WORLD "GT2003" (
  QUICKSHADING;
  QUICKMOVING;
  
////////////////////////////////////////////////////////////////////////
// Colors in YUV

  AMBIENT (1.0,1.0,1.0);

  BACKGROUND (0,0.5,0.5);
  SURFACE "pink"     (0.42,0.87,0.79); // RGB(1,0,1);
  SURFACE "sky blue" (0.69,0.36,0.63); // RGB(0.5,0.8,1);
  SURFACE "green"    (0.4,0.40,0.40); // (0.30,0.13,0.21) RGB(0,1,0);
  SURFACE "yellow"   (0.82,0.57,0.06); // RGB(1,1,0);
  SURFACE "orange"   (0.57,0.76,0.21); // RGB(1,0.5,0);
  SURFACE "white"    (0.95,0.50,0.50); // RGB(1.2,1.2,1.2);
  SURFACE "red"      (0.3,0.8,0.4); //
  SURFACE "blue"     (0.16,0.43,0.94); // RGB(0,0,1);
  SURFACE "gray"     (0.6,0.50,0.50);
  SURFACE "frame"    (0.7,0.50,0.50);
  SURFACE "world"    (0.5,0.50,0.50);
  
////////////////////////////////////////////////////////////////////////
// Field

  MACRO POLYEDER "base" (
    BASEPOINTS (
      (-2500,-1500,-0.01),(2500,-1500,-0.01),
      (2500,1500,-0.01),(-2500,1500,-0.01),
      (-2500,-1500,500),(2500,-1500,500),
      (2500,1500,500),(-2500,1500,500)
    );
    FACES ((0,1,2,3;"white"),(0,1,5,4),(1,2,6,5),(2,3,7,6),(3,0,4,7));
    SURFACE "frame";
    TRANSPARENT;
    DL 8;
  );

  MACRO POLYEDER "world" (
    BASEPOINTS (
      (-25000,-15000,0),(25000,-15000,0),
      (25000,15000,0),(-25000,15000,0),
      (-25000,-15000,15000),(25000,-15000,15000),
      (25000,15000,15000),(-25000,15000,15000)
    );
    FACES ((4,5,6,7),(0,1,5,4),(1,2,6,5),(2,3,7,6),(3,0,4,7));
    SURFACE "world";
    TRANSPARENT;
    DL 8;
  );

  MACRO POLYEDER "middle" (
    BASEPOINTS (
      (-1750,-1350,0),(-12.5,-1350,0),
      (-12.5,-162.5,0),
      (-62.2,-150.1,0),
      (-114.9,-114.9,0),
      (-150.1,-62.2,0),
      (-162.5,0,0),
      (-150.1,62.2,0),
      (-114.9,114.9,0),
      (-62.2,150.1,0),
      (-12.5,162.5,0),
     (-12.5,1350,0),(-1750,1350,0)
    );
    FACES ((0,1,2,3,4,5,6,7,8,9,10,11,12));
    SURFACE "green";
    COLOR (0,1,0);
    TRANSPARENT;
  );

  MACRO POLYEDER "center" (
    BASEPOINTS (
      (-12.5,-137.5,0),
      (-52.6,-127,0),
      (-97.2,-97.2,0),
      (-127,-52.6,0),
      (-137.5,0,0),
      (-127,52.6,0),
      (-97.2,97.2,0),
      (-52.6,127,0),
      (-12.5,137.5,0)
    );
    FACES ((0,1,2,3,4,5,6,7,8));
    SURFACE "green";
    COLOR (0,1,0);
    TRANSPARENT;
  );

  MACRO POLYEDER "penalty" (
    BASEPOINTS (
      (-2100,-1050,0),(-1800,-1350,0),(-1775,-1350,0),
      (-1775,1350,0),(-1800,1350,0),(-2100,1050,0)
    );
    FACES ((0,1,2,3,4,5));
    SURFACE "green";
    COLOR (0,1,0);
    TRANSPARENT;
  );

  MACRO POLYEDER "goalgreen" (
    BASEPOINTS (
      (-2125,-300,0),(-2450,-300,0),(-2450,300,0),(-2125,300,0)
    );
    FACES ((0,1,2,3));
    SURFACE "green";
    COLOR (0,1,0);
    TRANSPARENT;
  );
    
  MACRO POLYEDER "border" (
    BASEPOINTS (
      (-2100,-306,0),(-2100,-1050,0),(-1800,-1350,0),
      (1800,-1350,0),(2100,-1050,0),(2100,-306,0),
      (-2200,-306,100),(-2200,-1450,100),
      (2200,-1450,100),(2200,-306,100)
    );
    FACES (
      (0,1,7,6),(1,2,7),(2,3,8,7),(3,4,8),(4,5,9,8)
    );
    SURFACE "white";
    DL 7;
  );

  MACRO POLYEDER "goal" (
    BASEPOINTS (
      (-2200,-300,0),(-2420,-300,0),(-2450,-270,0),
      (-2450,270,0),(-2420,300,0),(-2200,300,0),
      (-2200,-300,300),(-2420,-300,300),(-2450,-270,300),
      (-2450,270,300),(-2420,300,300),(-2200,300,300)
    );
    FACES (
      (0,1,7,6),(1,2,8,7),(2,3,9,8),(3,4,10,9),(4,5,11,10)
    );
    DL 5;
  );

  MACRO POLYEDER "goal outside" (
    BASEPOINTS (
      (-2100,-306,0),(-2456,-306,0),(-2456,306,0),(-2100,306,0),
      (-2200,-306,100),(-2200,306,100),
      (-2200,-306,300),(-2456,-306,300),(-2456,306,300),(-2200,306,300),
      (-2200,-306,0),(-2200,-300,0),(-2200,-300,300),
      (-2200,306,0),(-2200,300,0),(-2200,300,300)
    );
    FACES (
      (0,1,7,6,4),(1,2,8,7),(3,2,8,9,5),(10,11,12,6),(13,14,15,9)
    );
    SURFACE "white";
    DL 9;
  );

  MACRO GROUP "field" [
    MACRO "base";
    MACRO "world";
    MACRO "border";
    MACRO "border" (TURNZ 180);
    MACRO "goal" (SURFACE "yellow"; COLOR (1,1,0));
    MACRO "goal" (TURNZ 180; SURFACE "sky blue"; COLOR (0,0,1));
    MACRO "goal outside";
    MACRO "goal outside" (TURNZ 180);
    MACRO "center";
    MACRO "center" (TURNZ 180);
    MACRO "middle";
    MACRO "middle" (TURNZ 180);
    MACRO "penalty";
    MACRO "penalty" (TURNZ 180);
    MACRO "goalgreen";
    MACRO "goalgreen" (TURNZ 180);
  ];
  
////////////////////////////////////////////////////////////////////////
// Ball

  MACRO POLYEDER "ball" (
    BASEPOINTS (
      (0,0,0),
      (15.8,0,3.3),
      (30.0,0,12.6),
      (39.6,0,26.5),
      (43,0,43),
      (39.6,0,59.5),
      (30.0,0,73.4),
      (15.8,0,82.7),
      (0,0,86)
    );
    ROTATE 16;
    MOVETO (0,0,0);
    SURFACE "orange";
    COLOR (1,0.5,0);
  );

////////////////////////////////////////////////////////////////////////
// Bar

  MACRO POLYEDER "marker" (
    BASEPOINTS (
      (450,26,1),(230,26,1),(230,-26,1),(450,-26,1),
      (450,26,53),(230,26,53),(230,-26,53),(450,-26,53)
    );
    FACES ((0,1,5,4),(2,3,7,6),(4,5,6,7));
    DL 4;
  );
  
  MACRO GROUP "bar" [
    POLYEDER "foam" (
      BASEPOINTS (
       (450,25,2),(450,-25,2),(450,-25,52),(450,25,52)
      );
      SWEEP (-900,0,0);
      SURFACE "white";
    );
    MACRO "marker" AS "red" (SURFACE "red"; COLOR (1,0,0));
    MACRO "marker" AS "blue" (TURNZ 180; SURFACE "blue"; COLOR (0,0,1));
  ];

////////////////////////////////////////////////////////////////////////
// Aibo

  MACRO POLYEDER "thigh" (
    BASEPOINTS (
      (-20,0,10),(20,0,10),(20,29,10),(-20,29,10),
      (-15,0,-43),(15,0,-43),(15,29,-43),(-15,29,-43)
    );
    FACES ((1,2,6,5),(2,3,7,6),(3,0,4,7),(0,1,2,3));
    SURFACE "gray";
    DL 3;
  );
  
  MACRO GROUP "left arm" (
    MOVETO (-15.5,46.3,0);
  ) [
    TURNABLE "y" (
      Y_AXIS;
      RANGE (-120,120);
      FACTOR 10;
      TURNZ 180;
    ) [
      TURNABLE "x" (
        X_AXIS;
        RANGE (-15,90);
        FACTOR 10;
        TURNZ 180;
      ) [
        MACRO "thigh";
        TURNABLE "y" (
          Y_AXIS;
          RANGE (-30,150);
          FACTOR 10;
          MOVETO (12,0,-64);
          TURNZ 180;
        ) [
          POLYEDER "shank" (
            BASEPOINTS (
              (-5,0,10),(25,0,10),(25,-29,10),(-5,-29,10),
              (-10,0,-59),(25,0,-59),(25,-29,-59),(-10,-29,-59)
            );
            FACES ((1,2,6,5),(2,3,7,6),(3,0,4,7),(0,1,2,3));
            SURFACE "gray";
            DL 3;
          );
          WHISKER "touch" (
            LENGTH 10;
            TURNY 180;
            MOVETO (0,-15,-60);
            DL 9;
          );
        ];
      ];
    ];
  ];

  MACRO GROUP "right arm" (
    MOVETO (-15.5,-46.3,0);
  ) [
    TURNABLE "y" (
      Y_AXIS;
      RANGE (-120,120);
      FACTOR 10;
      TURNZ 180;
    ) [
      TURNABLE "x" (
        X_AXIS;
        RANGE (-15,90);
        FACTOR 10;
      ) [
        MACRO "thigh";
        TURNABLE "y" (
          Y_AXIS;
          RANGE (-30,150);
          FACTOR 10;
          MOVETO (-12,0,-64);
        ) [
          POLYEDER "shank" (
            BASEPOINTS (
              (-5,0,10),(25,0,10),(25,29,10),(-5,29,10),
              (-10,0,-59),(25,0,-59),(25,29,-59),(-10,29,-59)
            );
            FACES ((1,2,6,5),(2,3,7,6),(3,0,4,7),(0,1,2,3));
            SURFACE "gray";
            DL 3;
          );
          WHISKER "touch" (
            LENGTH 10;
            TURNY 180;
            MOVETO (0,15,-60);
            DL 9;
          );
        ];
      ]
    ];
  ];

  MACRO GROUP "left leg" (
    MOVETO (-136.5,46.3,0);
  ) [
    TURNABLE "y" (
      Y_AXIS;
      RANGE (-120,120);
      FACTOR 10;
    ) [
      TURNABLE "x" (
        X_AXIS;
        RANGE (-15,90);
        FACTOR 10;
      ) [
        MACRO "thigh";
        TURNABLE "y" (
          Y_AXIS;
          RANGE (-30,150);
          FACTOR 10;
          MOVETO (-12,0,-64);
        ) [
          POLYEDER "shank" (
            BASEPOINTS (
              (-5,0,10),(25,0,10),(25,29,10),(-5,29,10),
              (-10,0,-66),(25,0,-66),(25,29,-66),(-10,29,-66)
            );
            FACES ((1,2,6,5),(2,3,7,6),(3,0,4,7),(0,1,2,3));
            SURFACE "gray";
            DL 3;
          );
          WHISKER "touch" (
            LENGTH 10;
            TURNY 180;
            MOVETO (0,15,-67);
            DL 9;
          );
        ];
      ];
    ];
  ];

  MACRO GROUP "right leg" (
    MOVETO (-136.5,-46.3,0);
  ) [
    TURNABLE "y" (
      Y_AXIS;
      RANGE (-120,120);
      FACTOR 10;
    ) [
      TURNABLE "x" (
        X_AXIS;
        RANGE (-15,90);
        FACTOR 10;
        TURNZ 180;
      ) [
        MACRO "thigh";
        TURNABLE "y" (
          Y_AXIS;
          RANGE (-30,150);
          FACTOR 10;
          MOVETO (12,0,-64);
          TURNZ 180;
        ) [
          POLYEDER "shank" (
            BASEPOINTS (
              (-5,0,10),(25,0,10),(25,-29,10),(-5,-29,10),
              (-10,0,-66),(25,0,-66),(25,-29,-66),(-10,-29,-66)
            );
            FACES ((1,2,6,5),(2,3,7,6),(3,0,4,7),(0,1,2,3));
            SURFACE "gray";
            DL 3;
          );
          WHISKER "touch" (
            LENGTH 10;
            TURNY 180;
            MOVETO (0,-15,-67);
            DL 9;
          );
        ];
      ];
    ];
  ];
  
  MACRO POLYEDER "head" (
    BASEPOINTS (
      (-30,0,-20),(0,-37.4,-20),(66,-25,-20),
      (66,25,-20),(0,37.4,-20),
      (66,-15,20),(66,15,20),
      (0,-25,40),(0,25,40)
    );
    FACES (
      (0,1,7),(0,7,8),(0,4,8),
      (1,2,5,7),(2,3,6,5),(3,4,8,6),
      (7,8,6,5)
    );
    SURFACE "gray";  
  );

  MACRO POLYEDER "headmarker" (
    BASEPOINTS (
      (-30,0,-10),(0,-37.4,-10),(67,-25,-10),
      (67,25,-10),(0,37.4,-10),
      (67,-20,5),(67,20,5),
      (0,-31,15),(0,31,15)
    );
    FACES (
      (0,1,7),(0,7,8),(0,4,8),
      (1,2,5,7),(2,3,6,5),(3,4,8,6)
    ); 
    DL 4;
  );  

  MACRO CAMERA "camera" (
    RESOLUTION (176,144);
    SIZE (1.1086,0.8905);
    CLASS 0; CLASS 1; CLASS 2;
    //NOISE 0.1;
    ZBUFFER;
    TURNZ -90;
    TURNY 90;
    TURNZ -0.66;
    MOVETO (66.6,0,0);
    DL 9;
  );
  
  MACRO TURNABLE "mouth" (
    Y_AXIS;
    RANGE (-45,0);
    FACTOR 10;
    TURNZ 180;
    MOVETO (20,0,-21);
  ) [
    POLYEDER "jaw" (
      BASEPOINTS (
        (0,-15,-4),(40,-10,-4),(40,10,-4),(0,15,-4),
        (0,-15,0),(40,-10,0),(40,10,0),(0,15,0)
      );
      FACES (
        (0,1,2,3),(0,1,5,4),(1,2,6,5),(2,3,7,6)
      );
      TURNZ 180;
      SURFACE "gray";
      DL 4;
    );
  ];

  MACRO TURNABLE "left ear" (
    Y_AXIS;
    RANGE (0,70);
    FACTOR 10;
    MOVETO (-10,30,25);
    TURNZ 20;
    TURNX 30;
  ) [
    POLYEDER "ear" (
      BASEPOINTS (
        (0,0,12.5),(-10,0,0),(0,0,-12.5),(0,35,0)
      );
      FACES (
        (0,1,3),(1,2,3)
      );
      SURFACE "gray";
      DL 4;
    );
  ];

  MACRO TURNABLE "right ear" (
    Y_AXIS;
    RANGE (0,70);
    FACTOR 10;
    MOVETO (-10,-30,25);
    TURNZ -20;
    TURNX -30;
  ) [
    POLYEDER "ear" (
      BASEPOINTS (
        (0,0,12.5),(-10,0,0),(0,0,-12.5),(0,-35,0)
      );
      FACES (
        (0,1,3),(1,2,3)
      );
      SURFACE "gray";
      DL 4;
    );
  ];

  MACRO POLYEDER "led" (
    BASEPOINTS (
      (0,-1,0),(17,-1,0),(17,1,0),(0,1,0)
    );
    FACES ((0,1,2,3));
    SURFACE "gray"; // camera does not see it
    DL 10; // initially off
  );

  MACRO GROUP "leds" [
    MACRO "led" AS "left bottom" (MOVETO (10,3,0); TURNZ 45; COLOR (1,0,0));
    MACRO "led" AS "left middle" (MOVETO (5,3,0); TURNZ 130; COLOR (0,1,0));
    MACRO "led" AS "left top" (MOVETO (-2,3,0); TURNZ 145; COLOR (1,0,0));
    MACRO "led" AS "right bottom" (MOVETO (10,-3,0); TURNZ -45; COLOR (1,0,0));
    MACRO "led" AS "right middle" (MOVETO (5,-3,0); TURNZ -135; COLOR (0,1,0));
    MACRO "led" AS "right top" (MOVETO (-2,-3,0); TURNZ -145; COLOR (1,0,0));
    MACRO "led" AS "center" (MOVETO (-20,-8.5,0); TURNZ 90; COLOR (0,1,0));
  ];

  MACRO POLYEDER "button" (
    BASEPOINTS (
      (10,10,0),(10,-10,0),(-10,-10,0),(-10,10,0)
    );
    FACES ((0,1,2,3));
    SURFACE "gray"; // camera does not see it
    DL 10; // initially off
  );

  MACRO GROUP "buttons" [
    MACRO "button" AS "back" (MOVETO (-15,0,0));
    MACRO "button" AS "front" (MOVETO (20,0,0));
  ];
  
  MACRO WHISKER "PSD" (
    LENGTH 900;
    MOVETO (67,0,0);
    TURNY 90;
    DL 10; // hide
  );

  MACRO GROUP "blue head" (
    MOVETO (0,0,50);
  ) [
    TURNABLE "y" (
      Y_AXIS;
      RANGE (-90,45);
      FACTOR 10;
      TURNZ 180;
    ) [
      TURNABLE "z" (
        Z_AXIS;
        RANGE (-90,90);
        FACTOR 10;
        TURNZ 180;
      ) [
        TURNABLE "x" (
          X_AXIS;
          RANGE (-30,30);
          FACTOR 10;
          MOVETO (0,0,48);
        ) [
          MACRO "head";
          MACRO "headmarker" (SURFACE "blue"; COLOR (0,0,1));
          MACRO "mouth";
          MACRO "left ear";
          MACRO "right ear";
          MACRO "leds" (MOVETO (30,0,32); TURNY 15);
          MACRO "buttons" (MOVETO (30,0,31.9); TURNY 15);
          MACRO "camera";
          MACRO "PSD";
        ];
      ];
    ];
  ];

  MACRO GROUP "red head" (
    MOVETO (0,0,50);
  ) [
    TURNABLE "y" (
      Y_AXIS;
      RANGE (-90,45);
      FACTOR 10;
      TURNZ 180;
    ) [
      TURNABLE "z" (
        Z_AXIS;
        RANGE (-90,90);
        FACTOR 10;
        TURNZ 180;
      ) [
        TURNABLE "x" (
          X_AXIS;
          RANGE (-30,30);
          FACTOR 10;
          MOVETO (0,0,48);
        ) [
          MACRO "head";
          MACRO "headmarker" (SURFACE "red"; COLOR (1,0,0));
          MACRO "mouth";
          MACRO "left ear";
          MACRO "right ear";
          MACRO "leds" (MOVETO (30,0,32); TURNY 15);
          MACRO "buttons" (MOVETO (30,0,31.9); TURNY 15);
          MACRO "camera";
          MACRO "PSD";
        ];
      ];
    ];
  ];

  MACRO POLYEDER "body" (
    BASEPOINTS (
      (38,-37,45),(38,37,45),(38,30,-50),(38,-30,-50),
      (-162,-37,45),(-162,37,45),(-162,30,-50),(-162,-30,-50)
    );
    FACES (
      (0,1,2,3),(4,5,6,7),(0,1,5,4;"gray"),
      (1,2,6,5),(3,0,4,7)
    );
    SURFACE "gray";
    MOVETO(-15.5,0,0);
  );
  
  MACRO POLYEDER "bodymarker" (
    BASEPOINTS (
      (39,-38,40),(39,38,40),(39,31,-40),(39,-31,-40),
      (-163,-38,40),(-163,38,40),(-163,31,-40),(-163,-31,-40)
    );
    FACES (
      (0,1,2,3),(4,5,6,7),(0,1,5,4),
      (1,2,6,5),(3,0,4,7)
    );
    MOVETO(-15.5,0,0);
  );
  
  MACRO GROUP "tail" (
    MOVETO (-155,0,50);
    TURNZ 180;
    TURNY 15;
  ) [
    TURNABLE "z" (
      Z_AXIS;
      RANGE (-25,25);
      FACTOR 10;
    ) [
      TURNABLE "y" (
        Y_AXIS;
        RANGE (-25,25);
        FACTOR 10;
        TURNX 180;
      ) [
        POLYEDER "tail" (
          BASEPOINTS (
            (5,0,0),(15,10,0),(15,-10,0),
            (15,5,10),(15,-5,10),(65,0,0)
          );
          FACES (
            (0,1,3),(0,3,4),(0,2,4),
            (5,1,3),(5,3,4),(5,2,4)
          );
          TURNX 180;
          SURFACE "gray";
          DL 1;
        );
        POLYEDER "blue" (
          BASEPOINTS (
            (2,-3,0),(2,3,0),(8,3,0),(8,-3,0)
          );
          FACES ((0,1,2,3));
          COLOR (0,0,1);
          MOVETO (15,0,-10);
          TURNY -10;
          DL 10;
        );
        POLYEDER "orange" (
          BASEPOINTS (
            (9,-3,0),(9,3,0),(15,3,0),(15,-3,0)
          );
          FACES ((0,1,2,3));
          COLOR (1,0.5,0);
          MOVETO (15,0,-10);
          TURNY -10;
          DL 10;
        );
      ];
    ];
  ];

  MACRO VEHICLE "Aibo red" (
    RESTR_TRANS_X (-20,0,20);
    RESTR_ROT_Z (-2,0,2);
  )[
    MACRO "bodymarker" (COLOR (1,0,0); SURFACE "red");
    MACRO "body";
    MACRO "button" AS "back" (SCALE 3; MOVETO (-77.5,0,45.1));
    MACRO "left arm";
    MACRO "right arm";
    MACRO "left leg";
    MACRO "right leg";
    MACRO "red head" AS "head";
    MACRO "tail";
  ];

  MACRO VEHICLE "Aibo blue" (
    RESTR_TRANS_X (-20,0,20);
    RESTR_ROT_Z (-2,0,2);
  ) [
    MACRO "bodymarker" (COLOR (0,0,1); SURFACE "blue");
    MACRO "body";
    MACRO "button" AS "back" (SCALE 3; MOVETO (-77.5,0,45.1));
    MACRO "left arm";
    MACRO "right arm";
    MACRO "left leg";
    MACRO "right leg";
    MACRO "blue head" AS "head";
    MACRO "tail";  
  ];
  SCALE 1.3;
)

////////////////////////////////////////////////////////////////////////
// Main

[
  MACRO "field";  
  GROUP "robots" [
    MACRO "Aibo red" AS "AIBO1" (MOVETO (875,675,115); TURNZ 90);
  ];
  GROUP "extras" [
    MACRO "Aibo red" AS "AIBO2" (MOVETO (875,-675,115); TURNZ -90);
  ];
  GROUP "balls" [
    MACRO "ball" (MOVETO (875,0,0));
  ];
].