WEEK16_CASH

今天也是在複習TRT

不過很帥的是 他能夠自己動拉~

#include <GL/glut.h>

#include <stdio.h>

FILE * fout=NULL;

FILE * fin=NULL;

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

int angleID=1;

float angleOld[10]={0,0,0,0,0,0,0,0,0,0};

float angleNew[10]={0,0,0,0,0,0,0,0,0,0};

int now=0;

float a=0;

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]);

        printf("%.1f ",angleNew[i]);

    }

    printf("\n");

}

void timerPlay(int t)

{

    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)*angleOld[i]+(a)*angleNew[i];

    }

    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

        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 motion(int x, int y)

{      angle[angleID]-=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 timer(int t)

{

    glutTimerFunc(20, timer, t+1);

    //angle++;

    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);

    if(key=='s')

    {

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

     for(int i=0;i<10;i++)

     {

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

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

     }

     printf("\n");

     fprintf(fout,"\n");

    }

}

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();

}