def addAppendage(avatar, skinChoices, skin = 0, appendage = 0):
	global thirdAppendage, usingInvisibleRod
	
	thirdAppendageHorn = viz.addGroup()

	if(appendage == 0):
		#Third Arm
		usingInvisibleRod = False
		thirdAppendage = viz.addChild(resources.ARM)
		if skin == 9:
			texture = viz.addTexture("skin_tones/010.png")
			texture.wrap(viz.WRAP_S,viz.REPEAT)
			texture.wrap(viz.WRAP_T,viz.REPEAT)
		else:
			texture = viz.addTexture("skin_tones/00" + skinChoices[skin] + ".png")
			texture.wrap(viz.WRAP_S,viz.REPEAT)
			texture.wrap(viz.WRAP_T,viz.REPEAT)
		thirdAppendage.texture(texture)
		thirdAppendage.emissive([.75, .75, .75])
		thirdAppendage.setScale(resources.ARM_SCALE)
	elif(appendage == 1):
		#Cylinder
		usingInvisibleRod = False
		thirdAppendage = viz.addChild(resources.CYLINDER)
		thirdAppendage.setScale(resources.ARM_SCALE)
	thirdAppendage.setParent(thirdAppendageHorn)
	global tahLink
	tahLink = viz.link(avatar.getBone('Bip01 Spine'), thirdAppendageHorn)
	global offsetOp
	offsetOp = tahLink.preTrans([0, 0.3, 0.1])
	tahLink.preEuler([-90.0, 0.0, 0.0])

	thirdAppendage.collideBox()
	thirdAppendage.disable(viz.DYNAMICS)
	TouchCube.thirdAppendage = thirdAppendage

def main():
    
    global wingl
    global wingr
    viz.cam.setHandler(vizcam.KeyboardCamera())
    myo.init()
    gyrolist = [[0,0,0]]
    viz.setMultiSample(4)
    viz.fov(150)
    wingl = viz.addChild('basketball.osgb')
    wingl.setScale([10,0.3,1])
    wingl.setCenter([100,100,100])
    wingl.setEuler([0,90,0])
    wingl.collideSphere(0.5)
    lStartPOS = [ 0, 2.5, 2 ]
    wingl.setPosition( lStartPOS )
    wingr = viz.addChild('basketball.osgb')
    wingr.setScale([10,0.3,1])
    wingr.setCenter([100,100,100])
    wingr.setEuler([0,90,0])
    wingr.collideSphere(0.5)
    rStartPOS = [ 0, 2.5, 2 ]
    wingr.setPosition( rStartPOS )

    #viz.MainView.setPosition([0,2,-15])
    hub = myo.Hub()
    hub.set_locking_policy(myo.locking_policy.none)
    hub.run(1000, Listener())
    vizact.ontimer(0.01 ,updateMyo, [gy, gy2, gy3, wingl, orx, ory, orz, orw, or1x, or1y, or1z, or1w, wingr])

def main():
    ### Configuration parameters
    # moved to config.py

    ### Game startup
    # overwrite escape key
    viz.setOption("viz.default_key.quit", "0")

    # Physics
    viz.phys.enable()
    # viz.phys.setGravity(0,0,0)

    # Initialize pointer tool
    # Unused?
    glove = viz.addChild(".\\dataset\\Hand\\handPoint_Reduced.ply")
    glove.disable([viz.PHYSICS, viz.DYNAMICS])

    glovePhys = glove.collideSphere()
    glove.setPosition([0, 1, 0])
    glove.setScale([1, 1, 1])

    # Initialize environment this will load the coliseum and sky
    sky = viz.addChild("sky_day.osgb")
    sky.collideMesh()
    sky.disable(viz.DYNAMICS)
    init.loadTemple()

    # Initialize pointer controls
    device = init.pointerInput(config.pointerMode, glove, sky)

    # Initialize display
    puzzle.model.display = init.DisplayInstance(config.dispMode, config.camMode, device, glove)
    # init.display(config.dispMode)

    # Initialize camera controls
    # init.cameraInput(config.camMode,config.dispMode, device, glove)

    # Launch menu system
    menu.init()
    puzzle.model.pointer = glove
    puzzle.model.pointer.setScale(0.015, 0.015, 0.015)
    puzzle.model.pointer.setEuler(0, -115, 0)

    # Override default escape key map to call main menu
    vizact.onkeydown(viz.KEY_ESCAPE, menu.toggle)

    # 	# Record moviefilms
    # 	viz.setOption('viz.AVIRecorder.maxWidth', '1280')
    # 	viz.setOption('viz.AVIRecorder.maxHeight', '720')
    # 	vizact.onkeydown(viz.KEY_F11, viz.window.startRecording, 'D:\\recording.avi')
    # 	vizact.onkeydown(viz.KEY_F12, viz.window.stopRecording)

    # Stuff to run on program termination
    vizact.onexit(puzzle.controller.end)

def loadColiseum():
	"""loads colosseum enviornment"""
	sf = .5
	colosseum = viz.addChild('.\\dataset\\environment\\coliseum.OSGB')
	colosseum.setEuler([0,-90,0])
	colosseum.setScale([sf,sf,sf])
	colosseum.setPosition([-37.5*sf , 0, 0]) #center colisseum

	pedistal = viz.addChild('.\\dataset\\environment\\capital.OSGB')
	pedistal.setScale([100,100,100])
	pedistal.setPosition([0,-7.26,0]) #Found by testing

def createEnvironment():	
	#create 2D environment
	if parameters.DreiDEnvironment:
		viz.clearcolor(viz.WHITE)

		#look from above
		viz.MainView.setPosition([0,50,0])
		viz.MainView.setEuler([0,90,0])
		
		goal.setEuler(0,90,0)
		goal.color(viz.GREEN)
		
		point.setEuler(0,90,0)
		point.setPosition(0,20,0)
		point.color(viz.RED)	
		
		arrow.setPosition(0,20,0)
		arrow.color(viz.BLUE)
	#or create 3d environment
	else:
		piazza = viz.addChild('piazza.osgb')
	
		#look from above
		viz.MainView.setPosition([0,1.8,0])
		#viz.MainView.setEuler([0,90,0])
		
		goal.setEuler(0,90,0)
		goal.color(viz.GREEN)
		
		point.setEuler(0,90,0)
		point.setPosition(0,20,0)
		point.color(viz.RED)	
		
		arrow.setPosition(0,20,0)
		arrow.color(viz.BLUE)

def loadTemple(bounding = True):
	"""loads temple enviornment"""
	
	sf = 100
	temple = viz.addChild('.\\dataset\\environment\\temple.OSGB')
	temple.setEuler([0,90,0])
	temple.setScale([sf,sf,sf])
	temple.setPosition([0.0, -1.569, 0.0]) #Found by measuring

	pedistal = viz.addChild('.\\dataset\\environment\\Column.OSGB')
	pedistal.setScale([3.0, 3.0, 3.0])
	pedistal.setPosition([0.0, -1.5, 0.0]) #Found by testing
	if bounding == True:
		dimensions = [2,4,1]
		boundingBox = games.puzzleView.WireFrameCube(dimensions)
#		boundingBox.setPosition(0,dimensions[1],0)
		boundingBox.alpha(0.25)

	def setModel (self, path):
		global model
		global modelIsLoaded
		if not (modelIsLoaded):
			model = viz.addChild(path)
			model.disable(viz.CULL_FACE)
			model.setPosition(0,0,60, viz.ABS_GLOBAL)
			model.setEuler([0,0,0])
			alphaSlider.set(1.0)
			modelIsLoaded = True

	def __init__(self):
		if Falcon._captainFalcon == None:
			Falcon._captainFalcon = viz.addChild(Falcon._MODEL_FILE)
			Falcon._captainFalcon.visible(viz.OFF)
		
		self.node = Falcon._captainFalcon.copy()
		viz.VizNode.__init__(self,self.node.id)
		
		self.collideBox()
		self.initEuler()
		self.initForces()

def setUpWorld():
	global city
	city = viz.addChild('metro.osgb')
	
	# NOTE: Look at CityModel.py for more details on the avatars, cars, and pigeons.
	viz.addChild('models/People/CC2_f001_hipoly_A1_v2.cfg')

	# Add avatars
	for avatarInfo in cityModel.PEOPLE_INFO:
		addAvatarToWorld(avatarInfo)
		
	# Add cars
	for carInfo in cityModel.CARS_INFO:
		addCarToWorld(carInfo)
		
	# Add pigeons
	for pigeonInfo in cityModel.PIGEONS_INFO:
		addPigeonToWorld(pigeonInfo)
	
	# Fog color
	viz.fogcolor([.5] * 3)

    def setup(self):
        yield viztask.waitTime(3)

        self.head.reset()

        stamp = datetime.datetime.now().strftime('%Y%m%d%H%M%S')
        self.output = os.path.join(
            DESKTOP, 'tracing-data', '{}-{:08x}'.format(
            stamp, random.randint(0, 0xffffff)))
        logging.info('storing output in %s', self.output)

        self.environment = viz.addChild('dojo.osgb')

def CreateRoom():
	#Load in the entire room, s  tore all geometry in the roomgroup
#BL:start
	global roomGroup
#	roomGroup = viz.addChild("Resources/NewRoom/vroom.obj")
	roomGroup = viz.addChild('Resources/NewRoom/labroom.osgb')
	roomGroup.setScale([0.8,0.75,0.8])
#	roomGroup.setPosition([-0.4,0,-1.4])
#		roomGroup.setPosition(-3, -1.75, 0, viz.ABS_GLOBAL)
	roomGroup.emissive([1, 1, 1])
#BL:end
	# Lag...
	placeMirror()

def addArm(texturePath, pathToArm):
#	armPointer = viz.addChild(resources.ARM)
	armPointer = viz.addChild(pathToArm)
	texture = viz.addTexture(texturePath)
	texture.wrap(viz.WRAP_S,viz.REPEAT)
	texture.wrap(viz.WRAP_T,viz.REPEAT)
	armPointer.texture(texture)
	armPointer.emissive([.75, .75, .75])
	armPointer.setScale(resources.ARM_SCALE)
	armPointer.collideBox()
	armPointer.disable(viz.DYNAMICS)
	armPointer.visible(False)
	return armPointer

	def __init__(self,use_keyboard = True, desktop_mode = False):
		"""Initialization function."""
		#
		viz.phys.enable()
		self.view = viz.MainView;
		
		caveapp.CaveApplication.__init__(self,desktop_mode) #call constructor of super class, you have to do this explicitly in Python		
		
		self.wand = vizshape.addAxes()#load axis model to represent the wand\
		self.cylinder = vizshape.addCylinder(15,0.002,axis=vizshape.AXIS_X)
		self.cylinder.setEuler([0,0,0])
		#self.cylinder.setCenter([0,0,-1])
		self.cylinder.setPosition(7.5,0.08,0)
		
		self.stuff = vizshape.addSphere(0.0001)
		self.cylinder.setParent(self.stuff)
		
#		temp = vizshape.addSphere(0.05)
#		temp.setParent(self.cylinder)
#		temp.setPosition(self.cylinder.getCenter())
		
		self.wand = self.stuff
#		self.wand.setPosition(.5,-1,0)
#		self.cm = self.wand.getMatrix()
#		self.Room = viz.addChild('D:\Cave software\NFI Cave\Scene\ScannedRoom.3DS')
#		self.Room.collidePlane()
#		self.Room.setScale([1.25,1.25,1.25])
#		self.Room.setEuler([90,0,0])
#		self.Room.setPosition([-1.5,0,1.55])
		self.Room = viz.addChild('scene/ScannedRoom.3DS')
		self.Room.collidePlane()
		self.Room.setScale([0.002,0.002,0.002])
		self.Room.setEuler([90,0,0])
		self.Room.setPosition([-1.5,0.015,1.58])
		"""
		mylight = viz.addLight() 
		mylight.enable() 
		mylight.position(0, 1, 0) 
		mylight.spread(180) 
		mylight.intensity(2)
#		vizact.onkeydown('f', dance)
		"""
		
		viz.disable(viz.LIGHTING)
		self.headLight = viz.MainView.getHeadLight() #disable the headlight
		self.headLight.disable() #the headlight is disabled because the piazza.osgb is already shaded
		
		self.use_keyboard = use_keyboard #store if we want to use the keyboard
		
		
		self.time = 0.0 #note that to 0.0 is important because it is a double precision floating point number

	def __init__(self, use_keyboard = True, desktop_mode = True):
		caveapp.CaveApplication.__init__(self, desktop_mode) #call constructor of super class, you have to do this explicitly in Python		
		
		self.wand = vizshape.addAxes()#load axis model to represent the wand
		self.thing = viz.addChild('plant.osgb') #load plant model to represent the thing
		
		self.horse = viz.addChild('horse.wrl') #load a horse model (this model will be animated in cave space)
		
		self.horse.color(0.5,0.5,0.5)#make the horse gray
		
		self.horse.disable(viz.LIGHTING) #disable the shading of the horse
		
		self.worldModel = viz.add('piazza.osgb') #load a world model
		
		self.headLight = viz.MainView.getHeadLight() #disable the headlight
		self.headLight.disable() #the headlight is disabled because the piazza.osgb is already shaded
		
		self.use_keyboard = use_keyboard #store if we want to use the keyboard
		
		
		self.time = 0.0 #note that to 0.0 is important because it is a double precision floating point number
		
		self.forwardVelocity = 0.0

def main():

    viz.vsync(viz.ON)
    viz.window.setFullscreenMonitor([2])
    viz.setMultiSample(4)
    viz.MainWindow.clip(0.01, 200)

    viz.go(viz.FULLSCREEN)

    environment = viz.addChild("piazza.osgb")
    environment.setPosition(2.75, 0, -0.75)

    mocap = phasespace.Phasespace()

    head = mocap.get_rigidTracker("hmd")

    # DOES NOT ACCOUNT FOR RIGID BODY OFFSET DURING RESET

    # mocap.track_rigid('Resources/hmd-nvisMount.rb', center_markers=(1,2))
    head.link_pose(viz.MainView)

    # glove = mocap.track_points([8, 9, 10])

    paddle = mocap.track_rigid({17: (0, 0, 1), 19: (0, 0, 0), 20: (1, 0, 0), 22: (0, 1, 0)})

    mocap.start_thread()
    # mocap.start_timer()

    def log_mocap(timer_id):
        # print 'glove#9 pos {0[1]:.2f} {0[1]:.2f} {0[2]:.2f}'.format(*glove.get_marker(9))
        print "head    pos {0[0]:.2f} {0[1]:.2f} {0[2]:.2f}, quat {1[0]:.3f} {1[1]:.3f} {1[2]:.3f} {1[3]:.3f}".format(
            *head.get_pose()
        )
        print "main    " + str(viz.MainView.getPosition())
        # print 'paddle  pos {0[0]:.2f} {0[1]:.2f} {0[2]:.2f}, quat {1[0]:.3f} {1[1]:.3f} {1[2]:.3f} {1[3]:.3f}'.format(*paddle.get_pose())

    viz.callback(viz.TIMER_EVENT, log_mocap)
    viz.starttimer(0, 1, viz.FOREVER)

    def keydown(key):

        if key == "h":
            head.reset()
        if key == "H":
            head.save()
        elif key == "1":

            print "Marker Pos: " + str(mocap.get_MarkerPos(1))

    viz.callback(viz.KEYDOWN_EVENT, keydown)

	def __setupWorld__(self):
		
		#Initialize cave and load the powerwall#
		self.cave = vizcave.Cave()		
		#This line of code opens the file if a filename is provided and loads the corner co-ordinates from it, else uses the default co-ordinates#
		self.cave.load(self.caveWallFileName) if None is not self.caveWallFileName else self.cave.addWall(self.powerwall)
		
		# TODO: Pair every obstacle with an invisible "hat" object to detect when the obstacle was avoided.
		# Create a seperate module that does this automatically for each object added.
		# Like from a config file.
		self.crate = viz.addChild( 'crate.osgb' )
		self.crate.setScale([.2,.2,.2])
		self.crate.setPosition([-.45, 0, -.10])
		
		self.cratePole = vizshape.addCylinder(height = .5, radius = 0.025)
		self.cratePole.setPosition( [-.45, .3, -.10] )
		self.cratePole.alpha(0.5)

		self.avatar = viz.addAvatar('duck.cfg')
		self.avatar.setScale(.2, .2, .2)
		self.avatar.setPosition([-1, .1, -.10])		
		
		#self.floor = viz.addChild('lab.osgb')
		self.floor = viz.addChild('piazza.osgb')

	def bambooForest(self):
		# Add the ground plane
		ground = viz.addChild('ground.osgb')
		# Bamboo sticks
		bambooForest1 = []
		bambooForest2 = []
		
		# add 200 bamboo trees to each forest
		for i in range(0, 400, 1):
			bambooForest1.append(vizshape.addCylinder(random.randint(10,16),0.1))
			bambooForest2.append(vizshape.addCylinder(random.randint(10,16),0.1))
			bambooForest1[i].setPosition(random.randint(-16,-3),0.5,random.randint(-20,20))
			bambooForest2[i].setPosition(random.randint(3,16),0.5,random.randint(-20,20))
			bambooForest1[i].color(0.3,0.8,0.3)
			bambooForest2[i].color(0.3,0.8,0.3)

def main():
    viz.setOption('viz.fullscreen.monitor', 1)
    viz.setOption('viz.window.width', 2 * 640)
    viz.setOption('viz.window.height', 480)
    viz.setMultiSample(4)
    viz.MainWindow.clip(0.01, 500)

    vizconfig.register(nvis.nvisorSX111())

    viz.go(viz.FULLSCREEN)

    piazza = viz.addChild('piazza.osgb')

    mocap = phasespace.Mocap('192.168.1.230')

    head = mocap.track_rigid('Resources/hmd-nvis.rb', center_markers=(0, 5))
    head.link_pose(viz.MainView)

    glove = mocap.track_points([8, 9, 10])

    paddle = mocap.track_rigid({
      17:(0, 0, 1),
      19:(0, 0, 0),
      20:(1, 0, 0),
      22:(0, 1, 0),
    })

    mocap.start_thread()
    #mocap.start_timer()

    def log_mocap(timer_id):
        print 'glove#9 pos {0[1]:.2f} {0[1]:.2f} {0[2]:.2f}'.format(*glove.get_marker(9))
        print 'head    pos {0[0]:.2f} {0[1]:.2f} {0[2]:.2f}, quat {1[0]:.3f} {1[1]:.3f} {1[2]:.3f} {1[3]:.3f}'.format(*head.get_pose())
        print 'paddle  pos {0[0]:.2f} {0[1]:.2f} {0[2]:.2f}, quat {1[0]:.3f} {1[1]:.3f} {1[2]:.3f} {1[3]:.3f}'.format(*paddle.get_pose())

    viz.callback(viz.TIMER_EVENT, log_mocap)
    viz.starttimer(0, 1, viz.FOREVER)

    def keydown(*args):
        head.reset()
        paddle.reset()

    viz.callback(viz.KEYDOWN_EVENT, keydown)

def loadTemple(bounding = True):
	"""loads temple enviornment"""
	global boundingBox
	global temple
	
	sf = 100
	temple = viz.addChild('.\\dataset\\environment\\temple.OSGB')
	temple.setEuler([0,90,0])
	temple.setScale([sf,sf,sf])
	temple.setPosition([0,-2.8, 0]) #Found by testing

#	pedistal = viz.addChild('.\\dataset\\environment\\Column.OSGB')
#	pedistal.setScale([3.0,3.0,3.0])
#	pedistal.setPosition([0,-1.5,0]) #Found by testing
	if bounding == True:
		dimensions = [1,2,0.5]

		boundingBox = puzzle.view.wireframeCube(dimensions)
		boundingBox.setPosition(0,dimensions[1]/2,0)
		boundingBox.alpha(0.25)

def create3DEnvironment():	
	#ground = viz.add('tut_ground.wrl')  # Add ground
	#ground.collidePlane()   # Make collideable plane
		
	#viz.clearcolor(viz.WHITE)
	piazza = viz.addChild('piazza.osgb')
	
	#look from above
	viz.MainView.setPosition([0,1.8,0])
	#viz.MainView.setEuler([0,90,0])
	
	goal.setEuler(0,90,0)
	goal.color(viz.GREEN)
	
	point.setEuler(0,90,0)
	point.setPosition(0,20,0)
	point.color(viz.RED)	
	
	arrow.setPosition(0,20,0)
	arrow.color(viz.BLUE)