OpenGL: 基于OpenGL的三维机器人仿真

最新推荐文章于 2024-09-08 12:41:42 发布
Augusdi
最新推荐文章于 2024-09-08 12:41:42 发布
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基于OpenGL的三维机器人仿真
#include<windows.h>

#include<gl/glut.h>
#pragma comment(lib, "glut32.lib")

#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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