【OpenGL】层次化建模画一个机器人

/* Interactive Figure Program from Chapter 5 using cylinders (quadrics) */
/* Style similar to robot program but here we must traverse tree to display */
/* Cylinders are displayed as filled and light/material properties */
/* are set as in sphere approximation program */

#include <stdlib.h>

#ifdef __APPLE__
#include <GLUT/glut.h>
#else
#include <GL/glut.h>
#endif

#define TORSO_HEIGHT 5.0        //身体高度
#define UPPER_ARM_HEIGHT 3.0	//上臂高度
#define LOWER_ARM_HEIGHT 2.0	//下臂高度
#define UPPER_LEG_RADIUS  0.5	//小腿半径
#define LOWER_LEG_RADIUS  0.5	//大腿半径
#define LOWER_LEG_HEIGHT 2.0	//小腿高度
#define UPPER_LEG_HEIGHT 3.0	//大腿高度
#define UPPER_LEG_RADIUS  0.5	//上臂半径
#define TORSO_RADIUS 1.0		//身体半径
#define UPPER_ARM_RADIUS  0.5	//上臂半径
#define LOWER_ARM_RADIUS  0.5	//下臂半径
#define HEAD_HEIGHT 1.5			//头部高度
#define HEAD_RADIUS 1.0			//头部半径

typedef float point[3];

static GLfloat theta[11] = {0.0,0.0,0.0,//旋转矩阵
							// 身体， 头x， 头y
							0.0,0.0,0.0,
							//lua,lla,rua
							0.0,180.0,0.0,
							//rla,rul,lll
							180.0,0.0}; /* initial joint angles */
							//rul,rll
static GLint angle = 2;

GLUquadricObj *t, *h, *lua, *lla, *rua, *rla, *lll, *rll, *rul, *lul;//二次方程指针，用来生成物体
			
double size=1.0;

void torso()//在世界坐标中心画身体
{
   glPushMatrix();
   glRotatef(-90.0, 1.0, 0.0, 0.0);//绕世界坐标x轴逆时针旋转90度
   gluCylinder(t,TORSO_RADIUS, TORSO_RADIUS, TORSO_HEIGHT,10,10);//画一个圆柱体，上面的旋转作用在其上
   glPopMatrix();
}

void head()//在世界坐标中心画头
{
   glPushMatrix();
   glTranslatef(0.0, 0.5*HEAD_HEIGHT,0.0);//移动到半个头高，方便之后往身体上移动
   glScalef(HEAD_RADIUS, HEAD_HEIGHT, HEAD_RADIUS);//拉伸，y轴倍数更大
   gluSphere(h,1.0,10,10);
   glPopMatrix();
}

void left_upper_arm()
{
   glPushMatrix();
   glRotatef(-90.0, 1.0, 0.0, 0.0);
   gluCylinder(lua,UPPER_ARM_RADIUS, UPPER_ARM_RADIUS, UPPER_ARM_HEIGHT,10,10);
   glPopMatrix();
}

void left_lower_arm()
{
   glPushMatrix();
   glRotatef(-90.0, 1.0, 0.0, 0.0);
   gluCylinder(lla,LOWER_ARM_RADIUS, LOWER_ARM_RADIUS, LOWER_ARM_HEIGHT,10,10);
   glPopMatrix();
}

void right_upper_arm()
{
   glPushMatrix();
   glRotatef(-90.0, 1.0, 0.0, 0.0);
   gluCylinder(rua,UPPER_ARM_RADIUS, UPPER_ARM_RADIUS, UPPER_ARM_HEIGHT,10,10);
   glPopMatrix();
}

void right_lower_arm()
{
   glPushMatrix();
   glRotatef(-90.0, 1.0, 0.0, 0.0);
   gluCylinder(rla,LOWER_ARM_RADIUS, LOWER_ARM_RADIUS, LOWER_ARM_HEIGHT,10,10);
   glPopMatrix();
}

void left_upper_leg()
{
   glPushMatrix();
   glRotatef(-90.0, 1.0, 0.0, 0.0);
   gluCylinder(lul,UPPER_LEG_RADIUS, UPPER_LEG_RADIUS, UPPER_LEG_HEIGHT,10,10);
   glPopMatrix();
}

void left_lower_leg()
{
   glPushMatrix();
   glRotatef(-90.0, 1.0, 0.0, 0.0);
   gluCylinder(lll,LOWER_LEG_RADIUS, LOWER_LEG_RADIUS, LOWER_LEG_HEIGHT,10,10);
   glPopMatrix();
}

void right_upper_leg()
{
   glPushMatrix();
   glRotatef(-90.0, 1.0, 0.0, 0.0);
   gluCylinder(rul,UPPER_LEG_RADIUS, UPPER_LEG_RADIUS, UPPER_LEG_HEIGHT,10,10);
   glPopMatrix();
}

void right_lower_leg()
{
   glPushMatrix();
   glRotatef(-90.0, 1.0, 0.0, 0.0);
   gluCylinder(rll,LOWER_LEG_RADIUS, LOWER_LEG_RADIUS, LOWER_LEG_HEIGHT,10,10);
   glPopMatrix();
}

void display(void)
{
    glClear(GL_COLOR_BUFFER_BIT|GL_DEPTH_BUFFER_BIT);
    glLoadIdentity();
    glColor3f(1.0, 0.0, 1.0);//洋红

    glRotatef(theta[0], 0.0, 1.0, 0.0);//使身体可以旋转的函数
    torso();
    glPushMatrix();

    glTranslatef(0.0, TORSO_HEIGHT+0.5*HEAD_HEIGHT, 0.0);//4 把头移动到身体上
    glRotatef(theta[1], 1.0, 0.0, 0.0);//3 绕x轴旋转的函数
    glRotatef(theta[2], 0.0, 1.0, 0.0);//2 绕y轴旋转的函数
    glTranslatef(0.0, -0.5*HEAD_HEIGHT, 0.0);//1 把头移动到坐标原点
    head();

    glPopMatrix();
    glPushMatrix();
    glTranslatef(-(TORSO_RADIUS+UPPER_ARM_RADIUS), 0.9*TORSO_HEIGHT, 0.0);//移动到身体左侧，0.9个身体处
    glRotatef(theta[3], 1.0, 0.0, 0.0);
    left_upper_arm();//左上臂

    glTranslatef(0.0, UPPER_ARM_HEIGHT, 0.0);//移到上臂上面
    glRotatef(theta[4], 1.0, 0.0, 0.0);
    left_lower_arm();//左小臂

    glPopMatrix();
    glPushMatrix();
    glTranslatef(TORSO_RADIUS+UPPER_ARM_RADIUS, 0.9*TORSO_HEIGHT, 0.0);
    glRotatef(theta[5], 1.0, 0.0, 0.0);
    right_upper_arm();//移动右上臂

    glTranslatef(0.0, UPPER_ARM_HEIGHT, 0.0);
    glRotatef(theta[6], 1.0, 0.0, 0.0);
    right_lower_arm();//移动右小臂

    glPopMatrix();
    glPushMatrix();
    glTranslatef(-(TORSO_RADIUS+UPPER_LEG_RADIUS), 0.1*UPPER_LEG_HEIGHT, 0.0);
    glRotatef(theta[7], 1.0, 0.0, 0.0);
    left_upper_leg();//左大腿

    glTranslatef(0.0, UPPER_LEG_HEIGHT, 0.0);
    glRotatef(theta[8], 1.0, 0.0, 0.0);
    left_lower_leg();//左小腿

    glPopMatrix();
    glPushMatrix();
    glTranslatef(TORSO_RADIUS+UPPER_LEG_RADIUS, 0.1*UPPER_LEG_HEIGHT, 0.0);
    glRotatef(theta[9], 1.0, 0.0, 0.0);
    right_upper_leg();//右大腿

    glTranslatef(0.0, UPPER_LEG_HEIGHT, 0.0);
    glRotatef(theta[10], 1.0, 0.0, 0.0);
    right_lower_leg();//右小腿

    glPopMatrix();
    glFlush();
    glutSwapBuffers();
}



void mouse(int btn, int state, int x, int y)
{//鼠标响应函数
	if(btn==GLUT_LEFT_BUTTON && state == GLUT_DOWN) 
        {
        theta[angle] += 5.0;//如果按下左键，相应的数值变大5度，相当于顺时针旋转5度
        if( theta[angle] > 360.0 ) theta[angle] -= 360.0;
        }
	if(btn==GLUT_RIGHT_BUTTON && state == GLUT_DOWN) //按下右键，逆时针旋转5度
        {
        theta[angle] -= 5.0;
        if( theta[angle] < 360.0 ) theta[angle] += 360.0;
        }
        display();
}

void menu(int id)
{//菜单按钮
   if(id < 11 ) angle=id;//如果选择的是非第11个选项，设置旋转矩阵相应的下标
   if(id == 11 ) exit(0);//退出
}

void myReshape(int w, int h)
{
    glViewport(0, 0, w, h);//设置视口变换 标准设备坐标系->窗口坐标系

    glMatrixMode(GL_PROJECTION);//设置投影变换 视点坐标系->裁剪坐标系
    glLoadIdentity();
    if (w <= h)//如果宽小于高
        glOrtho(-10.0, 10.0, -10.0 * (GLfloat) h / (GLfloat) w,//设置视域体的left right bottom top near far
            10.0 * (GLfloat) h / (GLfloat) w, -10.0, 10.0);
    else
        glOrtho(-10.0 * (GLfloat) w / (GLfloat) h,
            10.0 * (GLfloat) w / (GLfloat) h, 0.0, 10.0, -10.0, 10.0);

    glMatrixMode(GL_MODELVIEW);//设置模型矩阵变换 确定几何对象在世界坐标系中的位置和方向 对象坐标系->世界坐标系
    glLoadIdentity();
}

void myinit()
{
        glEnable(GL_DEPTH_TEST); //开启深度缓存

        glClearColor(1.0, 1.0, 1.0, 1.0);//清除颜色
        glColor3f(1.0, 0.0, 0.0);

/* allocate quadrics with filled drawing style */

        h=gluNewQuadric();//创建二次方程状态对象
        gluQuadricDrawStyle(h, GLU_LINE);//以二次方程状态作参数，传到绘制二次方程的函数
        t=gluNewQuadric();
        gluQuadricDrawStyle(t, GLU_LINE);//绘制成线框
        lua=gluNewQuadric();
        gluQuadricDrawStyle(lua, GLU_LINE);
		//gluQuadricDrawStyle(lua, GLU_POINT);//点集合
		//gluQuadricDrawStyle(lua, GLU_FILL);//实体集合
		//gluQuadricDrawStyle(lua, GLU_SILHOUETTE);//线模式
        lla=gluNewQuadric();
        gluQuadricDrawStyle(lla, GLU_LINE);
        rua=gluNewQuadric();
        gluQuadricDrawStyle(rua, GLU_LINE);
        rla=gluNewQuadric();
        gluQuadricDrawStyle(rla, GLU_LINE);
        lul=gluNewQuadric();
        gluQuadricDrawStyle(lul, GLU_LINE);
        lll=gluNewQuadric();
        gluQuadricDrawStyle(lll, GLU_LINE);
        rul=gluNewQuadric();
        gluQuadricDrawStyle(rul, GLU_LINE);
        rll=gluNewQuadric();
        gluQuadricDrawStyle(rll, GLU_LINE);
}

void main(int argc, char **argv)
{
    glutInit(&argc, argv);
    glutInitDisplayMode(GLUT_DOUBLE | GLUT_RGB | GLUT_DEPTH);
    glutInitWindowSize(500, 500);
    glutCreateWindow("robot");
    myinit();//初始化，创建机器人各个部分
    glutReshapeFunc(myReshape);//注册重绘函数
    glutDisplayFunc(display);//注册显示函数
    glutMouseFunc(mouse);//注册鼠标响应事件

    glutCreateMenu(menu);//注册菜单
    glutAddMenuEntry("torso", 0);
    glutAddMenuEntry("head1", 1);
    glutAddMenuEntry("head2", 2);
    glutAddMenuEntry("right_upper_arm", 3);
    glutAddMenuEntry("right_lower_arm", 4);
    glutAddMenuEntry("left_upper_arm", 5);
    glutAddMenuEntry("left_lower_arm", 6);
    glutAddMenuEntry("right_upper_leg", 7);
    glutAddMenuEntry("right_lower_leg", 8);
    glutAddMenuEntry("left_upper_leg", 9);
    glutAddMenuEntry("left_lower_leg", 10);
    glutAddMenuEntry("quit", 11);
    glutAttachMenu(GLUT_MIDDLE_BUTTON);//菜单挂在中键上

    glutMainLoop();//进入事件循环
}