week15_02160243_李靖嫺

1.TRT

#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();

}

2.關節轉動

#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();///blue

      glTranslatef(x2, y2, 0);

      glRotatef(angle, 0,0,1);

      glColor3f(0,0,1);

      glutSolidTeapot(0.2);

           glPushMatrix();///green

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

             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=='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();

}

3.滑鼠鍵盤操控動作

#include <GL/glut.h>

#include <stdio.h>///存檔用

FILE*fout=NULL;///存檔用

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] -= y - oldY;

    oldY=y; oldX=x;

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

    for(int i=0;i<8;i++)///存檔用

    {

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

    }

    fprintf(fout, "\n");///存檔用

}

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);

    }*/

    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(1,0,1); 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();

}