02161095_陳薇亘, week15

畫兩個茶壺 可運用變數改變位置或角度
#include <GL/glut.h>
float x1=-0.4,y1=0,x2=0.4,y2=0;
void display()
{
    glEnable(GL_DEPTH_TEST);
    glClear(GL_COLOR_BUFFER_BIT|GL_DEPTH_BUFFER_BIT);
    glPushMatrix();
        glTranslatef(x1,y1,0);
        glColor3f(1,1,0);
        glutSolidTeapot(0.2);
    glPopMatrix();
    glPushMatrix();
        glTranslatef(x2,y2,0);
        glColor3f(1,0,0);
        glutSolidTeapot(0.2);
    glPopMatrix();
    glFlush();
}
int main(int argc,char**argv)
{
    glutInit(&argc, argv);
    glutCreateWindow("Robot3D");
    glutDisplayFunc(display);
    glutMainLoop();
}

#include <GL/glut.h>
#include <stdio.h>
float x1=-0.4,y1=0,x2=0,y2=0,angle=0,angle2=0;
void display()
{
    glEnable(GL_DEPTH_TEST);
    glClear(GL_COLOR_BUFFER_BIT|GL_DEPTH_BUFFER_BIT);
    glPushMatrix();///blue
        glTranslatef(x2,y2,0);
        glRotatef(angle,0,0,1);
        glColor3f(0,0,1);
        glutSolidTeapot(0.2);
    glPopMatrix();
    glPushMatrix();///green
        glTranslatef(x1,y1,0);
        glRotatef(angle2,0,0,1);
        glTranslatef(-0.25,-0.11,0);///先把茶壺移置畫面中心
        glColor3f(0,1,0);
        glutSolidTeapot(0.2);
    glPopMatrix();
    glFlush();
}
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;
    if(key=='7')angle2+=10;
    if(key=='8')angle2-=10;
    printf("%f %f\n",x1,y1);
    glutPostRedisplay();
}
int main(int argc,char**argv)
{
    glutInit(&argc, argv);
    glutCreateWindow("Robot3D");
    glutDisplayFunc(display);
    glutKeyboardFunc(keyboard);
    glutMainLoop();
}

#include <GL/glut.h>

float angle=0,angle2=0,angle3=0,angle4=0 ,oldX=0, oldY=0;

///float angle[10]={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, 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(angle2, 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(-angle3, 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(-angle4, 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 motion(int x, int y)

{   angle -= y - oldY;

    oldY=y; oldX=x;

}

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

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

}

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

{

    if(key=='1')angle++;

    if(key=='2')angle2++;

    if(key=='3')angle3++;

    if(key=='4')angle4++;

    if(key=='5')angle--;

    if(key=='6')angle2--;

    if(key=='7')angle3--;

    if(key=='8')angle4--;

    glutPostRedisplay();

}

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();

}

    按1則動關節1

按2則動關節2

利用滑鼠配合鍵盤控制機器人手臂

#include <GL/glut.h>

float oldX=0, oldY=0;///angle=0,angle2=0,angle3=0,angle4=0

float angle[10]={0};

int now=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

        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 motion(int x, int y)

{

    angle[now] -= y - oldY;

    oldY=y; oldX=x;

}

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

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

}

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 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();

}

做存檔用的txt.

#include <GL/glut.h>

#include <stdio.h>///存檔用

FILE *fout=NULL;///存檔用file output

float oldX=0, oldY=0;///angle=0,angle2=0,angle3=0,angle4=0

float angle[10]={0};

int now=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

        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 motion(int x, int y)

{

    angle[now] -= y - oldY;

    oldY=y; oldX=x;

    if(fout==NULL)fout=fopen("a.txt","w+");///存檔用

    for(int i=0;i<10;i++)

    {

        fprintf(fout,"%.1f",angle[i]);

    }

     fprintf(fout,"\n");

}

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

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

}

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 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();

}