#Description:#

Displays a 3-link SCARA robot arm based on Angel's chapter 8 definition of his robot arm. The joints to be manipulated can be selected by right clicking in the window to bring up a menu of joint options. Joints one and two rotate while joint three translates up and down. To perform rotate/translation, press + or -. Additionally, camera angle can be changed through its theta or phi given this formula for eye:

point4 eye( sin(theta)*cos(phi), sin(theta)*sin(phi), cos(theta), 1.0 );

Simple instructions to execute all mentioned changes are as follows:

--------------------INSTRUCTIONS--------------------
Right click with mouse to select joint (default is Joint One)
Press + to rotate joint clockwise or move up
Press - to rotate joint counterclockwise or move down
Press J or SHIFT+J to decrease/increase Phi component of the angle
Press K or SHIFT+K to decrease/increase Theta component of the angle

#Usage #

make - compiles scara.cpp but doesn't run
make all - compiles, run, clean everything
make run - compiles and runs scara
make clean - removes all output files and executable