基于OpenGL的三维机器人仿真

基于OpenGL的三维机器人仿真

#include<windows.h>
#include<gl/glut.h>
#include <iostream>
using namespace std;

GLfloat no_mat[] = { 0.0, 0.0, 0.0, 1.0 };
GLfloat mat_ambient[] = { 0.8, 0.8, 0.8, 1.0 };
GLfloat mat_ambient_color[] = { 0.8, 0.8, 0.2, 1.0 };
GLfloat mat_diffuse[] = { 0.5, 0.8, 0.0, 1.0 };
GLfloat mat_specular[] = { 1.0, 0.0, 0.5, 1.0 };
GLfloat no_shininess[] = { 0.5 };
GLfloat low_shininess[] = { 5.0 };
GLfloat high_shininess[] = { 100.0 };
GLfloat mat_emission[] = {0.3, 0.2, 0.2, 0.0};
static int angle=0,neck=0,lshoulder=0,lelbow=0,rshoulder=0,relbow=0,
           lhips=0 ,rhips=0,lfoot=0,rfoot=0,flagneck=0,flaglshoulder=0,
           flaglelbow=0,flagrshoulder=0,flagrelbow=0,flaglhips=0 ,
           flagrhips=0,flaglfoot=0,flagrfoot=0;

void init(void){
    GLfloat ambient[] = { 0.0, 0.0, 0.0, 1.0 };
    GLfloat diffuse[] = { 1.0, 1.0, 1.0, 1.0 };
    GLfloat position[] = { 0.0, 5.0, 10.0, 0.0 };
    GLfloat lmodel_ambient[] = { 0.4, 0.4, 0.4, 1.0 };
    GLfloat local_view[] = { 0.0 };

    glClearColor(0,0,0,0);

    glLightfv(GL_LIGHT0, GL_AMBIENT, ambient);
    glLightfv(GL_LIGHT0, GL_DIFFUSE, diffuse);
    glLightfv(GL_LIGHT0, GL_POSITION, position);
    glLightModelfv(GL_LIGHT_MODEL_AMBIENT, lmodel_ambient);
    glLightModelfv(GL_LIGHT_MODEL_LOCAL_VIEWER, local_view);

    glShadeModel(GL_SMOOTH);
    glEnable(GL_DEPTH_TEST);
    glEnable(GL_LIGHTING);
    glEnable(GL_LIGHT0);
}

void draw_body(void){
    glPushMatrix();
    glTranslatef(0,1.5,0);
    glScalef(0.5,1,0.4);
    glMaterialfv(GL_FRONT, GL_AMBIENT, mat_ambient_color);
    glMaterialfv(GL_FRONT, GL_DIFFUSE, mat_diffuse);
    glMaterialfv(GL_FRONT, GL_SPECULAR, mat_specular);
    glMaterialfv(GL_FRONT, GL_SHININESS, high_shininess);
    glMaterialfv(GL_FRONT, GL_EMISSION, no_mat);
    glutSolidCube(4);         ; 
    glPopMatrix();
}

void draw_leftshoulder(void){
    glPushMatrix();
    glMaterialfv(GL_FRONT, GL_AMBIENT, no_mat);
    glMaterialfv(GL_FRONT, GL_DIFFUSE, mat_diffuse);
    glMaterialfv(GL_FRONT, GL_SPECULAR, no_mat);
    glMaterialfv(GL_FRONT, GL_SHININESS, no_shininess);
    glMaterialfv(GL_FRONT, GL_EMISSION, no_mat);
    glTranslatef(1.5,3,0);
    glRotatef(lshoulder,1,0,0);

    glTranslatef(0,-0.5,0);
    glScalef(0.4,1,0.5);
    glutSolidCube(2);

    glScalef(1/0.4,1/1,1/0.5);
    glTranslatef(0,-1.4,0);
    glRotatef(lelbow,1,0,0);
    glutWireSphere(0.4,200,500); 

    glScalef(0.4,1,0.5);
    glTranslatef(0,-1.4,0);
    glutSolidCube(2);

    glPopMatrix();
}

void draw_rightshoulder(void){
    glPushMatrix();
    glMaterialfv(GL_FRONT, GL_AMBIENT, no_mat);
    glMaterialfv(GL_FRONT, GL_DIFFUSE, mat_diffuse);
    glMaterialfv(GL_FRONT, GL_SPECULAR, no_mat);
    glMaterialfv(GL_FRONT, GL_SHININESS, no_shininess);
    glMaterialfv(GL_FRONT, GL_EMISSION, no_mat);
    glTranslatef(-1.5,3,0);
    glRotatef(rshoulder,1,0,0);

    glTranslatef(0,-0.5,0);
    glScalef(0.4,1,0.5);
    glutSolidCube(2); 

    glScalef(1/0.4,1/1,1/0.5);
    glTranslatef(0,-1.4,0);
    glRotatef(relbow,1,0,0);
    glutWireSphere(0.4,200,500);

    glScalef(0.4,1,0.5);
    glTranslatef(0,-1.4,0);
    glutSolidCube(2);

    glPopMatrix();
}

void draw_head(void)
{
    glPushMatrix();
    glMaterialfv(GL_FRONT, GL_AMBIENT, no_mat);
    glMaterialfv(GL_FRONT, GL_DIFFUSE, mat_diffuse);
    glMaterialfv(GL_FRONT, GL_SPECULAR, mat_specular);
    glMaterialfv(GL_FRONT, GL_SHININESS, low_shininess);
    glMaterialfv(GL_FRONT, GL_EMISSION, no_mat);

    glTranslatef(0,3.5,0);
    glRotatef(neck,0,0,1);
    glTranslatef(0,1,0);
    glutWireSphere(1,200,500); 

    glPopMatrix();
}

void draw_leftfoot(void){
    glPushMatrix();
    glMaterialfv(GL_FRONT, GL_AMBIENT, no_mat);
    glMaterialfv(GL_FRONT, GL_DIFFUSE, mat_diffuse);
    glMaterialfv(GL_FRONT, GL_SPECULAR, no_mat);
    glMaterialfv(GL_FRONT, GL_SHININESS, no_shininess);
    glMaterialfv(GL_FRONT, GL_EMISSION, no_mat);

    glTranslatef(-0.6,-0.6,0);
    glRotatef(lfoot,1,0,0);
    glTranslatef(0,-1,0);
    glScalef(0.4,1,0.5);
    glutSolidCube(2); 

    glScalef(1/0.4,1/1,1/0.5);
    glTranslatef(0,-1.4,0);
    glRotatef(lhips,1,0,0);
    glutWireSphere(0.4,200,500);

    glScalef(0.4,1,0.5);
    glTranslatef(0,-1.4,0);
    glutSolidCube(2);

    glPopMatrix();
}

void draw_rightfoot(void){
    glPushMatrix();
    glMaterialfv(GL_FRONT, GL_AMBIENT, no_mat);
    glMaterialfv(GL_FRONT, GL_DIFFUSE, mat_diffuse);
    glMaterialfv(GL_FRONT, GL_SPECULAR, no_mat);
    glMaterialfv(GL_FRONT, GL_SHININESS, no_shininess);
    glMaterialfv(GL_FRONT, GL_EMISSION, no_mat);

    glTranslatef(0.6,-0.6,0);
    glRotatef(rfoot,1,0,0);
    glTranslatef(0,-1,0);
    glScalef(0.4,1,0.5);
    glutSolidCube(2); 

    glScalef(1/0.4,1/1,1/0.5);
    glTranslatef(0,-1.4,0);
    glRotatef(rhips,1,0,0);
    glutWireSphere(0.4,200,500);

    glScalef(0.4,1,0.5);
    glTranslatef(0,-1.4,0);
    glutSolidCube(2);

    glPopMatrix();
}

void display(void){
    glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);

    glPushMatrix();

    glRotatef(angle,0,1,0);

    glTranslatef(0,4,0);
    draw_body();

    draw_head();

    draw_leftshoulder();
    draw_rightshoulder();

    draw_leftfoot();
    draw_rightfoot();

    glPopMatrix();
    glutSwapBuffers();
}

void reshape(int w,int h){
    glViewport(0,0,w,h);
    glMatrixMode(GL_PROJECTION);
    glLoadIdentity();
    glOrtho(-8,8,-8,8,-10,10);
    glMatrixMode(GL_MODELVIEW);
    glLoadIdentity();
    gluLookAt (0.0, 4.0, 10, 0.0, 4, 0.0, 0.0, 1.0, 0.0);
}

void keyboard(unsigned char key,int x,int y){
    switch(key){
    case '1':
        angle=(angle+5)%360;
        glutPostRedisplay();
        break;
    case '2':
        angle=(angle-5)%360;
        glutPostRedisplay();
        break;
    case '3':
        if(flagneck){
            neck=neck+5;
            if(neck>=30)flagneck=0;
        }
        else{
            neck=neck-5;
            if(neck<=-30)flagneck=1;
        }
        glutPostRedisplay();
        break;
    case '4':
        if(flaglshoulder){
            lshoulder+=5;
            if(lshoulder>=60)flaglshoulder=0;
        }
        else{
            lshoulder-=5;
            if(lshoulder<=-60)flaglshoulder=1;
        }
        glutPostRedisplay();
        break;
    case '5':
        if(flagrshoulder){
            rshoulder+=5;
            if(rshoulder>=60)flagrshoulder=0;
        }
        else{
            rshoulder-=5;
            if(rshoulder<=-60)flagrshoulder=1;
        }
        glutPostRedisplay();
        break;
    case '6':
        if(flaglelbow){
            lelbow+=5;
            if(lelbow>=60)flaglelbow=0;
        }
        else{
            lelbow-=5;
            if(lelbow<=-60)flaglelbow=1;
        }
        glutPostRedisplay();
        break;
    case '7':
        if(flagrelbow){
            relbow+=5;
            if(relbow>=60)flagrelbow=0;
        }
        else{
            relbow-=5;
            if(relbow<=-60)flagrelbow=1;
        }
        glutPostRedisplay();
        break;
    case '8':
        if(flaglhips){
            lhips+=5;
            if(lhips>=60)flaglhips=0;
        }
        else{
            lhips-=5;
            if(lhips<=-60)flaglhips=1;
        }
        glutPostRedisplay();
        break;
    case '9':
        if(flagrhips){
            rhips+=5;
            if(rhips>=60)flagrhips=0;
        }
        else{
            rhips-=5;
            if(rhips<=-60)flagrhips=1;
        }
        glutPostRedisplay();
        break;
    case 'a':
        if(flaglfoot){
            lfoot+=5;
            if(lfoot>=60)flaglfoot=0;
        }
        else{
            lfoot-=5;
            if(lfoot<=-60)flaglfoot=1;
        }
        glutPostRedisplay();
        break;
    case 'b':
        if(flagrfoot){
            rfoot+=5;
            if(rfoot>=60)flagrfoot=0;
        }
        else{
            rfoot-=5;
            if(rfoot<=-60)flagrfoot=1;
        }
        glutPostRedisplay();
        break;
    default:
        break;
    }
}


int main(int argc,char** argv){
    printf("按键’1’,’2’为整体旋转\n");
    printf("按键’3’为头部旋转\n");
    printf("按键’4’,’5’,’6’,’7’为手臂旋转\n");
    printf("按键’8’,’9’,’a’,’b’为腿部旋转\n");
    glutInit(&argc,argv);
    glutInitDisplayMode(GLUT_DOUBLE|GLUT_RED);
    glutInitWindowSize(600,600);
    glutInitWindowPosition(100,100);
    glutCreateWindow(argv[0]);
    init();
    glutDisplayFunc(display);
    glutReshapeFunc(reshape);
    glutKeyboardFunc(keyboard);
    glutMainLoop();
    return 0;
}

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