Computer Graphics Project3(OpenGL实现机器人走动及层级结构)

本次project使用codeblocks+GLUT库完成，主要内容为通过层级结构画一个机器人，并对其进行扩展：通过键盘控制使得机器人手臂、腿能进行移动，同时还能进行身体旋转功能，但目前只实现了这些简单操作，接下来会实现更加复杂的animation。

CodeBlocks配置OpenGL可去下面网址查看，其中有相关问题的解决方案：

            http://lcx543576178.blog.163.com/blog/static/235146085201410402924520/

代码如下：

#define _STDCALL_SUPPORTED

#include <GL/glut.h>

static int left_shoulder = 0, left_elbow = 0;
static int right_shoulder = 0, right_elbow = 0;
static int turn = 0;//旋转

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

void display(){
    glClear(GL_COLOR_BUFFER_BIT);
    glClearColor(0.0,0.0,0.0,0.0);
    glColor3f(1.0,0.0,0.0);
    glPushMatrix();
        glRotatef ((GLfloat) turn, 0.0, 1.0, 0.0);
        //左前臂shoulder
        glTranslatef(0.5,1.7,0.0);
        glRotatef((GLfloat) left_shoulder, 0.0,0.0,1.0);
        glTranslatef(0.5,0.0,0.0);
        glPushMatrix();
            glScalef(1.3,0.4,1.0);
            glutSolidCube(0.5);
        glPopMatrix();

        //左前臂elbow
        glTranslatef(0.3,0.0,0.0);
        glRotatef((GLfloat) left_elbow, 0.0,0.0,1.0);
        glTranslatef(0.3,0.0,0.0);
        glPushMatrix();
            glScalef(1.0,0.4,1.0);
            glutSolidCube(0.5);
        glPopMatrix();
    glPopMatrix();

    glPushMatrix();
        glRotatef ((GLfloat) turn, 0.0, 1.0, 0.0);
        //右前臂shoulder
        glTranslatef(-0.5,1.7,0.0);
        glRotatef((GLfloat) right_shoulder, 0.0,0.0,1.0);
        glTranslatef(-0.5,0.0,0.0);
        glPushMatrix();
            glScalef(1.3,0.4,1.0);
            glutSolidCube(0.5);
        glPopMatrix();

        //右前臂elbow
        glTranslatef(-0.3,0.0,0.0);
        glRotatef((GLfloat) right_elbow, 0.0,0.0,1.0);
        glTranslatef(-0.3,0.0,0.0);
        glPushMatrix();
            glScalef(1.0,0.4,1.0);
            glutSolidCube(0.5);
        glPopMatrix();
    glPopMatrix();

    glPushMatrix();
        glRotatef ((GLfloat) turn, 0.0, 1.0, 0.0);
        //躯干
        glTranslatef (0.0, 1.0,  0.0);
        glColor3f(0.0,0.5,1.0);
        glPushMatrix();
           glScalef (1.3, 2.0, 0.5);
           glutSolidCube(1.0);
        glPopMatrix();

        //头
        glTranslatef (0.0, 1.25, 0.0);
        glColor3f(1.0,0.6,0.2);
        glPushMatrix();
            glScalef (0.5, 0.5, 0.5);
            glutSolidSphere(0.8,50,10);
        glPopMatrix();
    glPopMatrix();

    //右腿
    glPushMatrix();
        glRotatef ((GLfloat) (turn+180), 0.0, 1.0, 0.0);
        //提起右大腿
        glTranslatef (0.375,0.0, 0.0);
        glRotatef ((GLfloat) left_shoulder, 1.0, 0.0, 0.0);
        glTranslatef (0.0, -0.5, 0.0);
        glColor3f(0.8,1.0,0.2);
        glPushMatrix();
            glScalef (0.5, 1.0, 0.5);
            glutSolidCube(1.0);
        glPopMatrix();

        //提起右小腿
        glTranslatef (0.0, -0.5, 0.0);
        glRotatef ((GLfloat) left_elbow, 1.0, 0.0, 0.0);
        glTranslatef (0.0, -0.5, 0.0);

        glColor3f(0.5,0.1,0.8);
        glPushMatrix();
            glScalef (0.5, 1.0, 0.5);
            glutSolidCube(1.0);
        glPopMatrix();

        //右脚
        glTranslatef (0.0, -0.5, -0.1);
        glColor3f(0.5,0.2,1.0);
        glPushMatrix();
            glScalef (0.5, 0.1, 0.7);
            glutSolidCube(1.0);
        glPopMatrix();
    glPopMatrix ();

    glPushMatrix();
        glRotatef ((GLfloat) (turn+180), 0.0, 1.0, 0.0);

        //左大腿
        glTranslatef (-0.375, 0.0, 0.0);
        glRotatef ((GLfloat) right_shoulder, 1.0, 0.0, 0.0);
        glTranslatef (0.0, -0.5, 0.0);

        glColor3f(0.8,1.0,0.2);
        glPushMatrix();
            glScalef (0.5, 1.0, 0.5);
            glutSolidCube(1.0);
        glPopMatrix();

        //左小腿
        glTranslatef (0.0, -0.5, 0.0);
        glRotatef ((GLfloat) right_elbow, 1.0, 0.0, 0.0);
        glTranslatef (0.0, -0.5, 0.0);
        glColor3f(0.5,0.1,0.8);
        glPushMatrix();
            glScalef (0.5, 1.0, 0.5);
            glutSolidCube(1.0);
        glPopMatrix();

        //左脚
        glTranslatef (0.0, -0.5, -0.1);
        glColor3f(0.5,0.2,1.0);
        glPushMatrix();
            glScalef (0.5, 0.1, 0.7);
            glutSolidCube(1.0);
        glPopMatrix();

    glPopMatrix();

    glutSwapBuffers();
}

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){
    /*
    //限制手脚活动空间
    if(left_shoulder>180) left_shoulder = 180;
    else if(left_shoulder<0) left_shoulder = 0;

    if(left_elbow>180) left_elbow = 180;
    else if(left_elbow<0) left_elbow = 0;
    */
    switch (key){
    case ';':
        left_shoulder = (left_shoulder+5) % 360;
        glutPostRedisplay();
        break;
    case 'k':
        left_shoulder = (left_shoulder-5) % 360;
        glutPostRedisplay();
        break;
    case 'o':
        left_elbow = (left_elbow+5) % 360;
        glutPostRedisplay();
        break;
    case 'l':
        left_elbow = (left_elbow-5) % 360;
        glutPostRedisplay();
        break;
    case 'a':
        right_shoulder = (right_shoulder+5) % 360;
        glutPostRedisplay();
        break;
    case 'd':
        right_shoulder = (right_shoulder-5) % 360;
        glutPostRedisplay();
        break;
    case 'w':
        right_elbow = (right_elbow+5) % 360;
        glutPostRedisplay();
        break;
    case 's':
        right_elbow = (right_elbow-5) % 360;
        glutPostRedisplay();
        break;
    case 'f':
        turn = (turn+5) % 360;
        glutPostRedisplay();
        break;
    case 'j':
        turn = (turn-5) % 360;
        glutPostRedisplay();
        break;
    default:
        break;
    }
}

int main(int argc, char** argv){
    glutInit(&argc, argv);
    glutInitDisplayMode(GL_DOUBLE | GLUT_RGB);
    glutInitWindowSize(800,600);
    glutInitWindowPosition(100,80);
    glutCreateWindow("robot");
    init();
    glutDisplayFunc(display);
    glutReshapeFunc(reshape);
    glutKeyboardFunc(keyboard);
    glutMainLoop();
    return 0;
}

具体操作说明如下：

按F键向左转，按J键向右转，按A、D键控制右胳膊和左腿的移动，按W、S键控制右小臂和左小腿的移动，按K、；键控制左胳膊和右腿的移动，按O、L键控制左小臂和右小腿的移动
最终效果截图如下：