 function [Cone,EndPlate1,EndPlate2] = Cone(hAxis,X1,X2,R,n,cyl_color,closed,lines)
%
% This function constructs a cylinder connecting two center points 
% 
% Usage :
% [Cone,EndPlate1,EndPlate2] = Cone(X1,X2,R,n,cyl_color,closed,lines)
%    
% Cone-------Handle of the cone
% EndPlate1------Handle of the Starting End plate
% EndPlate2------Handle of the Ending End plate
% X1 and X2 are the 3x1 vectors of the two points
% R is the radius of the cylinder/cone R(1) = start radius, R(2) = end radius
% n is the no. of elements on the cylinder circumference (more--> refined)
% cyl_color is the color definition like 'r','b',[0.52 0.52 0.52]
% closed=1 for closed cylinder or 0 for hollow open cylinder
% lines=1 for displaying the line segments on the cylinder 0 for only
% surface
% 
% Typical Inputs
% X1=[10 10 10];
% X2=[35 20 40];
% r=[1 5];
% n=20;
% cyl_color='b';
% closed=1;
% 
% NOTE: There is a MATLAB function "cylinder" to revolve a curve about an
% axis. This "Cylinder" provides more customization like direction and etc


% Calculating the length of the Cone
length_cyl=norm(X2-X1);

% Creating 2 circles in the YZ plane
t=linspace(0,2*pi,n)';
xa2=R(1)*cos(t);
xa3=R(1)*sin(t);
xb2=R(2)*cos(t);
xb3=R(2)*sin(t);

% Creating the points in the X-Direction
x1=[0 length_cyl];

% Creating (Extruding) the cylinder points in the X-Directions
xx1=repmat(x1,length(xa2),1);
xx2=[xa2 xb2];%xx2=repmat(x2,1,2);
xx3=[xa3 xb3];%xx3=repmat(x3,1,2);

% Drawing two filled cirlces to close the cylinder
if closed==1
    EndPlate1=fill3(xx1(:,1),xx2(:,1),xx3(:,1),'r', 'Parent', hAxis);
    EndPlate2=fill3(xx1(:,2),xx2(:,2),xx3(:,2),'r', 'Parent', hAxis);
end

% Plotting the cylinder along the X-Direction with required length starting
% from Origin
Cone=mesh(hAxis,xx1,xx2,xx3, 'Parent', hAxis);

% Defining Unit vector along the X-direction
unit_Vx=[1 0 0];

% Calulating the angle between the x direction and the required direction
% of Cone through dot product
angle_X1X2=acos( dot( unit_Vx,(X2-X1) )/( norm(unit_Vx)*norm(X2-X1)) )*180/pi;

% Finding the axis of rotation (single rotation) to roate the Cone in
% X-direction to the required arbitrary direction through cross product
axis_rot=cross([1 0 0],(X2-X1) );

% Rotating the plotted Cone and the end plate circles to the required
% angles
if angle_X1X2~=0 % Rotation is not needed if required direction is along X
    rotate(Cone,axis_rot,angle_X1X2,[0 0 0])
    if closed==1
        rotate(EndPlate1,axis_rot,angle_X1X2,[0 0 0])
        rotate(EndPlate2,axis_rot,angle_X1X2,[0 0 0])
    end
end

% Till now Cone has only been aligned with the required direction, but
% position starts from the origin. so it will now be shifted to the right
% position
if closed==1
    set(EndPlate1,'XData',get(EndPlate1,'XData')+X1(1))
    set(EndPlate1,'YData',get(EndPlate1,'YData')+X1(2))
    set(EndPlate1,'ZData',get(EndPlate1,'ZData')+X1(3))
    
    set(EndPlate2,'XData',get(EndPlate2,'XData')+X1(1))
    set(EndPlate2,'YData',get(EndPlate2,'YData')+X1(2))
    set(EndPlate2,'ZData',get(EndPlate2,'ZData')+X1(3))
end
set(Cone,'XData',get(Cone,'XData')+X1(1))
set(Cone,'YData',get(Cone,'YData')+X1(2))
set(Cone,'ZData',get(Cone,'ZData')+X1(3))

% Setting the color to the Cone and the end plates
set(Cone,'AmbientStrength',1,'FaceColor',cyl_color,'FaceLighting','gouraud', 'Parent', hAxis);%,'EdgeColor','none')
if closed==1
    set([EndPlate1 EndPlate2],'AmbientStrength',1,'FaceColor',cyl_color,'FaceLighting','gouraud', 'Parent', hAxis);%,'EdgeColor','none')
else
    EndPlate1=[];
    EndPlate2=[];
end

% If lines are not needed making it disapear
if lines==0
    set(Cone,'EdgeAlpha',0)
end

%shading faceted % faceted flat interp;
%camlight; 
%light;
%lighting gouraud; %flat gouraud phong none
% material shiny; %shiny dull metal
%colormap(bone)

%camlight  headlight;
%light('Style','local','Position',[720 0 500]);
%light('Style','local','Position',[0 480 500]);