A snippit from the robot program from OpgenGL game programming. void DrawRobot(float xPos, float yPos, float zPos) { static bool leg1 = true; // robot''s leg states static bool leg2 = false; // true = forward, false = back static bool arm1 = true; static bool arm2 = false; glPushMatrix(); glTranslatef(xPos, yPos, zPos); // draw robot at desired coordinates // draw components DrawHead(1.0f, 2.0f, 0.0f); DrawTorso(1.5f, 0.0f, 0.0f); glPushMatrix(); // if leg is moving forward, increase angle, else decrease angle if (arm1) armAngle[0] = armAngle[0] + 0.1f; else armAngle[0] = armAngle[0] - 0.1f; // once leg has reached its maximum angle in a direction, // reverse it if (armAngle[0] >= 15.0f) arm1 = false; if (armAngle[0] <= -15.0f) arm1 = true; // move the leg away from the torso and rotate it to give "walking" effect glTranslatef(0.0f, -0.5f, 0.0f); glRotatef(armAngle[0], 1.0f, 0.0f, 0.0f); DrawArm(2.5f, 0.0f, -0.5f); glPopMatrix(); glPushMatrix(); // if leg is moving forward, increase angle, else decrease angle if (arm2) armAngle[1] = armAngle[1] + 0.1f; else armAngle[1] = armAngle[1] - 0.1f; // once leg has reached its maximum angle in a direction, // reverse it if (armAngle[1] >= 15.0f) arm2 = false; if (armAngle[1] <= -15.0f) arm2 = true; // move the leg away from the torso and rotate it to give "walking" effect glTranslatef(0.0f, -0.5f, 0.0f); glRotatef(armAngle[1], 1.0f, 0.0f, 0.0f); DrawArm(-1.5f, 0.0f, -0.5f); glPopMatrix(); //DrawArm(-1.5f, 0.0f, -0.5f); // we want to rotate the legs relative to the robot''s position in the world // this is leg 1, the robot''s right leg glPushMatrix(); // if leg is moving forward, increase angle, else decrease angle if (leg1) legAngle[0] = legAngle[0] + 0.1f; else legAngle[0] = legAngle[0] - 0.1f; // once leg has reached its maximum angle in a direction, // reverse it if (legAngle[0] >= 15.0f) leg1 = false; if (legAngle[0] <= -15.0f) leg1 = true; // move the leg away from the torso and rotate it to give "walking" effect glTranslatef(0.0f, -0.5f, 0.0f); glRotatef(legAngle[0], 1.0f, 0.0f, 0.0f); // draw the leg DrawLeg(-0.5f, -5.0f, -0.5f); glPopMatrix(); // do the same as above with leg 2, the robot''s left leg glPushMatrix(); if (leg2) legAngle[1] = legAngle[1] + 0.1f; else legAngle[1] = legAngle[1] - 0.1f; if (legAngle[1] >= 15.0f) leg2 = false; if (legAngle[1] <= -15.0f) leg2 = true; glTranslatef(0.0f, -0.5f, 0.0f); glRotatef(legAngle[1], 1.0f, 0.0f, 0.0f); DrawLeg(1.5f, -5.0f, -0.5f); glPopMatrix(); glPopMatrix(); } Now, How are you supposed to keep track of what matrix corresponds to what parts... I mean it is very confusing.... You have to do a pushmatrix to get to a certain part... How could I do a pushmatrix thing to get to the head to rotate it and such....????

n/m I figured it out.