茶壺手臂
#include <GL/glut.h>
#include <stdio.h>
float angle1=0;
void display()
{
glEnable(GL_DEPTH_TEST);
glClear(GL_COLOR_BUFFER_BIT| GL_DEPTH_BUFFER_BIT);
glPushMatrix();
glColor3f(0,0,1);
glutSolidTeapot(0.3);
glPushMatrix();
glTranslatef(0.5,0.15,0); ///step 3 把手臂掛在茶壺上
glRotatef(angle1,0,0,1);
glTranslatef(0.3,0,0); ///step 2將手臂藥的關節移到中心,並且可以旋轉看看(其他東西關掉)
glScalef(1,0.3,0.3);
glColor3f(0,1,0);
glutSolidSphere(0.3,30,30); ///step1 這是手臂
glPopMatrix();
glPopMatrix();
glFlush();
}
void motion(int x,int y)
{
angle1=x;
glutPostRedisplay();
}
int main (int argc,char**argv)
{
glutInit(&argc,argv);
glutCreateWindow("Robot");
glutDisplayFunc(display);
glutMotionFunc(motion);
glutMainLoop();
}
創造一個檔案
讓他處存
讓他自己動
#include <GL/glut.h>
#include<stdio.h>
FILE * fout=NULL;
FILE * fin=NULL;
float angle[10]={}, oldX=0, oldY=0;
int angleID=1;
void motion(int x, int y)
{
angle[angleID] -= y - oldY;
oldY=y; oldX=x;
if(fout==NULL) fout = fopen("a.txt", "w+");
for(int i=0;i<10;i++){
printf( "%f ", angle[i]);
fprintf(fout, "%f ", angle[i]);
}
printf("\n");
fprintf(fout, "\n");
}
void timerplay(int t)
{
glutTimerFunc(500, timerplay,t+1);
if(fin==NULL) fin=fopen("a.txt", "r");
for(int i=0;i<10;i++){
fscanf(fin, "%f",&angle[i]);
printf("%f ",angle[i]);
}
glutPostRedisplay();
}
void keyboard(unsigned char key, int x, int y)
{
if(key=='1') angleID=1;
if(key=='2') angleID=2;
if(key=='3') angleID=3;
if(key=='4') angleID=4;
if(key=='p') glutTimerFunc(10,timerplay,0);
}
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
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
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
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
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);
glutMotionFunc(motion);
glutKeyboardFunc(keyboard);
glutMainLoop();
}
再來是輸入公仔啦~
內插公式:
(1-a)old+(a)now
void timerPlay()
{
glutTimerFunc(20,timerPlay,t+1);
if(t%100==0)readNew();
a=(t%100)/100.0;
for(int i=0;i<10;i++)
{
angle[i]=(1-a)*angleOla[i]+(a)*angleNew[i];
}
glutPostRedisplay();
}
void readNew()
{
if(fin==NULL)fin=fopen("a.txt","r");
for(int i=0;i<10;i++)
{
angleOld[i]=angleNew[i];
fscanf(fin,"%f",&angleNew[i]);
}
}
沒有留言:
張貼留言