void start()
{
  // Set a camera
  static float xyz[3] = {0.0,-2.0,1.0};  // View position (x, y, z [m])
  static float hpr[3] = {90.0,0.0,0.0};  // View direction head, pitch, roll[°]
  dsSetViewpoint (xyz,hpr);// Set a view point
}

static void updatecam()
{
    xyz[0] = platpos[0] + 3.3;
    xyz[1] = platpos[1] - 1.8;
    xyz[2] = platpos[2] + 2;
    dsSetViewpoint (xyz, hpr);
}

static void start()
{
  static float xyz[3] = {1.0382f,-1.0811f,1.4700f};
  static float hpr[3] = {135.0000f,-19.5000f,0.0000f};
  dsSetViewpoint (xyz,hpr);
  printf ("Press 'e' to start/stop occasional error.\n");
}

static void start() {
  //static float xyz[3] = { 0.2,5.2,1.0};
  static float xyz[3] = { 1.0,1.5,1.0};
  static float hpr[3] = { 270,0,0};
  dsSetViewpoint(xyz,hpr);               // 視点，視線の設定
  dsSetSphereQuality(3);                 // 球の品質設定
}

void start()
{
    static float xyz[3] = {1.5, -1.5, 0.8};    // View position (x, y, z) [m]
    static float hpr[3] = {136.0, 0.0, 0.0};    // View direction （head,pitch,roll)
    dsSetViewpoint (xyz,hpr);                   // Set a view point
  	dsSetSphereQuality(3);

    // ********** Pre-compute a simple trajectory wrt Fixed Leg *************************************
    double t0 = 0.0, t1 = 2.0;                                                          // Time (initial & final)
    bool FixedLeg = RIGHT;
    Math::TPoint3D Pq1, Pq2, Pf1, Pf2;

    Pq1.x=0.0; Pq1.y=0.0; Pq1.z=(L3+L4+L5+L6+L7+L8);      Pq1.vx=0; Pq1.vy=0; Pq1.vz=0; // Hips wrt Fixed Leg: Initial Point
    Pq2.x=0.0; Pq2.y=-L1; Pq2.z=(L3+L4+L5+L6+L7+L8)-L1/4; Pq2.vx=0; Pq2.vy=0; Pq2.vz=0; // Hips wrt Fixed Leg: Final Point
    //Pq2.x=0.0; Pq2.y=0.0; Pq2.z=(L3+L4+L5+L6+L7+L8)-0.05; Pq2.vx=0; Pq2.vy=0; Pq2.vz=0; // Hips: Final Point

    Pf1.x=0.0; Pf1.y=2*L1; Pf1.z=0; Pf1.vx=0; Pf1.vy=0; Pf1.vz=0;   // Floating Leg wrt Fixed Leg: Initial Point
    Pf2.x=0.0; Pf2.y=2*L1; Pf2.z=0; Pf2.vx=0; Pf2.vy=0; Pf2.vz=0;   // Floating Leg wrt Fixed Leg: Final Point

    Traj::rComputeHipsMotion(PreComputedAngleL, PreComputedAngleR, target_angleL, target_angleR,
                             Pq1,Pq2,Pf1,Pf2,t0,t1,TLENG,FixedLeg);

    printf("\nAngles: Pre-computed \n");

}

/* ------------------------
* スタート関数
------------------------ */
static void start()
{
    float xyz[3] = {   0.2, 2.5, 4.00};     /* カメラ座標 */
    float hpr[3] = { 90.0, -90.0, 0.0};     /* カメラ方向 */
    dsSetViewpoint(xyz,hpr);
    dsSetSphereQuality(3);
}

static void start()
{
    // initial camera position
    static float xyz[3] = {1, 1, 0.5};
    static float hpr[3] = {225, 0, 0};
    dsSetViewpoint (xyz,hpr);
}

static void start()
{
  dAllocateODEDataForThread(dAllocateMaskAll);

  static float xyz[3] = {14.6117f,-6.4433f,9.3700f};
  static float hpr[3] = {140.5000f,-20.5000f,0.0000f};
  dsSetViewpoint (xyz,hpr);
}

static void start()
{
  dAllocateODEDataForThread(dAllocateMaskAll);

  static float xyz[3] = {2.4807,-1.8023,2.7600};
  static float hpr[3] = {141.5000,-18.5000,0.0000};
  dsSetViewpoint (xyz,hpr);
}

static void start()
{
  dAllocateODEDataForThread(dAllocateMaskAll);

  static float xyz[3] = {-8,-9,3};
  static float hpr[3] = {45.0000f,-27.5000f,0.0000f};
  dsSetViewpoint (xyz,hpr);
}

static void start()
{
  static float xyz[3] = {1.0382f,-1.0811f,1.4700f};
  static float hpr[3] = {135.0000f,-19.5000f,0.0000f};
  dsSetViewpoint (xyz,hpr);
  printf ("Press 'q,a,z' to control one axis of lmotor connectiong two bodies. (q is +,a is 0, z is -)\n");
  printf ("Press 'w,e,r' to control one axis of lmotor connectiong first body with world. (w is +,e is 0, r is -)\n");
}

static void start()
{
  static float xyz[3] = {2.1640f,-1.3079f,1.7600f};
  static float hpr[3] = {125.5000f,-17.0000f,0.0000f};

  dAllocateODEDataForThread(dAllocateMaskAll);
  dsSetViewpoint (xyz,hpr);
}

static void start()
{
  dAllocateODEDataForThread(dAllocateMaskAll);

  static float xyz[3] = { -6, 8, 6};
  static float hpr[3] = { -65.0f, -27.0f, 0.0f};
  dsSetViewpoint (xyz,hpr);
}

static void start()
{
//  static float xyz[3] = {-5.0575, 8.4513, 14.300};
//  static float hpr[3] = {-57.0000, -42.5000, 0.000};
	static float xyz[3] = { -4.0068, 8.0185, 2.8900 };
	static float hpr[3] = { -84.000, -20.5000, 0.0000 };
	//xyz[ZZ] = initz*1.75;
	dsSetViewpoint(xyz, hpr);
}

static void start()
{
  dAllocateODEDataForThread(dAllocateMaskAll);

  static float xyz[3] = {1.0382f,-1.0811f,1.4700f};
  static float hpr[3] = {135.0000f,-19.5000f,0.0000f};
  dsSetViewpoint (xyz,hpr);
  printf ("Press 'e' to start/stop occasional error.\n");
}

static void start()
{
  static float xyz[3] = {4.777f, -2.084f, 2.18f};
  static float hpr[3] = {153.0f, -14.5f, 0.0f};
  dsSetViewpoint (xyz,hpr);
  printf ("SPACE to reset\n");
  printf ("A to tilt the tops.\n");
  printf ("T to toggle showing the contact points.\n");
  printf ("1 to save the current state to 'state.dif'.\n");
}

static void start()
{
  static float xyz[3] = {0.8317f,-0.9817f,0.8000f};
  static float hpr[3] = {121.0000f,-27.5000f,0.0000f};
  dsSetViewpoint (xyz,hpr);
  printf ("Press:\t'a' to increase speed.\n"
	  "\t'z' to decrease speed.\n"
	  "\t',' to steer left.\n"
	  "\t'.' to steer right.\n"
	  "\t' ' to reset speed and steering.\n");
}

/**
 * @brief Iniciar simulacao com alguns parametros
 *
 * Funcao executada apenas no inicio da simulacao
 *
 */
void start()
{
    // Initialize ODE
    dInitODE();

    // Set initial viewpoint for drawstuff
    float xyz[3] = {0, 0, 125*SC};
    float hpr[3] = {90, -90, 0};

    dsSetViewpoint(xyz,hpr);
}

// start simulation - set viewpoint
void start()
{
    // view point for JEMRMS
    //static float xyz[3] = {10, 4, -2.0};//{1.0382f*10,-1.0811f*10,1.4700f*3};
    //static float hpr[3] = {-130.0000f, 0.000f, 180.0000f};
    // ordinary view point
    static float xyz[3] = {0.75,0.9, 0.5};
    static float hpr[3] = {-125.0000f,-20.0000f,0.0000f};

    dsSetViewpoint (xyz,hpr);
}

/*** 視点の設定　***/
void dmSetCamera(double x, double y, double z, double roll, double pitch, double yaw)
{
	float xyz[3], hpr[3];
	xyz[0] = (float) x;
	xyz[1] = (float) y;
	xyz[2] = (float) z;
	hpr[0] = (float) yaw;
	hpr[1] = (float) pitch;
	hpr[2] = (float) roll;
	dsSetViewpoint(xyz, hpr);
}