opengl 机器人手臂

#include <GL/glut.h>
#include <stdlib.h>

static int shoulder = 0, elbow = 0;

void init(void) 
{
   glClearColor (0.0, 0.0, 0.0, 0.0);
   glShadeModel (GL_FLAT);
}

void display(void)
{
   glClear (GL_COLOR_BUFFER_BIT);
   //glLoadIdentity();
   glPushMatrix();//保存的是单位矩阵
   glTranslatef (-1.0, 0.0, 0.0);//可以理解为绕着z=-1在转
   glRotatef ((GLfloat) shoulder, 0.0, 0.0, 1.0);
   glRotatef ((GLfloat) elbow, 0.0, 1.0, 1.0);
   glTranslatef (1.0, 0.0, 0.0);//可以理解为坐标又回到了原点
   glPushMatrix();//讲这个原点坐标保存起来
   glScalef (2.0, 0.4, 0.4);//x轴扩大了两倍，
   glutWireCube (1.0);//以原点为中心画一个正方体
   glPopMatrix();


   glPushMatrix();//再次恢复上一次的坐标,
   glTranslatef (1.0, 0.12, 0.0);
   glRotatef ((GLfloat) elbow, 0.0, 1.0, 0.0);
   glTranslatef (0.55, 0.0, 0.0);
   glPushMatrix();
   glScalef (1.0, 0.2, 0.2);
   //glScalef (2.0, 0.4, 1.0);
   glutWireCube (1.0);
   glPopMatrix();

   
   glTranslatef (0.55, 0.0, 0.0);//使用第二节手臂的局部坐标
   glRotatef ((GLfloat) elbow, 0.0, 1.0, 0.0);
   glTranslatef (0.30, 0.0, 0.0);
   glScalef (0.5, 0.1, 0.1);
   glutWireCube (1.0);

   glPopMatrix();//再次恢复第一节手臂的局部坐标
   glTranslatef (1.0, -0.12, 0.0);
   glRotatef ((GLfloat) elbow, 0.0, 1.0, 0.0);
   glTranslatef (0.55, 0.0, 0.0);
   glPushMatrix();
   glScalef (1.0, 0.2, 0.2);
   glutWireCube (1.0);
   glPopMatrix();

   glTranslatef (0.55, 0.0, 0.0);//采用第二节手臂的局部坐标
   glRotatef ((GLfloat) elbow, 0.0, 1.0, 0.0);
   glTranslatef (0.30, 0.0, 0.0);
   glScalef (0.5, 0.1, 0.1);
   glutWireCube (1.0);


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

void reshape (int w, int h)
{
   glViewport (0, 0, (GLsizei) w, (GLsizei) h); 
   glMatrixMode (GL_PROJECTION);
   glLoadIdentity ();
   gluPerspective(65.0, (GLfloat) w/(GLfloat) h, 1.0, 20.0);
   glMatrixMode(GL_MODELVIEW);
   glLoadIdentity();
   glTranslatef (0.0, 0.0, -5.0);
}

void keyboard (unsigned char key, int x, int y)
{
    static int angle=5;
   switch (key) {
      case 's':
         shoulder = (shoulder + 5) % 360;
         glutPostRedisplay();
         break;
      case 'S':
         shoulder = (shoulder - 5) % 360;
         glutPostRedisplay();
         break;
      case 'e':
         //elbow = (elbow + 5) % 360;
         if(elbow>=90&&angle>0){
            angle=-angle;
         }
          if(elbow<0&&angle<0){
            angle=-angle;
         }
         printf("%d,%d\n",elbow,angle);
         elbow = (elbow + angle);
         printf("%d\n",elbow);
         glutPostRedisplay();
         break;
      case 'E':
         elbow = (elbow - 5) % 360;
         glutPostRedisplay();
         break;
      case 27:
         exit(0);
         break;
      default:
         break;
   }
}

int main(int argc, char** argv)
{
   glutInit(&argc, argv);
   glutInitDisplayMode (GLUT_DOUBLE | GLUT_RGB);
   glutInitWindowSize (500, 500); 
   glutInitWindowPosition (100, 100);
   glutCreateWindow (argv[0]);
   init ();
   glutDisplayFunc(display); 
   glutReshapeFunc(reshape);
   glutKeyboardFunc(keyboard);
   glutMainLoop();
   return 0;
}