瞎78打-機器人

                                       機器人的程式碼

#include <GL/glut.h>

#include "glm.h"

float angle[20];//滑鼠變數用陣列命名

int jointID=1;

GLMmodel* pmodel = NULL;

GLMmodel* rup = NULL;

GLMmodel* rup2 = NULL;

GLMmodel* lup = NULL;

GLMmodel* lup2 = NULL;

GLMmodel* lfoot = NULL;

GLMmodel* lfoot2 = NULL;

GLMmodel* rfoot = NULL;

GLMmodel* rfoot2 = NULL;

const GLfloat light_ambient[]  = { 0.0f, 0.0f, 0.0f, 1.0f };

const GLfloat light_diffuse[]  = { 1.0f, 1.0f, 1.0f, 1.0f };

const GLfloat light_specular[] = { 1.0f, 1.0f, 1.0f, 1.0f };

const GLfloat light_position[] = { 2.0f, 5.0f, 5.0f, 0.0f };

const GLfloat mat_ambient[]    = { 0.7f, 0.7f, 0.7f, 1.0f };

const GLfloat mat_diffuse[]    = { 0.8f, 0.8f, 0.8f, 1.0f };

const GLfloat mat_specular[]   = { 1.0f, 1.0f, 1.0f, 1.0f };

const GLfloat high_shininess[] = { 100.0f };

void display()

{

    glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);

       ///body

       if (!pmodel) {

       pmodel = glmReadOBJ("data/body.obj");

       if (!pmodel) exit(0);

       glmUnitize(pmodel);

       glmFacetNormals(pmodel);

       glmVertexNormals(pmodel, 90.0);

       }

      glPushMatrix();

         glScaled(0.6,0.6,0.6);

         glTranslated(0,0.68,0);

         glRotatef(90,0,1,0);

         glmDraw(pmodel, GLM_SMOOTH | GLM_MATERIAL);

      glPopMatrix();

      ///body

       if (!rup) {///read ruphand

       rup = glmReadOBJ("data/ruphand.obj");

       if (!rup) exit(0);

       glmUnitize(rup);

       glmFacetNormals(rup);

       glmVertexNormals(rup, 90.0);

       }

       if (!rup2) { ///read rdownhand

       rup2 = glmReadOBJ("data/test2.obj");

       if (!rup2) exit(0);

       glmUnitize(rup2);

       glmFacetNormals(rup2);

       glmVertexNormals(rup2, 90.0);

       }

       if (!lup) {///read luphand

       lup = glmReadOBJ("data/ruphand.obj");

       if (!lup) exit(0);

       glmUnitize(lup);

       glmFacetNormals(lup);

       glmVertexNormals(lup, 90.0);

       }

       if (!lup2) { ///read rdownhand

       lup2 = glmReadOBJ("data/test1.obj");

       if (!lup2) exit(0);

       glmUnitize(lup2);

       glmFacetNormals(lup2);

       glmVertexNormals(lup2, 90.0);

       }

       if (!rfoot) {///read luphand

       rfoot = glmReadOBJ("data/upfoot.obj");

       if (!rfoot) exit(0);

       glmUnitize(rfoot);

       glmFacetNormals(rfoot);

       glmVertexNormals(rfoot, 90.0);

       }

       if (!lfoot) {///read luphand

       lfoot = glmReadOBJ("data/upfoot.obj");

       if (!lfoot) exit(0);

       glmUnitize(lfoot);

       glmFacetNormals(lfoot);

       glmVertexNormals(lfoot, 90.0);

       }

       if (!rfoot2) {///read luphand

       rfoot2 = glmReadOBJ("data/downfoot.obj");

       if (!rfoot2) exit(0);

       glmUnitize(rfoot2);

       glmFacetNormals(rfoot2);

       glmVertexNormals(rfoot2, 90.0);

       }

       if (!lfoot2) {///read luphand

       lfoot2 = glmReadOBJ("data/downfoot.obj");

       if (!lfoot2) exit(0);

       glmUnitize(lfoot2);

       glmFacetNormals(lfoot2);

       glmVertexNormals(lfoot2, 90.0);

       }

      glPushMatrix();///ruphand

         glScaled(0.7,0.7,0.7);

         glTranslated(0.46,0.42,0);

         glRotatef(-angle[3], 0,0,1);

         glTranslated(0.029,-0.22,0);

         glmDraw(rup, GLM_SMOOTH | GLM_MATERIAL);

           glPushMatrix();///rdownhand

            glScaled(1.6,1.6,1.6);

            glTranslated(0,-0.18,-0.01);

            glRotatef(-angle[4], 0,0,1);

            glTranslated(0.01,-0.14,0);

            glmDraw(rup2, GLM_SMOOTH | GLM_MATERIAL);

           glPopMatrix();

      glPopMatrix();

      glPushMatrix();///luphand

         glScaled(0.7,0.7,0.7);

         glTranslated(-0.5,0.42,0);

         glRotatef(-angle[1], 0,0,1);

         glTranslated(0.029,-0.22,0);

         glmDraw(lup, GLM_SMOOTH | GLM_MATERIAL);

          glPushMatrix();///rdownhand

            glScaled(1.6,1.6,1.6);

            glTranslated(-0.02,-0.18,-0.01);

            glRotatef(-angle[2], 0,0,1);

            glTranslated(0.01,-0.14,0);

            glmDraw(lup2, GLM_SMOOTH | GLM_MATERIAL);

           glPopMatrix();

     glPopMatrix();

     glPushMatrix();///lfoot

         glScaled(1,1,1);

         glTranslated(-0.2,-0.26,-0.2);

         glRotatef(-angle[5], 0,0,1);

         glTranslated(0.006,-0.11,0);

         glmDraw(rfoot, GLM_SMOOTH | GLM_MATERIAL);

            glPushMatrix();///rdownhand

            glScaled(1.6,1.6,1.6);

            glTranslated(-0.00,-0.12,-0.03);

            glRotatef(-angle[7], 0,0,1);

            glTranslated(-0.05,-0.11,0);

            glRotatef(180, 0,1,0);

            glmDraw(rfoot2, GLM_SMOOTH | GLM_MATERIAL);

           glPopMatrix();

     glPopMatrix();

     glPushMatrix();///rfoot

         glScaled(1,1,1);

         glTranslated(0.18,-0.26,-0.1);

         glRotatef(-angle[6], 0,0,1);

         glTranslated(0.006,-0.11,0);

         glmDraw(lfoot, GLM_SMOOTH | GLM_MATERIAL);

            glPushMatrix();///rdownhand

            glScaled(1.6,1.6,1.6);

            glTranslated(0.01,-0.12,-0.03);

            glRotatef(-angle[8], 0,0,1);

            glTranslated(0.039,-0.11,0);

            glmDraw(rfoot2, GLM_SMOOTH | GLM_MATERIAL);

            glPopMatrix();

     glPopMatrix();

   glutSwapBuffers();

}

    ///glutSwapBuffers();

int oldX,oldY; //滑鼠按下

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

{

    oldX=x;

    oldY=y;

}

void motion(int x,int y)

{

    angle[jointID]+=x-oldX;

    oldX=x;

    display();

}

void keyboard(unsigned char key,int x,int y) //設定鍵盤按下的變數名稱

{

    if(key=='1') jointID = 1;

    if(key=='2') jointID = 2;

    if(key=='3') jointID = 3;

    if(key=='4') jointID = 4;

    if(key=='5') jointID = 5;

    if(key=='6') jointID = 6;

    if(key=='7') jointID = 7;

    if(key=='8') jointID = 8;

}

int main(int argc, char**argv)

{

    glutInit(&argc,argv);

    glutInitDisplayMode(GLUT_DOUBLE|GLUT_DEPTH);

    glutInitWindowSize(600,600);

    glutCreateWindow("A_mon!!");

    glutDisplayFunc(display);

    glClearColor(1,1,1,1);

    glEnable(GL_CULL_FACE);

    glCullFace(GL_BACK);

    glutIdleFunc(display);

    glutMotionFunc(motion);

    glutMouseFunc(mouse);

    glutKeyboardFunc(keyboard);

    glEnable(GL_DEPTH_TEST);

    glDepthFunc(GL_LESS);

    glEnable(GL_LIGHT0);

    glEnable(GL_NORMALIZE);

    glEnable(GL_COLOR_MATERIAL);

    glEnable(GL_LIGHTING);

    glLightfv(GL_LIGHT0, GL_AMBIENT,  light_ambient);

    glLightfv(GL_LIGHT0, GL_DIFFUSE,  light_diffuse);

    glLightfv(GL_LIGHT0, GL_SPECULAR, light_specular);

    glLightfv(GL_LIGHT0, GL_POSITION, light_position);

    glMaterialfv(GL_FRONT, GL_AMBIENT,   mat_ambient);

    glMaterialfv(GL_FRONT, GL_DIFFUSE,   mat_diffuse);

    glMaterialfv(GL_FRONT, GL_SPECULAR,  mat_specular);

    glMaterialfv(GL_FRONT, GL_SHININESS, high_shininess);

    glutMainLoop();

}