function draw_book(R,d,rW,rL,rT,bookcolor)

%Draw a book just like in 'Tossing a Book in the Air' example. Reference
%orientation is eye(3,3) and reference position is origin.

%R: 3x3 rotation matrix
%d: 3x1 array which are vector components (position of the center of mass)

rCM = d;
e1 = R(:,1); e2 = R(:,2); e3 = R(:,3);

%We need to animate 6 planes to form a cuboid. Track 8 material points of 
%one of the plane of the object:
r1 = rCM + 0.5*rL*e1 + 0.5*rW*e2 + 0.5*rT*e3;
r2 = rCM - 0.5*rL*e1 + 0.5*rW*e2 + 0.5*rT*e3;
r3 = rCM - 0.5*rL*e1 - 0.5*rW*e2 + 0.5*rT*e3;
r4 = rCM + 0.5*rL*e1 - 0.5*rW*e2 + 0.5*rT*e3;
r5 = rCM + 0.5*rL*e1 + 0.5*rW*e2 - 0.5*rT*e3;
r6 = rCM - 0.5*rL*e1 + 0.5*rW*e2 - 0.5*rT*e3;
r7 = rCM - 0.5*rL*e1 - 0.5*rW*e2 - 0.5*rT*e3;
r8 = rCM + 0.5*rL*e1 - 0.5*rW*e2 - 0.5*rT*e3;

hold on;

CM = line(rCM(1), rCM(2), rCM(3), 'Color', bookcolor, 'LineWidth', 3);

%Plane 1, 2, 3, 4, 5, 6's vertices over time:
vertices1_x = [r1(1,:); r2(1,:); r3(1,:); r4(1,:)];
vertices1_y = [r1(2,:); r2(2,:); r3(2,:); r4(2,:)];
vertices1_z = [r1(3,:); r2(3,:); r3(3,:); r4(3,:)];
surf_1 = patch(vertices1_x(:,1), vertices1_y(:,1), vertices1_z(:,1), bookcolor, 'FaceAlpha', 0.3);

vertices2_x = [r5(1,:); r6(1,:); r7(1,:); r8(1,:)];
vertices2_y = [r5(2,:); r6(2,:); r7(2,:); r8(2,:)];
vertices2_z = [r5(3,:); r6(3,:); r7(3,:); r8(3,:)];
surf_2 = patch(vertices2_x(:,1), vertices2_y(:,1), vertices2_z(:,1), bookcolor, 'FaceAlpha', 0.3);

vertices3_x = [r3(1,:); r4(1,:); r8(1,:); r7(1,:)];
vertices3_y = [r3(2,:); r4(2,:); r8(2,:); r7(2,:)];
vertices3_z = [r3(3,:); r4(3,:); r8(3,:); r7(3,:)];
surf_3 = patch(vertices3_x(:,1), vertices3_y(:,1), vertices3_z(:,1), bookcolor, 'FaceAlpha', 0.3);

vertices4_x = [r1(1,:); r2(1,:); r6(1,:); r5(1,:)];
vertices4_y = [r1(2,:); r2(2,:); r6(2,:); r5(2,:)];
vertices4_z = [r1(3,:); r2(3,:); r6(3,:); r5(3,:)];
surf_4 = patch(vertices4_x(:,1), vertices4_y(:,1), vertices4_z(:,1), bookcolor, 'FaceAlpha', 0.3);

vertices5_x = [r1(1,:); r4(1,:); r8(1,:); r5(1,:)];
vertices5_y = [r1(2,:); r4(2,:); r8(2,:); r5(2,:)];
vertices5_z = [r1(3,:); r4(3,:); r8(3,:); r5(3,:)];
surf_5 = patch(vertices5_x(:,1), vertices5_y(:,1), vertices5_z(:,1), bookcolor, 'FaceAlpha', 0.3);

vertices6_x = [r2(1,:); r3(1,:); r7(1,:); r6(1,:)];
vertices6_y = [r2(2,:); r3(2,:); r7(2,:); r6(2,:)];
vertices6_z = [r2(3,:); r3(3,:); r7(3,:); r6(3,:)];
surf_6 = patch(vertices6_x(:,1), vertices6_y(:,1), vertices6_z(:,1), bookcolor, 'FaceAlpha', 0.3);