public void draw(boolean isStick)
    {
        gl.glPushMatrix();
        gl.glTranslatef(origin[X], origin[Y], origin[Z]);
        gl.glRotated(hipRot * (this.isLeft ? 1 : -1), hipRotVec.x(), hipRotVec.y(), hipRotVec.z());
        gl.glTranslatef(0, 0, -this.uDimensions[Z]);
        gl.glScalef(this.uDimensions[X], this.uDimensions[Y], this.uDimensions[Z]);
        if (isStick) // if the stick figures mode is on
        {
            glut.glutSolidCylinder(0.01*(1/this.lDimensions[X]), 1D, 16, 16);
        }
        else // if the solid robots mode is on
        {
            glut.glutSolidCylinder(.5D, 1D, 16, 16);
        }
        gl.glScalef(1/this.uDimensions[X], 1/this.uDimensions[Y], 1/this.uDimensions[Z]);
        gl.glTranslatef(0, 0, -(this.kneeRadius));
        this.drawSphere(this.kneeRadius, 128, 128);
        gl.glRotated(this.kneeRot, this.kneeRotVec.x(), this.kneeRotVec.y(), this.kneeRotVec.z());
        gl.glTranslatef(0, 0, -(this.kneeRadius)-this.lDimensions[Z]);
        gl.glScalef(this.lDimensions[X], this.lDimensions[Y], this.lDimensions[Z]);
        if (isStick) // if stick figures mode is on
        {
            glut.glutSolidCylinder(0.01*(1/this.lDimensions[X]), 1D, 16, 16);
        }
        else // if solid robots mode is on
        {
            glut.glutSolidCylinder(.5D, 1D, 16, 16);
        }
        if (!isStick) // draw the foot only when stick figures mode is off
        {
            gl.glScalef(1/this.lDimensions[X], 1/this.lDimensions[Y], 1/this.lDimensions[Z]);
            //gl.glTranslatef(0, 0, -this.lDimensions[Z]/2);
            gl.glRotatef(90, 1.0f, 0.0f, 0.0f);
            gl.glRotatef(90, 0.0f, 1.0f, 0.0f);
            // Foot
            gl.glTranslatef(this.lDimensions[X]/2, 0.0f, 0.005F);
            gl.glScalef(this.lDimensions[X] * 1.25f, this.lDimensions[X] * 1f, this.lDimensions[X] * 1f);
            this.drawHalfSphere(1f, 128, 128);
            gl.glScalef(1.0f, 0.0f, 1.0f);
            this.drawHalfSphere(1f, 128, 128);
        }
        gl.glPopMatrix();
    }