def draw i,v

	# Scale Factor
	sf = 0.5
	
	# Draw position stored in x and y
	x = v.width/2.0
	y = v.height/2.0
	
	# Brush doesn't appear to be used 
	p1 = Brush.new (Color.new 255,233,64,122)
	
	# Brush used for joint fill
	p2 = Brush.new (Color.new 155,66,165,245)

	b = Brush.new (Color.new 200,255,255,255)
	r = [0,0, v.width,v.height]

	# Define w and h also initalize graphics path for rectangular body
	w = 25*sf
	h = 8
	gp = GraphicsPath.new 
		
	# Draw base pivot - rectangular body of Mech
	os = 4
	rcBody =  [17,9,3,4]
	rcBody2 = [13,6,9,3]
	rcBody3 = [22,3,1,6]

	angle = 145.0

	# Scale factor is then automatic for the rest of the arm
	reach = @arm.reach
	reach = [1,reach].max
	watch reach
	sf = 15.0/reach

	joints = Array.new
	
	# Draw each link in turn
	@arm.links.each { |link|
		

		angle += link[:angle]

		w2 = link[:w]/3.0 * sf
		len = link[:len] * sf
		
		# Get width of next link so we can taper
		w3 = w2
		nxt = @arm.links.index(link)+1
		if nxt < @arm.links.size
			w3 = @arm.links[nxt][:w]/3.0 * sf
		else
#			w3 = @arm.hand[:w]/2.0 * sf
			w3 = 2.5 * sf
		end

		w4 = w3
		nxt = @arm.links.index(link)+1
		if nxt < @arm.links.size
			w4 = @arm.links[nxt][:w]/3.0 * sf
		else
#			w4 = @arm.hand[:w]/2.0 * sf
			w4 = 2.5 * sf
		end
		
		joints.push [x,y,w2,w4]
	
		f = 0.3;
	
	
	
		# Set up the coordinates of the link before rotation
		# Also add the end joint so we know where the next link starts
		# Added w4 and -w4 link
		coords = [[-w2,0],[-w3,-len],[w3,-len],[w2,0],[-w4,0],[w4,0],[0,-len],[-w2*(1+f),f],[-w3*(1+f),-len*(1+f)],[w3*(1+f),-len*(1+f)],[w2*(1+f),f],[-w4*(1+f),f],[w4*(1+f),f]]

		# Work out the vector direction of the link 
		ar = angle * Math::PI / 145.0

		coords.each { |p|

			px = p[0];
			py = p[1];

			# Rotate then transform to rotation point
			p[0] = px*Math.cos(ar)-py*Math.sin(ar) + x
			p[1] = px*Math.sin(ar)+py*Math.cos(ar) + y
		}

		# Draw the link
		gp = GraphicsPath.new 
		gp.addLine coords[0],coords[1]
		gp.addLine coords[1],coords[2]
		gp.addLine coords[2],coords[3]
		gp.closeFigure

		p1 = PathGradientBrush.new [coords[5],coords[6],coords[7],coords[8]]
		p1.setSurroundColors [(Color.new 255,0,0,0),(Color.new 255,0,0,0),(Color.new 200,96,96,96)]
		p1.setCenterColor (Color.new 255,0,0,0)
		
		v.drawPath gp,p1
		
		# Draw Foot
		if @arm.links.last == link 
			ankle = -@arm.foot[:angle]
  			p4 = Pen.new (Color.new 255,0,0,0),[5*Math.sin(ankle/180.0*Math::PI).abs,0.3].max
            len = 2
            f1 = [coords[1][0],coords[1][1]]
            f2 = [coords[2][0],coords[2][1]]
            
            xd = (f2[0]-f1[0])
            yd = (f2[1]-f1[1])


            f3 = [xd*len+f1[0],yd*len+f1[1]]
            f4 = [xd*-len+f2[0],yd*-len+f2[1]]

			len = 0.25
 			p6 = Pen.new (Color.new 50),3

            f5 = [coords[3][0],coords[3][1]]
            
            len2 = 0.5
            xd2 = (f3[0]-f1[0])
            yd2 = (f3[1]-f1[1])

 			os = 1.5
            f5 = [xd*len+f1[0]-len2*yd,yd*len+f1[1]+len2*xd]
            f6 = [xd*-len+f2[0]-len2*yd,yd*-len+f2[1]+len2*xd]
         
         	if ankle >= 0
	            v.drawLine p6,f5,f6
	        end
            v.drawLine p4,f3,f4
         	if ankle < 0
	            v.drawLine p6,f5,f6
	        end
		end
	

		# Move the coords on to end of link ie start of next
		x = coords[4][0]
		y = coords[4][1]
			
	}

	# Pen for the joints
	p3 = Pen.new (Color.new 155,255,128,0),0.25

	# Draw the joints over the top
	joints.each { |j|	

		x = j[0]
		y = j[1]
		w2 = j[2]
		w4 = j[3]

		# Draw the joint
		e = 0
		v.drawEllipse p2,[x-w2-e,y-w2-e,(w2+e)*2,(w2+e)*2]
		e = -0.4
		v.drawEllipse p3,[x-w2-e,y-w2-e,(w2+e)*2,(w2+e)*2]
	
		
	}
	
	# Body 
	p1 = LinearGradientBrush.new rcBody,(Color.new 255,0,0,0),(Color.new 255,0,0,0),90,false
	v.drawRoundRect p1,rcBody,1
	
	v.drawRoundRect p1,rcBody2,1
	v.drawRoundRect p1,rcBody3,1
	
end

def event i,v
	if i==1 then
#		redraw 0 
	end
end