//$fn = 50;

module lowerLeg() {
  translate([0, 0, -6]) union() {
    translate([0, 0, 0]) cylinder(d1=1.5, d2=2.0, h=6);
    translate([0, -0.25, 3.75]) scale([1, 1, 2]) sphere(1);
    translate([0, 0, 6]) sphere(1);
  }
}

module upperLeg() {
  translate([0, 0, -6])
  intersection() {
    union() {
      cylinder(d1=2.0, d2=2.75, h=6);
      translate([0, 0.05, 3.5]) scale([1.30, 1.50, 4]) sphere(1);
    }
    cylinder(d1=3, d2=3.75, h=6);
  }
}

module leg(footTilt = 0, calfTilt = 0, thighTilt =0) {
  rotate([thighTilt, 0, 0])
  union() {
    upperLeg();
    translate([0, 0, -5.75])
    rotate([calfTilt, 0, 0])
    union() {
      lowerLeg();
      translate([0, 0, -5.75])
      rotate([footTilt, 0, 0])
      translate([0, 1, 0])
      scale([1, 2, 1]) sphere(1);
    }
  }
  // foot
  //translate([0, 1, 0]) rotate([0, 0, 0]) scale([1, 2, 1]) sphere(1);
  //translate([0, 0, 0]) lowerLeg();
  //translate([0, 0, 8.4]) upperLeg();
}

module upperArm() {
  translate([0, 0, -5])
  union() {
    cylinder(d1=1.4, d2=1.8, h=5);
    translate([0, -0.1, 3]) scale([0.85, 1, 2.75]) sphere(1);
    translate([0, 0.25, 3]) scale([1.00, 1, 2.25]) sphere(1);
  }
}

module lowerArm() {
  translate([0, 0, -4.5]) cylinder(d1=1.25, d2=1.4, h=4.5);
  translate([0, 0, -1.25]) scale([1, 1, 2.5]) sphere(0.80);
}

module arm(rotation = 0, flexion = 0, abduction = 0, elbowFlexion = 0) {
  // shoulder
  sphere(0.90);

  rotate([flexion, abduction, rotation])
  union() {
    upperArm();

    // elbow
    translate([0, 0, -5]) sphere(0.7);

    translate([0, 0, -5])
    rotate([elbowFlexion, 0, 0])
    union() {
      lowerArm();
      translate([0, 0, -4.5]) scale([1, 0.75, 1.5]) sphere(1);
    }
  }
}

module person(
  // forward/backword, sideways, rotation
  torso = [0, 0, 0],

  // flexion, knee flexion, ankle flexion, abduction, rotation
  leftLeg = [0, 0, 0, 0, 0],
  rightLeg = [0, 0, 0, 0, 0],

  // flexion, elbow flexion, abduction, rotation
  leftArm = [0, 0, -90, 0],
  rightArm = [0, 0, 90, 0]
) {

  rotate([torso[0], torso[1], torso[2]])
  union() {

    // helmet
    translate([0, 0, 9]) scale([2, 1.75, 2])
    intersection() {
      sphere(1);
      translate([0, 0, 0.6]) cube([2, 2, 1], center=true);
    }

    // head & neck
    translate([0, 0, 9]) scale([1.75, 1.5, 2]) sphere(1);
    translate([0, 0, 7]) cylinder(d=1.5, h=2);

    // torso
    intersection() {
      scale([3, 1.75, 1]) cylinder(r1=0.9, r2=1.1, h=7);
      translate([0, 0, -0.5]) scale([8, 4, 8]) sphere(1);
    }

    // backpack
    translate([0, -2, 4]) intersection() {
      cube([4.5, 2, 6], center=true);
      scale([3.5, 2, 3.5]) sphere(1);
    }

    // arms
    translate([-3, 0, 6]) arm(
      rotation = leftArm[3],
      flexion = leftArm[0],
      abduction = leftArm[2],
      elbowFlexion = leftArm[1]);
    translate([3, 0, 6]) arm(
      rotation = rightArm[3],
      flexion = rightArm[0],
      abduction = rightArm[2],
      elbowFlexion = rightArm[1]);
  }

  // pelvis
  translate([0, 0, -0.5]) scale([3, 1.75, 2]) sphere(1);

  // legs
  translate([-1.5, 0, 0])
  rotate([0, leftLeg[3], leftLeg[4]])
  leg(
    thighTilt = leftLeg[0],
    calfTilt = leftLeg[1],
    footTilt = leftLeg[2]);
  translate([1.5, 0, 0])
  rotate([0, rightLeg[3], rightLeg[4]])
  leg(
    thighTilt = rightLeg[0],
    calfTilt = rightLeg[1],
    footTilt = rightLeg[2]);
}

module soldier() {
  difference() {
    union() {
      // base
      translate([0, 0, 0.5]) cylinder(d=14, h=1, center=true);

      // soldier
      translate([0, 0, 12.25])
      person(
        torso = [-10, -3, -5],
        leftLeg = [5, -15, -20, 20, 60],
        rightLeg = [20, -24, 4, 0, -15],
        leftArm = [-20, 100, 0, -30],
        rightArm = [20, 130, -10, 45]);

      // gun
      translate([0, 4, 18])
      rotate([-20, -10, -90])
      union() {
        translate([0, 0, 1]) cylinder(d=0.8, h=12, center=true);
        translate([0, 0.4, -2]) cube([0.8, 1, 6], center=true);
        translate([0, 0.6, -6]) rotate([10, 0, 0]) cube([0.8, 1.25, 4], center=true);
      }
    }

    translate([0, 0, -0.499]) cylinder(d=14, h=1, center=true);
  }
}

soldier();