reverse kinetics try

[bluatigro]

this i m looking for on the WWW for a long time
if i ask google i get 30 times the question but no answer

i like to learn new stuf al the time

i do not sovle it whit math
i let the code 'learn' the angle's
this slow but in my grasp

error :
label [timer] is not seen by some code

so i dont know if sub chain.target works
in case of infinite loop i added a scan in that sub

''bluatigro 28 apr 2018
''reverse kinetics try
global mmax : mmax = 20
global trans , rotx , roty , rotz , temp
trans = mmax + 1
rotx  = mmax + 2
roty  = mmax + 3
rotz  = mmax + 4
temp  = mmax + 5
global xyz , yzy , yxz , yzx , zxy , zyx
xyz = 1
xzy = 2
yxz = 3
yzx = 4
zxy = 5
zyx = 6
global true , false
false = 0
true = 1
global sholder , elbow , wrist
sholder = 0
elbow = 1
wrist = 2
global number , pi , frame , key$
pi = atn( 1 ) * 4
frame = 0
WindowWidth = DisplayWidth
WindowHeight = DisplayHeight
global black , red , green , yellow
global blue , magenta , cyan , white
global pink , gray , orange , purple
black   = rgb( 000 , 000 , 000 )
red     = rgb( 255 , 000 , 000 )
green   = rgb( 000 , 255 , 000 )
yellow  = rgb( 255 , 255 , 000 )
blue    = rgb( 000 , 000 , 255 )
magenta = rgb( 255 , 000 , 255 )
cyan    = rgb( 000 , 255 , 255 )
white   = rgb( 255 , 255 , 255 )
pink    = rgb( 255 , 127 , 127 )
orange  = rgb( 255 , 127 , 000 )
gray    = rgb( 127 , 127 , 127 )
purple  = rgb( 127 , 000 , 127 )
global tx , ty , tz ''moving target
tx = 0
ty = 0
tz = 0
nomainwin
gosub [basis3D]
menu #m , "info" , "instruction's" , [info]
open "line 3D" for graphics as #m
 #m "trapclose [quit]"
 #m "when characterInput [key]"
 #m "setfocus"
 call camara  0 , 0 , 0  ,  0 , 0 , 0  , 1
 ''set lim constraints
 call chain.set.lim 0 , sholder , true , true , true
 call chain.set.lim 1 , elbow , true , false , false
 call chain.set.lim 2 , wrist , true , true , true
 timer 100 , [timer]
wait'
sub scene
 select case val( key$ )
   case 5
     for i = 0 to 64
       call skelet i , 0 , 0 , 0
     next i
   case 6
     if tx < 250 then tx = tx + 10
   case 4
     if tx > -250 then tx = tx - 10
   case 8
     if ty < 250 then ty = ty + 10
   case 2
     if ty > -250 then ty = ty - 10
   case 9
     if tz < 250 then tz = tz + 10
   case 1
     if tz > -250 then tz = tz - 10
   case else
 end select
 key$ = "x"
 call chain.target 2 , 0,0,0 ,tx,ty,tz , 10
 #m , "fill black"
   call link 1 , 0,0,0 , 0,0,0 , xyz , 0
   call line3d.cube 0,0,0 , 250,250,250 , blue , 5
   call line3d.cross tx,ty,tz , 15,15,15 , red , 5
   call child 2 , 0,0,0 , 0 , xzy , 1
   call line3d.line 0,0,0 , 0,200,0 , green , 1
   call child 3 , 0,200,0 , 1 , xyz , 2
   call line3d.line 0,0,0 , 0,200,0 , green , 1
   call child 4 , 0,200,0 , 2 , yzx , 3
   call line3d.line 0,0,0 , 0,50,0 , green , 1
   call line3d.cross 0,50,0 , 10,10,10 , green , 5
 #m , "flush"
end sub
[key]
 key$ = right$( Inkey$ , 1 )
 if key$ <> chr$( 27 ) then wait
[quit]
  close #m
end
[info]
 timer 0
 notice chr$( 13 ) _
 + "bluatigro presents : " + chr$( 13 ) _
 + "revese kinetics try ." + chr$( 13 ) _
 + "instructions :" + chr$( 13 ) _
 + "1 = move target towarts you ." + chr$( 13 ) _
 + "2 = move target down ." + chr$( 13 ) _
 + "4 = move target left ." + chr$( 13 ) _
 + "6 = move target right ." + chr$( 13 ) _
 + "8 = move target up ." + chr$( 13 ) _
 + "9 = move target from you ." + chr$( 13 )
 timer 100 , [timer]
wait
[timer]
 scan
 frame = ( frame + 3 ) mod 360
 call scene
wait

''3d engine stuf
''================================================

''bluatigro 28 apr 2018
''3d engine module
''needs :
''math module
''as global const's :
''mmax = 20
''trans = mmax + 1
''rotx  = mmax + 2
''roty  = mmax + 3
''rotz  = mmax + 4
''temp  = mmax + 5
''xyz = 1 , xzy = 2 , yxz = 3
''yzx = 4 , zxy = 5 , zyx = 6

[basis3D]
 dim m( ( mmax + 5 ) * 4 * 4 + 16 ) , cam( 6 )
 dim sk( 64 , 2 )
 dim chain( 64 ) , chain.bool( 64 , 2 )
 global number
 call startmatrix
return

function pend( fase , amp )
 pend = sin( rad( fase ) ) * amp
end function

sub rotate byref k , byref l, deg
 s = sin( rad( deg ) )
 y = cos( rad( deg ) )
 hk = k * c - l * s
 hl = k * s + l * c
 k = hk
 l = hl
end sub

sub skelet lim , x , y , z
''for animating avatar lim's
 sk( lim , 0 ) = x
 sk( lim , 1 ) = y
 sk( lim , 2 ) = z
end sub

sub setangle lim , ax , deg
''for animating avatar lim's
 sk( lim , ax ) = deg
end sub

sub child no , x , y , z , lim , ax , p
''for creating lim's of a avatar
 if lim < 0 or lim > 64 then exit sub
 call link no , x , y , z _
 , sk( lim , 1 ) , sk( lim , 0 ) , sk( lim , 2 ) _
 , ax , p
end sub

sub link no , x , y , z , xz , yz , xy , ax , p
''set draw matrix : wil efect future drawing

''no : number new matrix
''x,y,z : translation
''xz,yz,xy : rotation in degrees
''ax : sequence of axes
''p : number old matrix

 if no < 1 or no > mmax then exit sub
 if p < 0 or p > mmax then exit sub
 if no < 1 or no > mmax then exit sub
 if p < 0 or p > mmax then exit sub
 if p = no then exit sub
''copy matrix 0 into matrix's
 call copy 0 , rotx
 call copy 0 , roty
 call copy 0 , rotz
 call copy 0 , trans
''create rotation matrix's
 m( in( rotx , 1 , 1 ) ) = cos( rad( yz ) )
 m( in( rotx , 1 , 2 ) ) = 0-sin( rad( yz ) )
 m( in( rotx , 2 , 1 ) ) = sin( rad( yz ) )
 m( in( rotx , 2 , 2 ) ) = cos( rad( yz ) )

 m( in( roty , 0 , 0 ) ) = cos( rad( xz ) )
 m( in( roty , 0 , 2 ) ) = 0-sin( rad( xz ) )
 m( in( roty , 2 , 0 ) ) = sin( rad( xz ) )
 m( in( roty , 2 , 2 ) ) = cos( rad( xz ) )

 m( in( rotz , 0 , 0 ) ) = cos( rad( xy ) )
 m( in( rotz , 0 , 1 ) ) = 0-sin( rad( xy ) )
 m( in( rotz , 1 , 0 ) ) = sin( rad( xy ) )
 m( in( rotz , 1 , 1 ) ) = cos( rad( xy ) )
''create translation matrix
 m( in( trans , 3 , 0 ) ) = x
 m( in( trans , 3 , 1 ) ) = y
 m( in( trans , 3 , 2 ) ) = z
''select axes sequence [ 1 of 6 ] and act on i
 select case ax
   case xyz
     call multiply rotx , roty , temp
     call multiply temp , rotz , no
     call multiply no , trans , temp
     call multiply temp , p , no
   case xzy
     call multiply rotx , rotz , temp
     call multiply temp , roty , no
     call multiply no , trans , temp
     call multiply temp , p , no
   case yxz
     call multiply roty , rotx , temp
     call multiply temp , rotz , no
     call multiply no , trans , temp
     call multiply temp , p , no
   case yzx
     call multiply roty , rotz , temp
     call multiply temp , rotx , no
     call multiply no , trans , temp
     call multiply temp , p , no
   case zxy
     call multiply rotz , rotx , temp
     call multiply temp , roty , no
     call multiply no , trans , temp
     call multiply temp , p , no
   case zyx
     call multiply rotz , roty , temp
     call multiply temp , rotx , no
     call multiply no , trans , temp
     call multiply temp , p , no
   case else
     call multiply rotx , roty , temp
     call multiply temp , rotz , no
     call multiply no , trans , temp
     call multiply temp , p , no
 end select
 number = no
end sub

sub spot byref x , byref y , byref z
'''lokal coordinates to world coordinates
''x,y,z = matrix( number ) * x,y,z
 no = number
 hx = m( in( no , 0 , 0 ) ) * x _
    + m( in( no , 1 , 0 ) ) * y _
    + m( in( no , 2 , 0 ) ) * z _
    + m( in( no , 3 , 0 ) )
 hy = m( in( no , 0 , 1 ) ) * x _
    + m( in( no , 1 , 1 ) ) * y _
    + m( in( no , 2 , 1 ) ) * z _
    + m( in( no , 3 , 1 ) )
 hz = m( in( no , 0 , 2 ) ) * x _
    + m( in( no , 1 , 2 ) ) * y _
    + m( in( no , 2 , 2 ) ) * z _
    + m( in( no , 3 , 2 ) )
 x = hx ''- cam( 0 )
 y = hy ''- cam( 1 )
 z = hz ''- cam( 2 )
''  call rotate x , y , 0 - cam( 5 )
''  call rotate y , z , 0 - cam( 4 )
''  call rotate x , z , 0 - cam( 3 )
''  if cam( 6 ) = 0 then cam( 6 ) = 1
''  x = x * cam( 6 )
''  y = y * cam( 6 )
''  z = z * cam( 6 )
end sub

sub camara x , y , z , pan , tilt , rol , zoom
 cam( 0 ) = x
 cam( 1 ) = y
 cam( 2 ) = z
 cam( 3 ) = pan
 cam( 4 ) = tilt
 cam( 5 ) = rol
 cam( 6 ) = zoom
end sub

''matrix math

sub copy a , b
''matrix( b ) = matrix( a )
 for i = 0 to 3
   for j = 0 to 3
     m( in( b , i , j ) ) = m( in( a , i , j ) )
   next j
 next i
end sub

sub multiply a , b , c
''matrix( c ) = matrix( a ) * matrix( b )
 for i = 0 to 3
   for j = 0 to 3
     m( in( c , i , j ) ) = 0
     for k = 0 to 3
       m( in( c , i , j ) ) = m( in( c , i , j ) ) _
       + m( in( a , i , k ) ) * m( in( b , k , j ) )
     next k
   next j
 next i
end sub

sub startmatrix
''set startmatrix to unity
 for x = 0 to 3
   for y = 0 to 3
     m( in( 0 , x , y ) ) = 0
   next y
   m( in( 0 , x , x ) ) = 1
 next x
end sub

function in( no , x , y )
''LB4 has no 3d array's
''so i simulate them
 in = x + y * 4 + no * 16
end function

sub chain.set.lim i , lim , x , y , z
 chain( i ) = lim
 chain.bool( i , 0 ) = x
 chain.bool( i , 1 ) = y
 chain.bool( i , 2 ) = z
end sub

sub chain.target no , dx , dy , dz , tx , ty , tz , dist
 x = dx
 y = dy
 z = dz
 call spot x , y , z
 q = length( tx - x , ty - y , tz - z )
 while q > dist
   scan
   x = dx
   y = dy
   z = dz
   call spot x , y , z
   low = length( tx - x , ty - y , tz - z )
   for i = 0 to no
     for ax = 0 to 2
       hoek = sk( chain( i ) , ax )
       if chain.bool( i , ax ) then
         dice = range( -3 , 3 )
         hoek = hoek + dice
         call setangle chain( i ) , ax , hoek
         x = dx
         y = dy
         z = dz
         call spot x , y , z
         w = length( tx - x , ty - y , tz - z )
         if w <= low then
           low = w
         else
           hoek = hoek - dice
           call setangle chain( i ) , ax , hoek
         end if
       end if
     next ax
   next i
 wend
end sub

function rad( x )
 rad = x * pi / 180
end function

function length( a , b , c )
 length = sqr( a * a + b * b + c * c )
end function

function range( l , h )
 range = rnd(0) * ( h - l ) + l
end function

''=================================================
''end 3d engine stuf


''graphics

sub line3d.cross mx , my , mz , dx , dy , dz , kl , dik
 call line3d.line mx-dx,my,mz,mx+dx,my,mz , kl , dik
 call line3d.line mx,my-dy,mz,mx,my+dy,mz , kl , dik
 call line3d.line mx,my,mz-dz,mx,my,mz+dz , kl , dik
end sub

sub line3d.cube mx , my , mz , dx , dy , dz , kl , dik
 call line3d.line mx - dx , my - dy , mz - dz _
    , mx + dx , my - dy , mz - dz , kl , dik
 call line3d.line mx - dx , my + dy , mz - dz _
    , mx + dx , my + dy , mz - dz , kl , dik
 call line3d.line mx - dx , my - dy , mz + dz _
    , mx + dx , my - dy , mz + dz , kl , dik
 call line3d.line mx - dx , my + dy , mz + dz _
    , mx + dx , my + dy , mz + dz , kl , dik
 call line3d.line mx - dx , my - dy , mz - dz _
    , mx - dx , my + dy , mz - dz , kl , dik
 call line3d.line mx + dx , my - dy , mz - dz _
    , mx + dx , my + dy , mz - dz , kl , dik
 call line3d.line mx - dx , my - dy , mz + dz _
    , mx - dx , my + dy , mz + dz , kl , dik
 call line3d.line mx + dx , my - dy , mz + dz _
    , mx + dx , my + dy , mz + dz , kl , dik
 call line3d.line mx - dx , my - dy , mz - dz _
    , mx - dx , my - dy , mz + dz , kl , dik
 call line3d.line mx + dx , my - dy , mz - dz _
    , mx + dx , my - dy , mz + dz , kl , dik
 call line3d.line mx - dx , my + dy , mz - dz _
    , mx - dx , my + dy , mz + dz , kl , dik
 call line3d.line mx + dx , my + dy , mz - dz _
    , mx + dx , my + dy , mz + dz , kl , dik
end sub

sub line3d.line x1 , y1 , z1 , x2 , y2 , z2 , kl , dik
  r = int( kl ) and 255
  g = int( kl / 256 ) and 255
  b = int( kl / 256 / 256 ) and 255
  dx = WindowWidth
  dy = WindowHeight
  call spot x1 , y1 , z1
  call spot x2 , y2 , z2
  ax = dx / 2 + x1 / ( z1 + 1000 ) * 1000
  ay = dy / 2 - y1 / ( z1 + 1000 ) * 1000
  bx = dx / 2 + x2 / ( z2 + 1000 ) * 1000
  by = dy / 2 - y2 / ( z2 + 1000 ) * 1000
  #m "size " ; dik
  #m "color " ; r ; " " ; g ; " " ; b
  #m "down"
  #m "line " ; ax ; " " ; ay ; " " ; bx ; " " ; by
  #m "up"
end sub

sub line3d.sphere x , y , z , d , kl , dik
 call spot x , y , z
 ''d = d * cam( 6 )
 r = int( kl and 255 )
 g = int( kl / 256 ) and 255
 b = int( kl / 256 / 256 ) and 255
 #m "size " ; dik
 #m "color " ; r ; " " ; g ; " " ; b
 d = d / ( z + 1000 ) * 1000
 dx = WindowWidth
 dy = WindowHeight
 x = dx / 2 + x / ( z + 1000 ) * 1000
 y = dy / 2 - y / ( z + 1000 ) * 1000
 #m "go " ; x ; " " ; y
 #m "down"
 #m "circlefilled "; d
 #m "up"
end sub

function rainbow( x )
 r = sin( rad( x ) ) * 127 + 128
 g = sin( rad( x - 120 ) ) * 127 + 128
 b = sin( rad( x + 120 ) ) * 127 + 128
 rainbow = rgb( r , g , b )
end function
function rgb( r , g , b )
 r = r and 255
 g = g and 255
 b = b and 255
 rgb = r + g * 256 + b * 256 * 256
end function




[bluatigro]

as i expected :
chain.target is verry slow

[bluatigro]

i do not know why :
my label's are not Always functional

[cundo]

Maybe the loops are taking more time and the Timer fires too early and can't "see" the Branch [timer] (I wouldn't use a reserved word for branch label names BTW)

[bluatigro]

update :
i tryed somthing else

error :
if i turn the event's of in chain.target sub
then this code frezes
if i do not turn event's of they are somtimes not seen as label's

how do i fix that !!!

does any one know how to do this whit math ?
also whit more than 2 joint's in 1 chain ?


''bluatigro 28 apr 2018
''reverse kinetics try
global mmax : mmax = 20
global trans , rotx , roty , rotz , temp
trans = mmax + 1
rotx  = mmax + 2
roty  = mmax + 3
rotz  = mmax + 4
temp  = mmax + 5
global xyz , yzy , yxz , yzx , zxy , zyx
xyz = 1
xzy = 2
yxz = 3
yzx = 4
zxy = 5
zyx = 6
global true , false
false = 0
true = 1
global sholder , elbow , wrist
sholder = 0
elbow = 1
wrist = 2
global number , pi , frame , key$
pi = atn( 1 ) * 4
frame = 0
WindowWidth = DisplayWidth
WindowHeight = DisplayHeight
global black , red , green , yellow
global blue , magenta , cyan , white
global pink , gray , orange , purple
black   = rgb( 000 , 000 , 000 )
red     = rgb( 255 , 000 , 000 )
green   = rgb( 000 , 255 , 000 )
yellow  = rgb( 255 , 255 , 000 )
blue    = rgb( 000 , 000 , 255 )
magenta = rgb( 255 , 000 , 255 )
cyan    = rgb( 000 , 255 , 255 )
white   = rgb( 255 , 255 , 255 )
pink    = rgb( 255 , 127 , 127 )
orange  = rgb( 255 , 127 , 000 )
gray    = rgb( 127 , 127 , 127 )
purple  = rgb( 127 , 000 , 127 )
global tx , ty , tz ''moving target
tx = 0
ty = 0
tz = 0
nomainwin
gosub [basis3D]
menu #m , "info" , "instruction's" , [info]
open "line 3D" for graphics as #m
 #m "trapclose [quit]"
 #m "when characterInput [key]"
 #m "setfocus"
 call camara  0 , 0 , 0  ,  0 , 0 , 0  , 1
 ''set lim constraints
 call chain.set.lim 0 , sholder , true , true , true
 call chain.set.lim 1 , elbow , true , false , false
 call chain.set.lim 2 , wrist , true , true , true
 timer 100 , [tempo]
wait'
sub scene
 scan
 select case val( key$ )
   case 6
     if tx < 250 then tx = tx + 10
   case 4
     if tx > -250 then tx = tx - 10
   case 8
     if ty < 250 then ty = ty + 10
   case 2
     if ty > -250 then ty = ty - 10
   case 9
     if tz < 250 then tz = tz + 10
   case 1
     if tz > -250 then tz = tz - 10
   case else
 end select
 key$ = "x"
 ''call chain.target 2 , 0,0,0 ,tx,ty,tz , 10
 #m , "fill black"
   call link 1 , 0,0,0 , 0,0,0 , xyz , 0
   call line3d.cube 0,0,0 , 250,250,250 , blue , 1
   call line3d.cross tx,ty,tz , 15,15,15 , red , 5
   call child 2 , 0,0,0 , 0 , xzy , 1
   call line3d.cross 0,0,0 , 10,10,10 , green , 5
   call line3d.line 0,0,0 , 0,200,0 , green , 1
   call line3d.cross 0,200,0 , 10,10,10 , green , 5
   call child 3 , 0,200,0 , 1 , xyz , 2
   call line3d.line 0,0,0 , 0,200,0 , green , 1
   call line3d.cross 0,200,0 , 10,10,10 , green , 5
   call child 4 , 0,200,0 , 2 , yzx , 3
   call line3d.line 0,0,0 , 0,50,0 , green , 1
   call line3d.cross 0,50,0 , 10,10,10 , green , 5
 #m , "flush"
end sub
[key]
 key$ = right$( Inkey$ , 1 )
 if key$ <> chr$( 27 ) then wait
[quit]
  close #m
end
[info]
 timer 0
 notice chr$( 13 ) _
 + "bluatigro presents : " + chr$( 13 ) _
 + "revese kinetics try ." + chr$( 13 ) _
 + "instructions :" + chr$( 13 ) _
 + "1 = move target towarts you ." + chr$( 13 ) _
 + "2 = move target down ." + chr$( 13 ) _
 + "4 = move target left ." + chr$( 13 ) _
 + "6 = move target right ." + chr$( 13 ) _
 + "8 = move target up ." + chr$( 13 ) _
 + "9 = move target from you ." + chr$( 13 )
 timer 100 , [tempo]
wait
[tempo]
 scan
 frame = ( frame + 3 ) mod 360
 call scene
wait

''3d engine stuf
''================================================

''bluatigro 28 apr 2018
''3d engine module
''needs :
''math module
''as global const's :
''mmax = 20
''trans = mmax + 1
''rotx  = mmax + 2
''roty  = mmax + 3
''rotz  = mmax + 4
''temp  = mmax + 5
''xyz = 1 , xzy = 2 , yxz = 3
''yzx = 4 , zxy = 5 , zyx = 6

[basis3D]
 dim m( ( mmax + 5 ) * 4 * 4 + 16 ) , cam( 6 )
 dim sk( 64 , 2 )
 dim chain( 64 ) , chain.bool( 64 , 2 )
 global number
 call startmatrix
return

function pend( fase , amp )
 pend = sin( rad( fase ) ) * amp
end function

sub rotate byref k , byref l, deg
 s = sin( rad( deg ) )
 y = cos( rad( deg ) )
 hk = k * c - l * s
 hl = k * s + l * c
 k = hk
 l = hl
end sub

sub skelet lim , x , y , z
''for animating avatar lim's
 sk( lim , 0 ) = x
 sk( lim , 1 ) = y
 sk( lim , 2 ) = z
end sub

sub setangle lim , ax , deg
''for animating avatar lim's
 sk( lim , ax ) = deg
end sub

sub child no , x , y , z , lim , ax , p
''for creating lim's of a avatar
 if lim < 0 or lim > 64 then exit sub
 call link no , x , y , z _
 , sk( lim , 1 ) , sk( lim , 0 ) , sk( lim , 2 ) _
 , ax , p
end sub

sub link no , x , y , z , xz , yz , xy , ax , p
''set draw matrix : wil efect future drawing

''no : number new matrix
''x,y,z : translation
''xz,yz,xy : rotation in degrees
''ax : sequence of axes
''p : number old matrix

 if no < 1 or no > mmax then exit sub
 if p < 0 or p > mmax then exit sub
 if no < 1 or no > mmax then exit sub
 if p < 0 or p > mmax then exit sub
 if p = no then exit sub
''copy matrix 0 into matrix's
 call copy 0 , rotx
 call copy 0 , roty
 call copy 0 , rotz
 call copy 0 , trans
''create rotation matrix's
 m( in( rotx , 1 , 1 ) ) = cos( rad( yz ) )
 m( in( rotx , 1 , 2 ) ) = 0-sin( rad( yz ) )
 m( in( rotx , 2 , 1 ) ) = sin( rad( yz ) )
 m( in( rotx , 2 , 2 ) ) = cos( rad( yz ) )

 m( in( roty , 0 , 0 ) ) = cos( rad( xz ) )
 m( in( roty , 0 , 2 ) ) = 0-sin( rad( xz ) )
 m( in( roty , 2 , 0 ) ) = sin( rad( xz ) )
 m( in( roty , 2 , 2 ) ) = cos( rad( xz ) )

 m( in( rotz , 0 , 0 ) ) = cos( rad( xy ) )
 m( in( rotz , 0 , 1 ) ) = 0-sin( rad( xy ) )
 m( in( rotz , 1 , 0 ) ) = sin( rad( xy ) )
 m( in( rotz , 1 , 1 ) ) = cos( rad( xy ) )
''create translation matrix
 m( in( trans , 3 , 0 ) ) = x
 m( in( trans , 3 , 1 ) ) = y
 m( in( trans , 3 , 2 ) ) = z
''select axes sequence [ 1 of 6 ] and act on i
 select case ax
   case xyz
     call multiply rotx , roty , temp
     call multiply temp , rotz , no
     call multiply no , trans , temp
     call multiply temp , p , no
   case xzy
     call multiply rotx , rotz , temp
     call multiply temp , roty , no
     call multiply no , trans , temp
     call multiply temp , p , no
   case yxz
     call multiply roty , rotx , temp
     call multiply temp , rotz , no
     call multiply no , trans , temp
     call multiply temp , p , no
   case yzx
     call multiply roty , rotz , temp
     call multiply temp , rotx , no
     call multiply no , trans , temp
     call multiply temp , p , no
   case zxy
     call multiply rotz , rotx , temp
     call multiply temp , roty , no
     call multiply no , trans , temp
     call multiply temp , p , no
   case zyx
     call multiply rotz , roty , temp
     call multiply temp , rotx , no
     call multiply no , trans , temp
     call multiply temp , p , no
   case else
     call multiply rotx , roty , temp
     call multiply temp , rotz , no
     call multiply no , trans , temp
     call multiply temp , p , no
 end select
 number = no
end sub

sub spot byref x , byref y , byref z
'''lokal coordinates to world coordinates
''x,y,z = matrix( number ) * x,y,z
 no = number
 hx = m( in( no , 0 , 0 ) ) * x _
    + m( in( no , 1 , 0 ) ) * y _
    + m( in( no , 2 , 0 ) ) * z _
    + m( in( no , 3 , 0 ) )
 hy = m( in( no , 0 , 1 ) ) * x _
    + m( in( no , 1 , 1 ) ) * y _
    + m( in( no , 2 , 1 ) ) * z _
    + m( in( no , 3 , 1 ) )
 hz = m( in( no , 0 , 2 ) ) * x _
    + m( in( no , 1 , 2 ) ) * y _
    + m( in( no , 2 , 2 ) ) * z _
    + m( in( no , 3 , 2 ) )
 x = hx ''- cam( 0 )
 y = hy ''- cam( 1 )
 z = hz ''- cam( 2 )
''  call rotate x , y , 0 - cam( 5 )
''  call rotate y , z , 0 - cam( 4 )
''  call rotate x , z , 0 - cam( 3 )
''  if cam( 6 ) = 0 then cam( 6 ) = 1
''  x = x * cam( 6 )
''  y = y * cam( 6 )
''  z = z * cam( 6 )
end sub

sub camara x , y , z , pan , tilt , rol , zoom
 cam( 0 ) = x
 cam( 1 ) = y
 cam( 2 ) = z
 cam( 3 ) = pan
 cam( 4 ) = tilt
 cam( 5 ) = rol
 cam( 6 ) = zoom
end sub

''matrix math

sub copy a , b
''matrix( b ) = matrix( a )
 for i = 0 to 3
   for j = 0 to 3
     m( in( b , i , j ) ) = m( in( a , i , j ) )
   next j
 next i
end sub

sub multiply a , b , c
''matrix( c ) = matrix( a ) * matrix( b )
 for i = 0 to 3
   for j = 0 to 3
     m( in( c , i , j ) ) = 0
     for k = 0 to 3
       m( in( c , i , j ) ) = m( in( c , i , j ) ) _
       + m( in( a , i , k ) ) * m( in( b , k , j ) )
     next k
   next j
 next i
end sub

sub startmatrix
''set startmatrix to unity
 for x = 0 to 3
   for y = 0 to 3
     m( in( 0 , x , y ) ) = 0
   next y
   m( in( 0 , x , x ) ) = 1
 next x
end sub

function in( no , x , y )
''LB4 has no 3d array's
''so i simulate them
 in = x + y * 4 + no * 16
end function

sub chain.set.lim i , lim , x , y , z
 chain( i ) = lim
 chain.bool( i , 0 ) = x
 chain.bool( i , 1 ) = y
 chain.bool( i , 2 ) = z
end sub

sub chain.target no , dx , dy , dz , tx , ty , tz , dist
 timer 0
 #m "when characterInput"
 #m "trapclose"
 x = dx
 y = dy
 z = dz
 call spot x , y , z
 q = length( tx - x , ty - y , tz - z )
 while q > dist
   x = dx
   y = dy
   z = dz
   call spot x , y , z
   low = length( tx - x , ty - y , tz - z )
   for i = 0 to no
     for ax = 0 to 2
       hoek = sk( chain( i ) , ax )
       if chain.bool( i , ax ) then
         dice = range( -3 , 3 )
         hoek = hoek + dice
         call setangle chain( i ) , ax , hoek
         x = dx
         y = dy
         z = dz
         call spot x , y , z
         w = length( tx - x , ty - y , tz - z )
         if w <= low then
           low = w
         else
           hoek = hoek - dice
           call setangle chain( i ) , ax , hoek
         end if
       end if
     next ax
   next i
 wend
 #m "trapclose [quit]"
 #m "when characterInput [key]"
 timer 100 , [tempo]
end sub

function rad( x )
 rad = x * pi / 180
end function

function length( a , b , c )
 length = sqr( a * a + b * b + c * c )
end function

function range( l , h )
 range = rnd(0) * ( h - l ) + l
end function

''=================================================
''end 3d engine stuf


''graphics

sub line3d.cross mx , my , mz , dx , dy , dz , kl , dik
 call line3d.line mx-dx,my,mz,mx+dx,my,mz , kl , dik
 call line3d.line mx,my-dy,mz,mx,my+dy,mz , kl , dik
 call line3d.line mx,my,mz-dz,mx,my,mz+dz , kl , dik
end sub

sub line3d.cube mx , my , mz , dx , dy , dz , kl , dik
 call line3d.line mx - dx , my - dy , mz - dz _
    , mx + dx , my - dy , mz - dz , kl , dik
 call line3d.line mx - dx , my + dy , mz - dz _
    , mx + dx , my + dy , mz - dz , kl , dik
 call line3d.line mx - dx , my - dy , mz + dz _
    , mx + dx , my - dy , mz + dz , kl , dik
 call line3d.line mx - dx , my + dy , mz + dz _
    , mx + dx , my + dy , mz + dz , kl , dik
 call line3d.line mx - dx , my - dy , mz - dz _
    , mx - dx , my + dy , mz - dz , kl , dik
 call line3d.line mx + dx , my - dy , mz - dz _
    , mx + dx , my + dy , mz - dz , kl , dik
 call line3d.line mx - dx , my - dy , mz + dz _
    , mx - dx , my + dy , mz + dz , kl , dik
 call line3d.line mx + dx , my - dy , mz + dz _
    , mx + dx , my + dy , mz + dz , kl , dik
 call line3d.line mx - dx , my - dy , mz - dz _
    , mx - dx , my - dy , mz + dz , kl , dik
 call line3d.line mx + dx , my - dy , mz - dz _
    , mx + dx , my - dy , mz + dz , kl , dik
 call line3d.line mx - dx , my + dy , mz - dz _
    , mx - dx , my + dy , mz + dz , kl , dik
 call line3d.line mx + dx , my + dy , mz - dz _
    , mx + dx , my + dy , mz + dz , kl , dik
end sub

sub line3d.line x1 , y1 , z1 , x2 , y2 , z2 , kl , dik
  r = int( kl ) and 255
  g = int( kl / 256 ) and 255
  b = int( kl / 256 / 256 ) and 255
  dx = WindowWidth
  dy = WindowHeight
  call spot x1 , y1 , z1
  call spot x2 , y2 , z2
  ax = dx / 2 + x1 / ( z1 + 1000 ) * 1000
  ay = dy / 2 - y1 / ( z1 + 1000 ) * 1000
  bx = dx / 2 + x2 / ( z2 + 1000 ) * 1000
  by = dy / 2 - y2 / ( z2 + 1000 ) * 1000
  #m "size " ; dik
  #m "color " ; r ; " " ; g ; " " ; b
  #m "down"
  #m "line " ; ax ; " " ; ay ; " " ; bx ; " " ; by
  #m "up"
end sub

sub line3d.sphere x , y , z , d , kl , dik
 call spot x , y , z
 ''d = d * cam( 6 )
 r = int( kl and 255 )
 g = int( kl / 256 ) and 255
 b = int( kl / 256 / 256 ) and 255
 #m "size " ; dik
 #m "color " ; r ; " " ; g ; " " ; b
 d = d / ( z + 1000 ) * 1000
 dx = WindowWidth
 dy = WindowHeight
 x = dx / 2 + x / ( z + 1000 ) * 1000
 y = dy / 2 - y / ( z + 1000 ) * 1000
 #m "go " ; x ; " " ; y
 #m "down"
 #m "circlefilled "; d
 #m "up"
end sub

function rainbow( x )
 r = sin( rad( x ) ) * 127 + 128
 g = sin( rad( x - 120 ) ) * 127 + 128
 b = sin( rad( x + 120 ) ) * 127 + 128
 rainbow = rgb( r , g , b )
end function

function rgb( r , g , b )
 r = r and 255
 g = g and 255
 b = b and 255
 rgb = r + g * 256 + b * 256 * 256
end function




[bluatigro]

i tryed whitout the while q < dist loop
i see that it learns but idid not see a hit on the red cross


''bluatigro 28 apr 2018
''reverse kinetics try
global mmax : mmax = 20
global trans , rotx , roty , rotz , temp
trans = mmax + 1
rotx  = mmax + 2
roty  = mmax + 3
rotz  = mmax + 4
temp  = mmax + 5
global xyz , yzy , yxz , yzx , zxy , zyx
xyz = 1
xzy = 2
yxz = 3
yzx = 4
zxy = 5
zyx = 6
global true , false
false = 0
true = 1
global sholder , elbow , wrist
sholder = 0
elbow = 1
wrist = 2
global number , pi , frame , key$
pi = atn( 1 ) * 4
frame = 0
WindowWidth = DisplayWidth
WindowHeight = DisplayHeight
global black , red , green , yellow
global blue , magenta , cyan , white
global pink , gray , orange , purple
black   = rgb( 000 , 000 , 000 )
red     = rgb( 255 , 000 , 000 )
green   = rgb( 000 , 255 , 000 )
yellow  = rgb( 255 , 255 , 000 )
blue    = rgb( 000 , 000 , 255 )
magenta = rgb( 255 , 000 , 255 )
cyan    = rgb( 000 , 255 , 255 )
white   = rgb( 255 , 255 , 255 )
pink    = rgb( 255 , 127 , 127 )
orange  = rgb( 255 , 127 , 000 )
gray    = rgb( 127 , 127 , 127 )
purple  = rgb( 127 , 000 , 127 )
global tx , ty , tz ''moving target
tx = 0
ty = 0
tz = 0
nomainwin
gosub [basis3D]
menu #m , "info" , "instruction's" , [info]
open "line 3D" for graphics as #m
 #m "trapclose [quit]"
 #m "when characterInput [key]"
 #m "setfocus"
 call camara  0 , 0 , 0  ,  0 , 0 , 0  , 1
 ''set lim constraints
 call chain.set.lim 0 , sholder , true , true , true
 call chain.set.lim 1 , elbow , true , false , false
 call chain.set.lim 2 , wrist , true , true , true
 timer 100 , [tempo]
wait'
sub scene
 scan
 select case val( key$ )
   case 6
     if tx < 250 then tx = tx + 10
   case 4
     if tx > -250 then tx = tx - 10
   case 8
     if ty < 250 then ty = ty + 10
   case 2
     if ty > -250 then ty = ty - 10
   case 9
     if tz < 250 then tz = tz + 10
   case 1
     if tz > -250 then tz = tz - 10
   case else
 end select
 key$ = "x"
 call chain.target 2 , 0,0,0 ,tx,ty,tz , 10
 #m , "fill black"
   call link 1 , 0,0,0 , 0,0,0 , xyz , 0
   call line3d.cube 0,0,0 , 250,250,250 , blue , 1
   call line3d.cross tx,ty,tz , 15,15,15 , red , 5
   call child 2 , 0,0,0 , 0 , xzy , 1
   call line3d.cross 0,0,0 , 10,10,10 , green , 5
   call line3d.line 0,0,0 , 0,200,0 , green , 1
   call line3d.cross 0,200,0 , 10,10,10 , green , 5
   call child 3 , 0,200,0 , 1 , xyz , 2
   call line3d.line 0,0,0 , 0,200,0 , green , 1
   call line3d.cross 0,200,0 , 10,10,10 , green , 5
   call child 4 , 0,200,0 , 2 , yzx , 3
   call line3d.line 0,0,0 , 0,50,0 , green , 1
   call line3d.cross 0,50,0 , 10,10,10 , green , 5
 #m , "flush"
end sub
[key]
 key$ = right$( Inkey$ , 1 )
 if key$ <> chr$( 27 ) then wait
[quit]
  close #m
end
[info]
 timer 0
 notice chr$( 13 ) _
 + "bluatigro presents : " + chr$( 13 ) _
 + "revese kinetics try ." + chr$( 13 ) _
 + "instructions :" + chr$( 13 ) _
 + "1 = move target towarts you ." + chr$( 13 ) _
 + "2 = move target down ." + chr$( 13 ) _
 + "4 = move target left ." + chr$( 13 ) _
 + "6 = move target right ." + chr$( 13 ) _
 + "8 = move target up ." + chr$( 13 ) _
 + "9 = move target from you ." + chr$( 13 )
 timer 100 , [tempo]
wait
[tempo]
 scan
 frame = ( frame + 3 ) mod 360
 call scene
wait

''3d engine stuf
''================================================

''bluatigro 28 apr 2018
''3d engine module
''needs :
''math module
''as global const's :
''mmax = 20
''trans = mmax + 1
''rotx  = mmax + 2
''roty  = mmax + 3
''rotz  = mmax + 4
''temp  = mmax + 5
''xyz = 1 , xzy = 2 , yxz = 3
''yzx = 4 , zxy = 5 , zyx = 6

[basis3D]
 dim m( ( mmax + 5 ) * 4 * 4 + 16 ) , cam( 6 )
 dim sk( 64 , 2 )
 dim chain( 64 ) , chain.bool( 64 , 2 )
 global number
 call startmatrix
return

function pend( fase , amp )
 pend = sin( rad( fase ) ) * amp
end function

sub rotate byref k , byref l, deg
 s = sin( rad( deg ) )
 y = cos( rad( deg ) )
 hk = k * c - l * s
 hl = k * s + l * c
 k = hk
 l = hl
end sub

sub skelet lim , x , y , z
''for animating avatar lim's
 sk( lim , 0 ) = x
 sk( lim , 1 ) = y
 sk( lim , 2 ) = z
end sub

sub setangle lim , ax , deg
''for animating avatar lim's
 sk( lim , ax ) = deg
end sub

sub child no , x , y , z , lim , ax , p
''for creating lim's of a avatar
 if lim < 0 or lim > 64 then exit sub
 call link no , x , y , z _
 , sk( lim , 1 ) , sk( lim , 0 ) , sk( lim , 2 ) _
 , ax , p
end sub

sub link no , x , y , z , xz , yz , xy , ax , p
''set draw matrix : wil efect future drawing

''no : number new matrix
''x,y,z : translation
''xz,yz,xy : rotation in degrees
''ax : sequence of axes
''p : number old matrix

 if no < 1 or no > mmax then exit sub
 if p < 0 or p > mmax then exit sub
 if no < 1 or no > mmax then exit sub
 if p < 0 or p > mmax then exit sub
 if p = no then exit sub
''copy matrix 0 into matrix's
 call copy 0 , rotx
 call copy 0 , roty
 call copy 0 , rotz
 call copy 0 , trans
''create rotation matrix's
 m( in( rotx , 1 , 1 ) ) = cos( rad( yz ) )
 m( in( rotx , 1 , 2 ) ) = 0-sin( rad( yz ) )
 m( in( rotx , 2 , 1 ) ) = sin( rad( yz ) )
 m( in( rotx , 2 , 2 ) ) = cos( rad( yz ) )

 m( in( roty , 0 , 0 ) ) = cos( rad( xz ) )
 m( in( roty , 0 , 2 ) ) = 0-sin( rad( xz ) )
 m( in( roty , 2 , 0 ) ) = sin( rad( xz ) )
 m( in( roty , 2 , 2 ) ) = cos( rad( xz ) )

 m( in( rotz , 0 , 0 ) ) = cos( rad( xy ) )
 m( in( rotz , 0 , 1 ) ) = 0-sin( rad( xy ) )
 m( in( rotz , 1 , 0 ) ) = sin( rad( xy ) )
 m( in( rotz , 1 , 1 ) ) = cos( rad( xy ) )
''create translation matrix
 m( in( trans , 3 , 0 ) ) = x
 m( in( trans , 3 , 1 ) ) = y
 m( in( trans , 3 , 2 ) ) = z
''select axes sequence [ 1 of 6 ] and act on i
 select case ax
   case xyz
     call multiply rotx , roty , temp
     call multiply temp , rotz , no
     call multiply no , trans , temp
     call multiply temp , p , no
   case xzy
     call multiply rotx , rotz , temp
     call multiply temp , roty , no
     call multiply no , trans , temp
     call multiply temp , p , no
   case yxz
     call multiply roty , rotx , temp
     call multiply temp , rotz , no
     call multiply no , trans , temp
     call multiply temp , p , no
   case yzx
     call multiply roty , rotz , temp
     call multiply temp , rotx , no
     call multiply no , trans , temp
     call multiply temp , p , no
   case zxy
     call multiply rotz , rotx , temp
     call multiply temp , roty , no
     call multiply no , trans , temp
     call multiply temp , p , no
   case zyx
     call multiply rotz , roty , temp
     call multiply temp , rotx , no
     call multiply no , trans , temp
     call multiply temp , p , no
   case else
     call multiply rotx , roty , temp
     call multiply temp , rotz , no
     call multiply no , trans , temp
     call multiply temp , p , no
 end select
 number = no
end sub

sub spot byref x , byref y , byref z
'''lokal coordinates to world coordinates
''x,y,z = matrix( number ) * x,y,z
 no = number
 hx = m( in( no , 0 , 0 ) ) * x _
    + m( in( no , 1 , 0 ) ) * y _
    + m( in( no , 2 , 0 ) ) * z _
    + m( in( no , 3 , 0 ) )
 hy = m( in( no , 0 , 1 ) ) * x _
    + m( in( no , 1 , 1 ) ) * y _
    + m( in( no , 2 , 1 ) ) * z _
    + m( in( no , 3 , 1 ) )
 hz = m( in( no , 0 , 2 ) ) * x _
    + m( in( no , 1 , 2 ) ) * y _
    + m( in( no , 2 , 2 ) ) * z _
    + m( in( no , 3 , 2 ) )
 x = hx ''- cam( 0 )
 y = hy ''- cam( 1 )
 z = hz ''- cam( 2 )
''  call rotate x , y , 0 - cam( 5 )
''  call rotate y , z , 0 - cam( 4 )
''  call rotate x , z , 0 - cam( 3 )
''  if cam( 6 ) = 0 then cam( 6 ) = 1
''  x = x * cam( 6 )
''  y = y * cam( 6 )
''  z = z * cam( 6 )
end sub

sub camara x , y , z , pan , tilt , rol , zoom
 cam( 0 ) = x
 cam( 1 ) = y
 cam( 2 ) = z
 cam( 3 ) = pan
 cam( 4 ) = tilt
 cam( 5 ) = rol
 cam( 6 ) = zoom
end sub

''matrix math

sub copy a , b
''matrix( b ) = matrix( a )
 for i = 0 to 3
   for j = 0 to 3
     m( in( b , i , j ) ) = m( in( a , i , j ) )
   next j
 next i
end sub

sub multiply a , b , c
''matrix( c ) = matrix( a ) * matrix( b )
 for i = 0 to 3
   for j = 0 to 3
     m( in( c , i , j ) ) = 0
     for k = 0 to 3
       m( in( c , i , j ) ) = m( in( c , i , j ) ) _
       + m( in( a , i , k ) ) * m( in( b , k , j ) )
     next k
   next j
 next i
end sub

sub startmatrix
''set startmatrix to unity
 for x = 0 to 3
   for y = 0 to 3
     m( in( 0 , x , y ) ) = 0
   next y
   m( in( 0 , x , x ) ) = 1
 next x
end sub

function in( no , x , y )
''LB4 has no 3d array's
''so i simulate them
 in = x + y * 4 + no * 16
end function

sub chain.set.lim i , lim , x , y , z
 chain( i ) = lim
 chain.bool( i , 0 ) = x
 chain.bool( i , 1 ) = y
 chain.bool( i , 2 ) = z
end sub

sub chain.target no , dx , dy , dz , tx , ty , tz , dist
''  timer 0
''  #m "when characterInput"
''  #m "trapclose"
 x = dx
 y = dy
 z = dz
 call spot x , y , z
 q = length( tx - x , ty - y , tz - z )
''  while q > dist
   x = dx
   y = dy
   z = dz
   call spot x , y , z
   low = length( tx - x , ty - y , tz - z )
   for i = 0 to no
     for ax = 0 to 2
       hoek = sk( chain( i ) , ax )
       if chain.bool( i , ax ) then
         dice = range( -3 , 3 )
         hoek = hoek + dice
         call setangle chain( i ) , ax , hoek
         x = dx
         y = dy
         z = dz
         call spot x , y , z
         w = length( tx - x , ty - y , tz - z )
         if w <= low then
           low = w
         else
           hoek = hoek - dice
           call setangle chain( i ) , ax , hoek
         end if
       end if
     next ax
   next i
''  wend
''  #m "trapclose [quit]"
''  #m "when characterInput [key]"
''  timer 100 , [tempo]
end sub

function rad( x )
 rad = x * pi / 180
end function

function length( a , b , c )
 length = sqr( a * a + b * b + c * c )
end function

function range( l , h )
 range = rnd(0) * ( h - l ) + l
end function

''=================================================
''end 3d engine stuf


''graphics

sub line3d.cross mx , my , mz , dx , dy , dz , kl , dik
 call line3d.line mx-dx,my,mz,mx+dx,my,mz , kl , dik
 call line3d.line mx,my-dy,mz,mx,my+dy,mz , kl , dik
 call line3d.line mx,my,mz-dz,mx,my,mz+dz , kl , dik
end sub

sub line3d.cube mx , my , mz , dx , dy , dz , kl , dik
 call line3d.line mx - dx , my - dy , mz - dz _
    , mx + dx , my - dy , mz - dz , kl , dik
 call line3d.line mx - dx , my + dy , mz - dz _
    , mx + dx , my + dy , mz - dz , kl , dik
 call line3d.line mx - dx , my - dy , mz + dz _
    , mx + dx , my - dy , mz + dz , kl , dik
 call line3d.line mx - dx , my + dy , mz + dz _
    , mx + dx , my + dy , mz + dz , kl , dik
 call line3d.line mx - dx , my - dy , mz - dz _
    , mx - dx , my + dy , mz - dz , kl , dik
 call line3d.line mx + dx , my - dy , mz - dz _
    , mx + dx , my + dy , mz - dz , kl , dik
 call line3d.line mx - dx , my - dy , mz + dz _
    , mx - dx , my + dy , mz + dz , kl , dik
 call line3d.line mx + dx , my - dy , mz + dz _
    , mx + dx , my + dy , mz + dz , kl , dik
 call line3d.line mx - dx , my - dy , mz - dz _
    , mx - dx , my - dy , mz + dz , kl , dik
 call line3d.line mx + dx , my - dy , mz - dz _
    , mx + dx , my - dy , mz + dz , kl , dik
 call line3d.line mx - dx , my + dy , mz - dz _
    , mx - dx , my + dy , mz + dz , kl , dik
 call line3d.line mx + dx , my + dy , mz - dz _
    , mx + dx , my + dy , mz + dz , kl , dik
end sub

sub line3d.line x1 , y1 , z1 , x2 , y2 , z2 , kl , dik
  r = int( kl ) and 255
  g = int( kl / 256 ) and 255
  b = int( kl / 256 / 256 ) and 255
  dx = WindowWidth
  dy = WindowHeight
  call spot x1 , y1 , z1
  call spot x2 , y2 , z2
  ax = dx / 2 + x1 / ( z1 + 1000 ) * 1000
  ay = dy / 2 - y1 / ( z1 + 1000 ) * 1000
  bx = dx / 2 + x2 / ( z2 + 1000 ) * 1000
  by = dy / 2 - y2 / ( z2 + 1000 ) * 1000
  #m "size " ; dik
  #m "color " ; r ; " " ; g ; " " ; b
  #m "down"
  #m "line " ; ax ; " " ; ay ; " " ; bx ; " " ; by
  #m "up"
end sub

sub line3d.sphere x , y , z , d , kl , dik
 call spot x , y , z
 ''d = d * cam( 6 )
 r = int( kl and 255 )
 g = int( kl / 256 ) and 255
 b = int( kl / 256 / 256 ) and 255
 #m "size " ; dik
 #m "color " ; r ; " " ; g ; " " ; b
 d = d / ( z + 1000 ) * 1000
 dx = WindowWidth
 dy = WindowHeight
 x = dx / 2 + x / ( z + 1000 ) * 1000
 y = dy / 2 - y / ( z + 1000 ) * 1000
 #m "go " ; x ; " " ; y
 #m "down"
 #m "circlefilled "; d
 #m "up"
end sub

function rainbow( x )
 r = sin( rad( x ) ) * 127 + 128
 g = sin( rad( x - 120 ) ) * 127 + 128
 b = sin( rad( x + 120 ) ) * 127 + 128
 rainbow = rgb( r , g , b )
end function

function rgb( r , g , b )
 r = r and 255
 g = g and 255
 b = b and 255
 rgb = r + g * 256 + b * 256 * 256
end function