计算机图形学机器人绘制opengl

#include<windows.h> #include<gl/glut.h> #include<stdlib.h> #include<stdio.h> #include<math.h> #include<iostream> using namespace std; int all_rotate=0; int head_rotate=0; int shoulder_y=0; int shoulder_x=0; int larm_r=0; int rarm_r=0; int llw=0; int rlw=0; int robot_move=0; int turn_back=0; float l=0; float k=0; float a=0.2,b=0.9,c=0.3,d=0.3; //a--torso b--body c--shoulder d--arm and leg void torso() { glPushMatrix(); glScalef(float(1.0/a),1.0,1.0); glutSolidSphere(a, 30, 17); glPopMatrix(); } void body() { glPushMatrix(); glTranslatef(0,1.5,0); glScalef(1.0,float(1.5/b),1.0); glutSolidSphere(b, 30, 17); glPopMatrix(); } void shoulder() { glPushMatrix(); glScalef(float(1.5/c),1.0,1.0); glutSolidSphere(c, 30, 17); glPopMatrix(); } void head() { glPushMatrix(); glTranslatef(0,0.5,0); glutSolidSphere(0.5f, 30, 17); glTranslatef(0,0,0.5); glutSolidSphere(0.1f, 30, 17); glPopMatrix(); } void upperarm() //手脚的画法相同，所以直接使用同一个函数 { glPushMatrix(); glTranslatef(0,-1,0); glScalef(1.0,float(1.0/d),1.0); glutSolidSphere(d, 30, 17); glPopMatrix(); } void lowerarm() { glPushMatrix(); glTranslatef(0,-1,0); glScalef(1.0,float(1.0/d),1.0); glutSolidSphere(d, 30, 17); glPopMatrix(); } void init(void) { GLfloat mat_diffuse[]={1.0,1.0,1.0,1.0}; GLfloat mat_specular[]={1.0,1.0,1.0,1.0}; GLfloat mat_shininess[]={50.0}; GLfloat light_diffuse[]={0.1,0.9,0.1,1.0}; GLfloat light_position[]={10.0,10.0,10.0,1.0}; GLfloat light_specular[]={0.5,0.5,0.5,1.0}; GLfloat lmodel_ambient[]={0.0,1.0,0.0,1.0}; glClearColor(0.0,0.0,0.0,0.0); glShadeModel(GL_SMOOTH); glMaterialfv(GL_FRONT,GL_SPECULAR,mat_specular); glMaterialfv(GL_FRONT,GL_SHININESS,mat_shininess); glLightfv(GL_FRONT,GL_DIFFUSE,mat_diffuse); glLightfv(GL_LIGHT0,GL_POSITION,light_position); glLightfv(GL_LIGHT0,GL_DIFFUSE,light_diffuse); glLightfv(GL_LIGHT0,GL_SPECULAR,light_specular); glLightModelfv(GL_LIGHT_MODEL_AMBIENT,lmodel_ambient); GLfloat mat_ambient[]={1.0,1.0,1.0,1.0}; GLfloat light_ambient[]={1.0,1.0,1.0,1.0}; glEnable(GL_LIGHTING); glEnable(GL_LIGHT0); glEnable(GL_DEPTH_TEST); } void display(void) { glClearColor(0.0,0.0,0.0,0.0); glClear(GL_COLOR_BUFFER_BIT|GL_DEPTH_BUFFER_BIT); glColor3f(0.1,0.9,0.1); glPushMatrix(); glRotatef((float)all_rotate,0.0,1.0,0.0); glPushMatrix(); glTranslatef(0,0,robot_move); glPushMatrix(); body(); //身体 glPopMatrix(); glPushMatrix(); //(0,0,0) glTranslatef(0,3,0); //(0,3,0) glPushMatrix(); //先画头，这样头和脖子就不会一起旋转 glRotatef(head_rotate,0.0,1.0,0.0); head(); glPopMatrix(); //(0,3,0) glRotatef((GLfloat)shoulder_y,0.0,1.0,0.0); //shoulder、arms rotate based on Y axis glRotatef((GLfloat)shoulder_x,1.0,0.0,0.0); //shoulder、arms rotate based on X axis shoulder(); //脖子==肩膀 glPushMatrix(); //left hand glTranslatef(1.5,0,0); //(1.5,3,0) upperarm(); glPushMatrix(); //(1.5,3,0) glTranslatef(0,-2,0); //下移2单位，到达手肘 //lelbowx rotate glRotatef((GLfloat)larm_r,1.0,0.0,0.0); lowerarm(); glPopMatrix(); //(1.5,3,0) glPopMatrix(); //(0,3,0) glPushMatrix(); //right hand glTranslatef(-1.5,0,0); //(-1.5,3,0) upperarm(); glPushMatrix(); //(-1.5,3,0) glTranslatef(0,-2,0); //下移2单位，到达手肘 //relbowx rotate glRotatef((GLfloat)rarm_r,1.0,0.0,0.0); lowerarm(); glPopMatrix(); //(-1.5,3,0) glPopMatrix(); //(0,3,0) glPopMatrix(); //(0,0,0) torso(); //胯 glPushMatrix(); //left leg glTranslatef(1,0,0); //(1,0,0) //walk glRotatef(-40*llw,1.0,0.0,0.0); upperarm(); //upperleg glPushMatrix(); //(1,0,0) glTranslatef(0,-2,0); //lelbowx rotate lowerarm(); //lowerleg glPopMatrix(); //(1,0,0) glPopMatrix(); //(0,0,0) glPushMatrix(); //right leg glTranslatef(-1,0,0); //(-1,0,0) //walk glRotatef(-40*rlw,1.0,0.0,0.0); upperarm(); glPushMatrix(); //(-1,0,0) glTranslatef(0,-2,0); //relbowx rotate lowerarm(); glPopMatrix(); //(-1,0,0) glPopMatrix(); //(0,0,0) glPopMatrix(); glPopMatrix(); glFlush(); } /*void idle() { inverse+=10; if(inverse>=360) inverse=0.0f; void display(void); display(); }*/ void keyboard(unsigned char key,int x,int y) { switch (key) { case 'D' :all_rotate=(all_rotate+10)%360; //D全身转 A倒着转 glutPostRedisplay(); break; case 'A' :all_rotate=(all_rotate-10)%360; glutPostRedisplay(); break; case 'd' :shoulder_y=(shoulder_y+10)%360; //d肩膀左右转 a相反 glutPostRedisplay(); break; case 'a' :shoulder_y=(shoulder_y-10)%360; glutPostRedisplay(); break; case 'w' :shoulder_x=(shoulder_x+10)%360; //w肩膀上下转 s相反 glutPostRedisplay(); break; case 's' :shoulder_x=(shoulder_x-10)%360; glutPostRedisplay(); break; case 'o' :head_rotate=(head_rotate+10)%360; //o转头 glutPostRedisplay(); break; case 'p' : //p机器人行走 if(llw==0&&rlw==0) { llw=1; } else { int temp=llw; llw=rlw; rlw=temp; robot_move++; } glutPostRedisplay(); break; case 'e' : //e左手手臂上下摆动 r相反 if(larm_r<120) { larm_r+=10; } glutPostRedisplay(); break; case 'r' : if(larm_r>-120) { larm_r-=10; } glutPostRedisplay(); break; case 't' : //t右手手臂上下摆动 y相反 if(rarm_r<120) { rarm_r+=10; } glutPostRedisplay(); break; case 'y' : if(rarm_r>-120) { rarm_r-=10; } glutPostRedisplay(); break; default: break; } } void Reshape(int w,int h) { glViewport(0,0,(GLsizei)w,(GLsizei)h); glMatrixMode(GL_PROJECTION); glLoadIdentity(); gluPerspective(45.0,(GLsizei)w/(GLsizei)h,1.0,50.0); glMatrixMode(GL_MODELVIEW); glLoadIdentity(); glTranslatef(0.0,0.0,-25.0); } int main(int argc,char *argv[]) { glutInit(&argc,argv); glutInitDisplayMode(GLUT_RGBA|GLUT_DEPTH|GLUT_SINGLE); glutInitWindowPosition(100,100); glutInitWindowSize(800,800); glutCreateWindow("robot"); glutReshapeFunc(&Reshape); init(); glutDisplayFunc(&display); glutKeyboardFunc(keyboard); //glutIdleFunc(&idle); glutMainLoop(); return 0; }