02160040_周子伍, Week15

一開始老師教的是延續上一堂課的延伸教學，調整茶壺的中心點和移動轉動方位! 

程式碼如下:

#include <GL/glut.h>

#include <stdio.h>

float x1=-0.4, y1=0, x2=0, y2=0, angle=0;

void display()

{

    glEnable(GL_DEPTH_TEST);

    glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);

    glPushMatrix();

        glTranslatef(x1, y1, 0);//要掛在哪裡?

        glRotatef(angle, 0,0,1);

        glTranslatef(-0.25, -0.11, 0);

        glColor3f(1,1,0);

        glutSolidTeapot(0.2);

    glPopMatrix();

    glPushMatrix();

        glTranslatef(x2, y2, 0);

        glColor3f(1,0,0);

        glutSolidTeapot(0.2);

    glPopMatrix();

    glFlush();///先不用 glutSwapBuffers(); 配合 glutInitDisplayMode(GLUT_DOUBLE);

}

void keyboard(unsigned char key, int x, int y)

{

    if(key=='1') x1+=0.1;

    if(key=='2') x1-=0.1;

    if(key=='3') y1+=0.1;

    if(key=='4') y1-=0.1;

    if(key=='5') angle+=10;

    if(key=='6') angle-=10;

    printf("%f %f\n", x1, y1);

    glutPostRedisplay();

}

int main(int argc, char**argv)

{

    glutInit(&argc, argv);

    glutCreateWindow("Robot3D");

    glutDisplayFunc(display);

    glutKeyboardFunc(keyboard);

    glutMainLoop();

}

這個是在測試每個關節都能運動和麻煩的存檔動作，利用以上那些方法幫助我們期末作品能更加順利完成 !

程式碼如下:

#include <GL/glut.h>

#include <stdio.h>

FILE * fout = NULL;

float oldX=0, oldY=0;

float angle[8]={0,0,0,0,0,0,0,0};

int now=0;

void motion(int x, int y)

{

    angle[now] -=oldY;

    oldY=y; oldX=x;

    for(int i=0;i<8;i++)

        printf("%.1f\t",angle[i]);

    printf("\n");

}

void keyboard(unsigned char key, int x, int y)

{

    if(key=='1')now=1;

    if(key=='2')now=2;

    if(key=='3')now=3;

    if(key=='4')now=4;

    glutPostRedisplay();

}

void drawBody(){

    glPushMatrix();

    glScalef(1, 0.5, 0.5);

    glutSolidCube(1);

    glPopMatrix();

}

void drawArm(){

    glPushMatrix();

    glScalef(0.6, 0.3, 0.3);

    glutSolidCube(1);

    glPopMatrix();

}

void display()

{

    { ///Lighting

    glColor3ub(166,132,100);

    GLfloat pos[]={0, 0, -1, 0};

    glLightfv(GL_LIGHT0, GL_POSITION, pos);

    glEnable(GL_LIGHT0);

    glEnable(GL_LIGHTING);

    glEnable(GL_DEPTH_TEST);

    glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);

    }

    glPushMatrix();

        glTranslatef(0.5, 0, 0);///最後一步, 把樓下的 "會對Arm Joint做旋轉的東西" 再移到右上 掛上去 ver 4

        glRotatef(angle[1], 0,0,1);///把下面整團, 都對中間做旋轉 ver 3

        glTranslatef(0.25, 0,0);///這是把它往右移, Arm Joint在中間 ver 2

        glColor3f(0,0,1);

        drawArm();///這是個Arm ver 1  Right Upper Arm

        glPushMatrix();

            glTranslatef(0.25, 0, 0);///最後一步, 把樓下的 "會對Arm Joint做旋轉的東西" 再移到右上 掛上去 ver 4

            glRotatef(angle[2], 0,0,1);///把下面整團, 都對中間做旋轉 ver 3

            glTranslatef(0.25, 0,0);///這是把它往右移, Arm Joint在中間 ver 2

            glColor3f(0,1,0);

            drawArm(); ///Right Lower Arm

        glPopMatrix();

    glPopMatrix();

    glPushMatrix();

        glTranslatef(-0.5, 0, 0);///最後一步, 把樓下的 "會對Arm Joint做旋轉的東西" 再移到右上 掛上去 ver 4

        glRotatef(-angle[3], 0,0,1);///把下面整團, 都對中間做旋轉 ver 3

        glTranslatef(-0.25, 0,0);///這是把它往右移, Arm Joint在中間 ver 2

        glColor3f(0.5,0.5,1);

        drawArm();///這是個Arm ver 1  Left Upper Arm

        glPushMatrix();

            glTranslatef(-0.25, 0, 0);///最後一步, 把樓下的 "會對Arm Joint做旋轉的東西" 再移到右上 掛上去 ver 4

            glRotatef(-angle[4], 0,0,1);///把下面整團, 都對中間做旋轉 ver 3

            glTranslatef(-0.25, 0,0);///這是把它往右移, Arm Joint在中間 ver 2

            glColor3f(0.5,1,0.5);

            drawArm(); ///Left Lower Arm

        glPopMatrix();

    glPopMatrix();

    drawBody();

    glFlush();

}

void mouse(int button, int state, int x, int y){

    if(state==GLUT_DOWN) { oldX=x; oldY=y; }

}

void timer(int t)

{

    glutTimerFunc(20, timer, t+1);

    //angle++;

    glutPostRedisplay();

}

int main(int argc, char**argv)

{

    glutInit(&argc, argv);

    glutCreateWindow("T-R-T test");

    glutDisplayFunc(display);

    glutTimerFunc(20, timer, 0);

    glutMouseFunc(mouse);

    glutKeyboardFunc(keyboard);

    glutMotionFunc(motion);

    glutMainLoop();

}