_POLYGON);
    glVertex3f( 0.4, -1.0,  1.0);
    glVertex3f( 0.4, -1.0,  0.96);
    glVertex3f( 0.4, -0.8,  0.96);
    glVertex3f( 0.4, -0.8,  1.0);
  glEnd();
  glColor3f(0.5, 0.7, 0.5); /* gray top 3*/
  glBegin(GL_POLYGON);
    glVertex3f( 0.4, -1.0,  0.96);
    glVertex3f( 0.2, -1.0,  1.0);
    glVertex3f( 0.2, -0.8,  1.0);
    glVertex3f( 0.4, -0.8,  0.96);
  glEnd();
  glColor3f(0.4, 0.6, 0.4); /* gray top 3*/
  glBegin(GL_POLYGON);
    glVertex3f( 0.2, -1.0,  1.0);
    glVertex3f( 0.2, -1.0,  0.96);
    glVertex3f( 0.2, -0.8,  0.96);
    glVertex3f( 0.2, -0.8,  1.0);
  glEnd();
  glColor3f(0.5, 0.7, 0.5); /* gray top 3*/
  glBegin(GL_POLYGON);
    glVertex3f( 0.2, -1.0,  0.96);
    glVertex3f( 0.0, -1.0,  1.0);
    glVertex3f( 0.0, -0.8,  1.0);
    glVertex3f( 0.2, -0.8,  0.96);
  glEnd();
  glColor3f(0.4, 0.6, 0.4); /* gray top 3*/
  glBegin(GL_POLYGON);
    glVertex3f( 0.0, -1.0,  1.0);
    glVertex3f( 0.0, -1.0,  0.96);
    glVertex3f( 0.0, -0.8,  0.96);
    glVertex3f( 0.0, -0.8,  1.0);
  glEnd();
  glColor3f(0.5, 0.7, 0.5); /* gray top 3*/
  glBegin(GL_POLYGON);
    glVertex3f( 0.0, -1.0,  0.96);
    glVertex3f(-0.2, -1.0,  1.0);
    glVertex3f(-0.2, -0.8,  1.0);
    glVertex3f( 0.0, -0.8,  0.96);
  glEnd();
  glColor3f(0.4, 0.6, 0.4); /* gray top 3*/
  glBegin(GL_POLYGON);
    glVertex3f(-0.2, -1.0,  1.0);
    glVertex3f(-0.2, -1.0,  0.96);
    glVertex3f(-0.2, -0.8,  0.96);
    glVertex3f(-0.2, -0.8,  1.0);
  glEnd();
  glColor3f(0.5, 0.7, 0.5); /* gray top 3*/
  glBegin(GL_POLYGON);
    glVertex3f(-0.2, -1.0,  0.96);
    glVertex3f(-0.4, -1.0,  1.0);
    glVertex3f(-0.4, -0.8,  1.0);
    glVertex3f(-0.2, -0.8,  0.96);
  glEnd();
  glColor3f(0.4, 0.6, 0.4); /* gray top 3*/
  glBegin(GL_POLYGON);
    glVertex3f(-0.4, -1.0,  1.0);
    glVertex3f(-0.4, -1.0,  0.96);
    glVertex3f(-0.4, -0.8,  0.96);
    glVertex3f(-0.4, -0.8,  1.0);
  glEnd();
  glColor3f(0.5, 0.7, 0.5); /* gray top 3*/
  glBegin(GL_POLYGON);
    glVertex3f(-0.4, -1.0,  0.96);
    glVertex3f(-0.6, -1.0,  1.0);
    glVertex3f(-0.6, -0.8,  1.0);
    glVertex3f(-0.4, -0.8,  0.96);
  glEnd();
  glColor3f(0.4, 0.6, 0.4); /* gray top 3*/
  glBegin(GL_POLYGON);
    glVertex3f(-0.6, -1.0,  1.0);
    glVertex3f(-0.6, -1.0,  0.96);
    glVertex3f(-0.6, -0.8,  0.96);
    glVertex3f(-0.6, -0.8,  1.0);
  glEnd();
  glColor3f(0.5, 0.7, 0.5); /* gray top 3*/
  glBegin(GL_POLYGON);
    glVertex3f(-0.6, -1.0,  0.96);
    glVertex3f(-0.8, -1.0,  1.0);
    glVertex3f(-0.8, -0.8,  1.0);
    glVertex3f(-0.6, -0.8,  0.96);
  glEnd();
  glColor3f(0.4, 0.6, 0.4); /* gray top 3*/
  glBegin(GL_POLYGON);
    glVertex3f(-0.8, -1.0,  1.0);
    glVertex3f(-0.8, -1.0,  0.96);
    glVertex3f(-0.8, -0.8,  0.96);
    glVertex3f(-0.8, -0.8,  1.0);
  glEnd();


  glBegin(GL_POLYGON);
  glColor3f(0.5, 0.5, 0.6); /* gray side 2 */
    glVertex3f( 1.0, -1.0, -1.0);
    glVertex3f( 1.0,  1.0, -1.0);
    glVertex3f( 1.0,  1.0,  1.0);
    glVertex3f( 1.0,  0.8,  1.00);
    glVertex3f( 1.0,  0.8,  0.96);
    glVertex3f( 1.0,  0.6,  1.0);
    glVertex3f( 1.0,  0.6,  0.96);
    glVertex3f( 1.0,  0.4,  1.0);
    glVertex3f( 1.0,  0.4,  0.96);
    glVertex3f( 1.0,  0.2,  1.0);
    glVertex3f( 1.0,  0.2,  0.96);
    glVertex3f( 1.0,  0.0,  1.0);
    glVertex3f( 1.0,  0.0,  0.96);
    glVertex3f( 1.0, -0.2,  1.0);
    glVertex3f( 1.0, -0.2,  0.96);
    glVertex3f( 1.0, -0.4,  1.0);
    glVertex3f( 1.0, -0.4,  0.96);
    glVertex3f( 1.0, -0.6,  1.0);
    glVertex3f( 1.0, -0.6,  0.96);
    glVertex3f( 1.0, -0.8,  1.0);
    glVertex3f( 1.0, -1.0,  1.0);
  glEnd();
  glBegin(GL_POLYGON); /* inside 2 */
  glColor3f(0.4, 0.4, 0.5); /* darker */
    glVertex3f( 0.8, -0.8, -1.0);
    glVertex3f( 0.8,  0.8, -1.0);
    glVertex3f( 0.8,  0.8,  0.96);
    glVertex3f( 0.8,  0.6,  1.0);
    glVertex3f( 0.8,  0.6,  0.96);
    glVertex3f( 0.8,  0.4,  1.0);
    glVertex3f( 0.8,  0.4,  0.96);
    glVertex3f( 0.8,  0.2,  1.0);
    glVertex3f( 0.8,  0.2,  0.96);
    glVertex3f( 0.8,  0.0,  1.0);
    glVertex3f( 0.8,  0.0,  0.96);
    glVertex3f( 0.8, -0.2,  1.0);
    glVertex3f( 0.8, -0.2,  0.96);
    glVertex3f( 0.8, -0.4,  1.0);
    glVertex3f( 0.8, -0.4,  0.96);
    glVertex3f( 0.8, -0.6,  1.0);
    glVertex3f( 0.8, -0.6,  0.96);
    glVertex3f( 0.8, -0.8,  1.0);
    glVertex3f( 0.8, -0.8,  0.96);
  glEnd();
  glColor3f(0.5, 0.5, 0.8); /* gray top 2*/
  glBegin(GL_POLYGON);
    glVertex3f( 1.0, -1.0,  1.0);
    glVertex3f( 1.0, -0.8,  1.0);
    glVertex3f( 0.8, -0.8,  1.0);
    glVertex3f( 0.8, -1.0,  1.0);
  glEnd();
  glColor3f(0.4, 0.4, 0.6); /* gray top 2*/
  glBegin(GL_POLYGON);
    glVertex3f( 1.0, 0.8, 1.0);
    glVertex3f( 0.8, 0.8, 1.0);
    glVertex3f( 0.8, 0.8, 0.96);
    glVertex3f( 1.0, 0.8, 0.96);
  glEnd();
  glColor3f(0.5, 0.5, 0.7); /* gray top 2*/
  glBegin(GL_POLYGON);
    glVertex3f( 1.0, 0.8,  0.96);
    glVertex3f( 1.0, 0.6,  1.0);
    glVertex3f( 0.8, 0.6,  1.0);
    glVertex3f( 0.8, 0.8,  0.96);
  glEnd();
  glColor3f(0.4, 0.4, 0.6); /* gray top 2*/
  glBegin(GL_POLYGON);
    glVertex3f( 1.0, 0.6, 1.0);
    glVertex3f( 0.8, 0.6, 1.0);
    glVertex3f( 0.8, 0.6, 0.96);
    glVertex3f( 1.0, 0.6, 0.96);
  glEnd();
  glColor3f(0.5, 0.5, 0.7); /* gray top 2*/
  glBegin(GL_POLYGON);
    glVertex3f( 1.0, 0.6,  0.96);
    glVertex3f( 1.0, 0.4,  1.0);
    glVertex3f( 0.8, 0.4,  1.0);
    glVertex3f( 0.8, 0.6,  0.96);
  glEnd();
  glColor3f(0.4, 0.4, 0.6); /* gray top 2*/
  glBegin(GL_POLYGON);
    glVertex3f( 1.0, 0.4, 1.0);
    glVertex3f( 0.8, 0.4, 1.0);
    glVertex3f( 0.8, 0.4, 0.96);
    glVertex3f( 1.0, 0.4, 0.96);
  glEnd();
  glColor3f(0.5, 0.5, 0.7); /* gray top 2*/
  glBegin(GL_POLYGON);
    glVertex3f( 1.0, 0.4,  0.96);
    glVertex3f( 1.0, 0.2,  1.0);
    glVertex3f( 0.8, 0.2,  1.0);
    glVertex3f( 0.8, 0.4,  0.96);
  glEnd();
  glColor3f(0.4, 0.4, 0.6); /* gray top 2*/
  glBegin(GL_POLYGON);
    glVertex3f( 1.0, 0.2, 1.0);
    glVertex3f( 0.8, 0.2, 1.0);
    glVertex3f( 0.8, 0.2, 0.96);
    glVertex3f( 1.0, 0.2, 0.96);
  glEnd();
  glColor3f(0.5, 0.5, 0.7); /* gray top 2*/
  glBegin(GL_POLYGON);
    glVertex3f( 1.0, 0.2,  0.96);
    glVertex3f( 1.0, 0.0,  1.0);
    glVertex3f( 0.8, 0.0,  1.0);
    glVertex3f( 0.8, 0.2,  0.96);
  glEnd();
  glColor3f(0.4, 0.4, 0.6); /* gray top 2*/
  glBegin(GL_POLYGON);
    glVertex3f( 1.0, 0.0, 1.0);
    glVertex3f( 0.8, 0.0, 1.0);
    glVertex3f( 0.8, 0.0, 0.96);
    glVertex3f( 1.0, 0.0, 0.96);
  glEnd();
  glColor3f(0.5, 0.5, 0.7); /* gray top 2*/
  glBegin(GL_POLYGON);
    glVertex3f( 1.0, -0.0,  0.96);
    glVertex3f( 1.0, -0.2,  1.0);
    glVertex3f( 0.8, -0.2,  1.0);
    glVertex3f( 0.8, -0.0,  0.96);
  glEnd();
  glColor3f(0.4, 0.4, 0.6); /* gray top 2*/
  glBegin(GL_POLYGON);
    glVertex3f( 1.0, -0.2, 1.0);
    glVertex3f( 0.8, -0.2, 1.0);
    glVertex3f( 0.8, -0.2, 0.96);
    glVertex3f( 1.0, -0.2, 0.96);
  glEnd();
  glColor3f(0.5, 0.5, 0.7); /* gray top 2*/
  glBegin(GL_POLYGON);
    glVertex3f( 1.0, -0.2,  0.96);
    glVertex3f( 1.0, -0.4,  1.0);
    glVertex3f( 0.8, -0.4,  1.0);
    glVertex3f( 0.8, -0.2,  0.96);
  glEnd();
  glColor3f(0.4, 0.4, 0.6); /* gray top 2*/
  glBegin(GL_POLYGON);
    glVertex3f( 1.0, -0.4, 1.0);
    glVertex3f( 0.8, -0.4, 1.0);
    glVertex3f( 0.8, -0.4, 0.96);
    glVertex3f( 1.0, -0.4, 0.96);
  glEnd();
  glColor3f(0.5, 0.5, 0.7); /* gray top 2*/
  glBegin(GL_POLYGON);
    glVertex3f( 1.0, -0.4,  0.96);
    glVertex3f( 1.0, -0.6,  1.0);
    glVertex3f( 0.8, -0.6,  1.0);
    glVertex3f( 0.8, -0.4,  0.96);
  glEnd();
  glColor3f(0.4, 0.4, 0.6); /* gray top 2*/
  glBegin(GL_POLYGON);
    glVertex3f( 1.0, -0.6, 1.0);
    glVertex3f( 0.8, -0.6, 1.0);
    glVertex3f( 0.8, -0.6, 0.96);
    glVertex3f( 1.0, -0.6, 0.96);
  glEnd();
  glColor3f(0.5, 0.5, 0.7); /* gray top 2*/
  glBegin(GL_POLYGON);
    glVertex3f( 1.0, -0.6,  0.96);
    glVertex3f( 1.0, -0.8,  1.0);
    glVertex3f( 0.8, -0.8,  1.0);
    glVertex3f( 0.8, -0.6,  0.96);
  glEnd();
  glColor3f(0.4, 0.4, 0.6); /* gray top 2*/
  glBegin(GL_POLYGON);
    glVertex3f( 1.0, -0.8, 1.0);
    glVertex3f( 0.8, -0.8, 1.0);
    glVertex3f( 0.8, -0.8, 0.96);
    glVertex3f( 1.0, -0.8, 0.96);
  glEnd();

  glBegin(GL_POLYGON);
  glColor3f(0.5, 0.5, 0.5); /* gray side 4 */
    glVertex3f(-1.0, -1.0, -1.0);
    glVertex3f(-1.0,  1.0, -1.0);
    glVertex3f(-1.0,  1.0,  1.0);
    glVertex3f(-1.0,  0.8,  1.0);
    glVertex3f(-1.0,  0.6,  0.96);
    glVertex3f(-1.0,  0.6,  1.0);
    glVertex3f(-1.0,  0.4,  0.96);
    glVertex3f(-1.0,  0.4,  1.0);
    glVertex3f(-1.0,  0.2,  0.96);
    glVertex3f(-1.0,  0.2,  1.0);
    glVertex3f(-1.0,  0.0,  0.96);
    glVertex3f(-1.0,  0.0,  1.0);
    glVertex3f(-1.0, -0.2,  0.96);
    glVertex3f(-1.0, -0.2,  1.0);
    glVertex3f(-1.0, -0.4,  0.96);
    glVertex3f(-1.0, -0.4,  1.0);
    glVertex3f(-1.0, -0.6,  0.96);
    glVertex3f(-1.0, -0.6,  1.0);
    glVertex3f(-1.0, -0.8,  0.96);
    glVertex3f(-1.0, -0.8,  1.0);
    glVertex3f(-1.0, -1.0,  1.0);
  glEnd();
  glBegin(GL_POLYGON); /* inside */
  glColor3f(0.3, 0.3, 0.3); /* darker */
    glVertex3f(-0.8, -0.8, -1.0);
    glVertex3f(-0.8,  0.8, -1.0);
    glVertex3f(-0.8,  0.8,  1.0);
    glVertex3f(-0.8,  0.6,  0.96);
    glVertex3f(-0.8,  0.6,  1.0);
    glVertex3f(-0.8,  0.4,  0.96);
    glVertex3f(-0.8,  0.4,  1.0);
    glVertex3f(-0.8,  0.2,  0.96);
    glVertex3f(-0.8,  0.2,  1.0);
    glVertex3f(-0.8,  0.0,  0.96);
    glVertex3f(-0.8,  0.0,  1.0);
    glVertex3f(-0.8, -0.2,  0.96);
    glVertex3f(-0.8, -0.2,  1.0);
    glVertex3f(-0.8, -0.4,  0.96);
    glVertex3f(-0.8, -0.4,  1.0);
    glVertex3f(-0.8, -0.6,  0.96);
    glVertex3f(-0.8, -0.6,  1.0);
    glVertex3f(-0.8, -0.8,  0.96);
    glVertex3f(-0.8, -0.8,  1.0);
  glEnd();
  glColor3f(0.7, 0.7, 0.7); /* gray top 4*/
  glBegin(GL_POLYGON);
    glVertex3f(-1.0, 1.0,  1.0);
    glVertex3f(-0.8, 1.0,  1.0);
    glVertex3f(-0.8, 0.8,  1.0);
    glVertex3f(-1.0, 0.8,  1.0);
  glEnd();
  glColor3f(0.6, 0.6, 0.6); /* gray top 4*/
  glBegin(GL_POLYGON);
    glVertex3f(-1.0, 0.8,  1.0);
    glVertex3f(-1.0, 0.6,  0.96);
    glVertex3f(-0.8, 0.6,  0.96);
    glVertex3f(-0.8, 0.8,  1.0);
  glEnd();
  glColor3f(0.4, 0.4, 0.4); /* gray top 4*/
  glBegin(GL_POLYGON);
    glVertex3f(-1.0, 0.6, 1.0);
    glVertex3f(-0.8, 0.6, 1.0);
    glVertex3f(-0.8, 0.6, 0.96);
    glVertex3f(-1.0, 0.6, 0.96);
  glEnd();
  glColor3f(0.6, 0.6, 0.6); /* gray top 4*/
  glBegin(GL_POLYGON);
    glVertex3f(-1.0, 0.6,  1.0);
    glVertex3f(-1.0, 0.4,  0.96);
    glVertex3f(-0.8, 0.4,  0.96);
    glVertex3f(-0.8, 0.6,  1.0);
  glEnd();
  glColor3f(0.4, 0.4, 0.4); /* gray top 4*/
  glBegin(GL_POLYGON);
    glVertex3f(-1.0, 0.4, 1.0);
    glVertex3f(-0.8, 0.4, 1.0);
    glVertex3f(-0.8, 0.4, 0.96);
    glVertex3f(-1.0, 0.4, 0.96);
  glEnd();
  glColor3f(0.6, 0.6, 0.6); /* gray top 4*/
  glBegin(GL_POLYGON);
    glVertex3f(-1.0, 0.4,  1.0);
    glVertex3f(-1.0, 0.2,  0.96);
    glVertex3f(-0.8, 0.2,  0.96);
    glVertex3f(-0.8, 0.4,  1.0);
  glEnd();
  glColor3f(0.4, 0.4, 0.4); /* gray top 4*/
  glBegin(GL_POLYGON);
    glVertex3f(-1.0, 0.2, 1.0);
    glVertex3f(-0.8, 0.2, 1.0);
    glVertex3f(-0.8, 0.2, 0.96);
    glVertex3f(-1.0, 0.2, 0.96);
  glEnd();
  glColor3f(0.6, 0.6, 0.6); /* gray top 4*/
  glBegin(GL_POLYGON);
    glVertex3f(-1.0, 0.2,  1.0);
    glVertex3f(-1.0, 0.0,  0.96);
    glVertex3f(-0.8, 0.0,  0.96);
    glVertex3f(-0.8, 0.2,  1.0);
  glEnd();
  glColor3f(0.4, 0.4, 0.4); /* gray top 4*/
  glBegin(GL_POLYGON);
    glVertex3f(-1.0, 0.0, 1.0);
    glVertex3f(-0.8, 0.0, 1.0);
    glVertex3f(-0.8, 0.0, 0.96);
    glVertex3f(-1.0, 0.0, 0.96);
  glEnd();
  glColor3f(0.6, 0.6, 0.6); /* gray top 4*/
  glBegin(GL_POLYGON);
    glVertex3f(-1.0, -0.0,  1.0);
    glVertex3f(-1.0, -0.2,  0.96);
    glVertex3f(-0.8, -0.2,  0.96);
    glVertex3f(-0.8, -0.0,  1.0);
  glEnd();
  glColor3f(0.4, 0.4, 0.4); /* gray top 4*/
  glBegin(GL_POLYGON);
    glVertex3f(-1.0, -0.2, 1.0);
    glVertex3f(-0.8, -0.2, 1.0);
    glVertex3f(-0.8, -0.2, 0.96);
    glVertex3f(-1.0, -0.2, 0.96);
  glEnd();
  glColor3f(0.6, 0.6, 0.6); /* gray top 4*/
  glBegin(GL_POLYGON);
    glVertex3f(-1.0, -0.2,  1.0);
    glVertex3f(-1.0, -0.4,  0.96);
    glVertex3f(-0.8, -0.4,  0.96);
    glVertex3f(-0.8, -0.2,  1.0);
  glEnd();
  glColor3f(0.4, 0.4, 0.4); /* gray top 4*/
  glBegin(GL_POLYGON);
    glVertex3f(-1.0, -0.4, 1.0);
    glVertex3f(-0.8, -0.4, 1.0);
    glVertex3f(-0.8, -0.4, 0.96);
    glVertex3f(-1.0, -0.4, 0.96);
  glEnd();
  glColor3f(0.6, 0.6, 0.6); /* gray top 4*/
  glBegin(GL_POLYGON);
    glVertex3f(-1.0, -0.4,  1.0);
    glVertex3f(-1.0, -0.6,  0.96);
    glVertex3f(-0.8, -0.6,  0.96);
    glVertex3f(-0.8, -0.4,  1.0);
  glEnd();
  glColor3f(0.4, 0.4, 0.4); /* gray top 4*/
  glBegin(GL_POLYGON);
    glVertex3f(-1.0, -0.6, 1.0);
    glVertex3f(-0.8, -0.6, 1.0);
    glVertex3f(-0.8, -0.6, 0.96);
    glVertex3f(-1.0, -0.6, 0.96);
  glEnd();
  glColor3f(0.6, 0.6, 0.6); /* gray top 4*/
  glBegin(GL_POLYGON);
    glVertex3f(-1.0, -0.6,  1.0);
    glVertex3f(-1.0, -0.8,  0.96);
    glVertex3f(-0.8, -0.8,  0.96);
    glVertex3f(-0.8, -0.6,  1.0);
  glEnd();
  glColor3f(0.4, 0.4, 0.4); /* gray top 4*/
  glBegin(GL_POLYGON);
    glVertex3f(-1.0, -0.8, 1.0);
    glVertex3f(-0.8, -0.8, 1.0);
    glVertex3f(-0.8, -0.8, 0.96);
    glVertex3f(-1.0, -0.8, 0.96);
  glEnd();


  /* bottom */
  glColor3f(0.2, 0.2, 0.2); /* gray bottom*/
  glBegin(GL_POLYGON);
    glVertex3f( 1.0, -1.0,  -1.0);
    glVertex3f(-1.0, -1.0,  -1.0);
    glVertex3f(-1.0,  1.0,  -1.0);
    glVertex3f( 1.0,  1.0,  -1.0);
  glEnd();


  glPopMatrix();
  glPushMatrix();
   glLoadIdentity();
   glColor3f(1.0, 1.0, 1.0);
   glTranslatef(-a+0.05, -a+0.05, 0.0);
   glScalef(0.001, 0.001, 1.0);
   sprintf(rolld,"%3d",(int)roll);
   text2[27]=rolld[0];
   text2[28]=rolld[1];
   text2[29]=rolld[2];
   sprintf(pitchd,"%3d",(int)pitch);
   text2[37]=pitchd[0];
   text2[38]=pitchd[1];
   text2[39]=pitchd[2];
   sprintf(headingd,"%3d",(int)heading);
   text2[47]=headingd[0];
   text2[48]=headingd[1];
   text2[49]=headingd[2];
   for(p=text2; *p; p++)
     glutStrokeCharacter(GLUT_STROKE_ROMAN, *p);
   glPopMatrix();

  glFlush();
  glutSwapBuffers();
}

void keys(unsigned char key, int x, int y)
{
  /* Use r, R, p, P, h, and H keys to move roll, pitch, heading */
  if(key == 'r') {roll    -= 2.0; if(roll<0.0) roll=358.0; }
  if(key == 'R') {roll    += 2.0; if(roll>360.0) roll=2.0; }
  if(key == 'p') {pitch   -= 2.0; if(pitch<0.0) pitch=358.0; }
  if(key == 'P') {pitch   += 2.0; if(pitch>360.0) pitch=2.0; }
  if(key == 'h') {heading -= 2.0; if(heading<0.0) heading=358.0; }
  if(key == 'H') {heading += 2.0; if(heading>360.0) heading=2.0; }
  display();
}

void myReshape(int w, int h)
{
  glViewport(0, 0, w, h);
  /* Use a perspective view */
  glMatrixMode(GL_PROJECTION); 
  glLoadIdentity();
  glOrtho(-a, a, -a, a, -a, a);
  glMatrixMode(GL_MODELVIEW);
}

int main(int argc, char *argv[])
{
  glutInit(&argc, argv);
  glutInitDisplayMode(GLUT_DOUBLE | GLUT_RGB | GLUT_DEPTH);
  glutInitWindowSize(width, height);
  glutCreateWindow(argv[0]);
  glutReshapeFunc(myReshape);
  glutDisplayFunc(display);
  glutKeyboardFunc(keys);
  glEnable(GL_DEPTH_TEST);
  glutMainLoop();
  return 0;
}