Week15 課堂作業, 許志遙

(單一)鍵盤控制模擬機器人試做

#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=='6') x1+=0.1;
    if(key=='4') x1-=0.1;
    if(key=='8') y1+=0.1;
    if(key=='2') y1-=0.1;
    if(key=='7') angle+=10;
    if(key=='9') angle-=10;
    printf("%f %f\n", x1, y1);
    glutPostRedisplay();
}
int main(int argc, char**argv)
{
    glutInit(&argc, argv);
    glutCreateWindow("Iron Man!!");
    glutDisplayFunc(display);
    glutKeyboardFunc(keyboard);
    glutMainLoop();
}


同上(加入複數轉動)

#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();
        glTranslatef(x2, y2, 0);//要掛在哪裡?
        glRotatef(angle, 0,0,1);
        glColor3f(0,0,1);
        glutSolidTeapot(0.2);
        glPushMatrix();
            glTranslatef(x1, y1, 0);
            glRotatef(angle2, 0,0,1);
            glTranslatef(-0.25, -0.11, 0);
            glColor3f(0,1,0);
            glutSolidTeapot(0.2);
        glPopMatrix();
    glPopMatrix();
    glFlush();///先不用 glutSwapBuffers(); 配合 glutInitDisplayMode(GLUT_DOUBLE);
}
void keyboard(unsigned char key, int x, int y)
{
    if(key=='6') x1+=0.1;
    if(key=='4') x1-=0.1;
    if(key=='8') y1+=0.1;
    if(key=='2') y1-=0.1;
    if(key=='7') angle+=10;         ///全體轉動
    if(key=='9') angle-=10;         ///全體轉動
    if(key=='1') angle2+=10;
    if(key=='3') angle2-=10;
    printf("%f %f\n", x1, y1);
    glutPostRedisplay();
}
int main(int argc, char**argv)
{
    glutInit(&argc, argv);
    glutCreateWindow("Iron Man!!");
    glutDisplayFunc(display);
    glutKeyboardFunc(keyboard);
    glutMainLoop();
}

關節控制

#include <GL/glut.h>

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

void disBody(){

    glPushMatrix();

        glScalef(1,0.5,0.5);

        glutSolidCube(1);

    glPopMatrix();

}

void disArm(){

    glPushMatrix();

        glScalef(0.6,0.3,0.3);

        glutSolidCube(1);

    glPopMatrix();

}

void display(){

    glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);

    glPushMatrix();

        glTranslatef(0.5,0,0);     ///4.下面全部,都會對arm做旋轉

        glRotatef(angle,0,0,1);     ///3.下面全部,都對中間做選轉

        glTranslatef(0.25,0,0);      ///2.arm右移,柄在中間

        glColor3f(0,0,1);

        disArm();                   ///1.做出arm

        glPushMatrix();

            glTranslatef(0.25,0,0);     ///4.下面全部,都會對arm做旋轉

            glRotatef(angle2,0,0,1);     ///3.下面全部,都對中間做選轉

            glTranslatef(0.25,0,0);      ///2.arm右移,柄在中間

            glColor3f(0,1,0);

            disArm();                   ///1.做出arm

        glPopMatrix();

    glPopMatrix();

    ///左手

    glPushMatrix();

        glTranslatef(-0.5,0,0);     ///4.下面全部,都會對arm做旋轉

        glRotatef(-angle3,0,0,1);     ///3.下面全部,都對中間做選轉

        glTranslatef(-0.25,0,0);      ///2.arm右移,柄在中間

        glColor3f(0.5,0.5,1);

        disArm();                   ///1.做出arm

        glPushMatrix();

            glTranslatef(-0.25,0,0);     ///4.下面全部,都會對arm做旋轉

            glRotatef(-angle4,0,0,1);     ///3.下面全部,都對中間做選轉

            glTranslatef(-0.25,0,0);      ///2.arm右移,柄在中間

            glColor3f(0.5,1,0.5);

            disArm();                   ///1.做出arm

        glPopMatrix();

    glPopMatrix();

    disBody();

    glFlush();

}

void motion(int x, int y){

    angle-=y-oldY;

    oldY=y; oldX=x;

}

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);

    glutMotionFunc(motion);

    glutKeyboardFunc(keyboard);

    glutMainLoop();

}

同上(改良)

#include <GL/glut.h>

float angle[10]={0,0,0,0,0,0,0,0,0,0}, oldX=0, oldY=0;

int now=0;

void disBody(){

    glPushMatrix();

        glScalef(1,0.5,0.5);

        glutSolidCube(1);

    glPopMatrix();

}

void disArm(){

    glPushMatrix();

        glScalef(0.6,0.3,0.3);

        glutSolidCube(1);

    glPopMatrix();

}

void display(){

    glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);

    glPushMatrix();

        glTranslatef(0.5,0,0);     ///4.下面全部,都會對arm做旋轉

        glRotatef(angle[1],0,0,1);     ///3.下面全部,都對中間做選轉

        glTranslatef(0.25,0,0);      ///2.arm右移,柄在中間

        glColor3f(0,0,1);

        disArm();                   ///1.做出arm

        glPushMatrix();

            glTranslatef(0.25,0,0);     ///4.下面全部,都會對arm做旋轉

            glRotatef(angle[2],0,0,1);     ///3.下面全部,都對中間做選轉

            glTranslatef(0.25,0,0);      ///2.arm右移,柄在中間

            glColor3f(0,1,0);

            disArm();                   ///1.做出arm

        glPopMatrix();

    glPopMatrix();

    ///左手

    glPushMatrix();

        glTranslatef(-0.5,0,0);     ///4.下面全部,都會對arm做旋轉

        glRotatef(-angle[3],0,0,1);     ///3.下面全部,都對中間做選轉

        glTranslatef(-0.25,0,0);      ///2.arm右移,柄在中間

        glColor3f(0.5,0.5,1);

        disArm();                   ///1.做出arm

        glPushMatrix();

            glTranslatef(-0.25,0,0);     ///4.下面全部,都會對arm做旋轉

            glRotatef(-angle[4],0,0,1);     ///3.下面全部,都對中間做選轉

            glTranslatef(-0.25,0,0);      ///2.arm右移,柄在中間

            glColor3f(0.5,1,0.5);

            disArm();                   ///1.做出arm

        glPopMatrix();

    glPopMatrix();

    disBody();

    glFlush();

}

void motion(int x, int y){

    angle[now]-=y-oldY;

    oldY=y; oldX=x;

}

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();

}

同上(加入紀錄資料,輸出txt)

#include <GL/glut.h>

#include <stdio.h>

FILE * fout=NULL;

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

int now=0;

void disBody(){

    glPushMatrix();

        glScalef(1,0.5,0.5);

        glutSolidCube(1);

    glPopMatrix();

}

void disArm(){

    glPushMatrix();

        glScalef(0.6,0.3,0.3);

        glutSolidCube(1);

    glPopMatrix();

}

void display(){

    glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);

    glPushMatrix();

        glTranslatef(0.5,0,0);     ///4.下面全部,都會對arm做旋轉

        glRotatef(angle[1],0,0,1);     ///3.下面全部,都對中間做選轉

        glTranslatef(0.25,0,0);      ///2.arm右移,柄在中間

        glColor3f(0,0,1);

        disArm();                   ///1.做出arm

        glPushMatrix();

            glTranslatef(0.25,0,0);     ///4.下面全部,都會對arm做旋轉

            glRotatef(angle[2],0,0,1);     ///3.下面全部,都對中間做選轉

            glTranslatef(0.25,0,0);      ///2.arm右移,柄在中間

            glColor3f(0,1,0);

            disArm();                   ///1.做出arm

        glPopMatrix();

    glPopMatrix();

    ///左手

    glPushMatrix();

        glTranslatef(-0.5,0,0);     ///4.下面全部,都會對arm做旋轉

        glRotatef(-angle[3],0,0,1);     ///3.下面全部,都對中間做選轉

        glTranslatef(-0.25,0,0);      ///2.arm右移,柄在中間

        glColor3f(0.5,0.5,1);

        disArm();                   ///1.做出arm

        glPushMatrix();

            glTranslatef(-0.25,0,0);     ///4.下面全部,都會對arm做旋轉

            glRotatef(-angle[4],0,0,1);     ///3.下面全部,都對中間做選轉

            glTranslatef(-0.25,0,0);      ///2.arm右移,柄在中間

            glColor3f(0.5,1,0.5);

            disArm();                   ///1.做出arm

        glPopMatrix();

    glPopMatrix();

    disBody();

    glFlush();

}

void motion(int x, int y){

    angle[now]-=y-oldY;

    oldY=y; oldX=x;

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

    for(int i=0;i<8;i++){

        ///存檔資料用

        printf("%.1f\t", angle[i]);

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

    }

    printf("\n");

    fprintf(fout, "\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 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);

    glutMotionFunc(motion);

    glutKeyboardFunc(keyboard);

    glutMainLoop();

}