function drawCube ( origin, size )
x=([0 1 1 0 0 0;1 1 0 0 1 1;1 1 0 0 1 1;0 1 1 0 0 0]-0.5)*size(1)+origin(1)+size(1)/2;
y=([0 0 1 1 0 0;0 1 1 0 0 0;0 1 1 0 1 1;0 0 1 1 1 1]-0.5)*size(2)+origin(2)+size(2)/2;
z=([0 0 0 0 0 1;0 0 0 0 0 1;1 1 1 1 0 1;1 1 1 1 0 1]-0.5)*size(3)+origin(3)+size(3)/2;
for i=1:6
    h=patch(x(:,i),y(:,i),z(:,i),'w');
    set(h,'edgecolor','k')
end
