用opengl做的机器人

#include <GL/glut.h>
#include <stdlib.h>
#include <stdio.h>
#include <math.h>
#include <string.h>



#define COS(X)   cos( (X) * 3.14159/180.0 )
#define SIN(X)   sin( (X) * 3.14159/180.0 )

#define HEAD 1
#define SHOUDER 2
#define BODY 3
#define WAIST 4

#define UPLEG 5
#define LOWLEG 6
#define FOOT 7

#define UPARM 8
#define LOWARM 9
#define HAND 10

GLUquadricObj *qObj;
static float lightpos[] ={0.f, 200.f, 10.f, 1.f};
double turnbody=0;
double elevation=0;
int turnbodytemp;

int iskick=0;
int iswalk=0;
int canexcludeball=0;
int cancatchball=1;
float G_vLitPosition[4] = { -5.0f, 0.0f, 5.0f, 1.0f };
int fk=1;

static double v0,v1,v2;
static double a0,a1,a2;

struct {     
float pos[2];
float dir[2];
}myrobot;



int mode=0;

int ileg=0;
int iarm=0;


double turnfront =0;
double turnleft=0;
double turnupward=0;

//头，肩，腰。
double turnHead=0;
double turnShouder=0;