OpenGL图形编程（free glut库） 机械臂的实现 - 黑色spider

时间：2024-03-12 16:54:51
OpenGL图形编程（free glut库） 机械臂的实现 

 1 #include"windows.h"
  2 #include "GL/freeglut.h"
  3 
  4 
  5 
  6 void  ReShape(GLsizei w, GLsizei h);
  7 void display();
  8 void KeyAction(unsigned char key, int x, int y);
  9 void  ChangeData(int id);
 10 
 11 bool isshoudlerUP = true;
 12 bool iselbowUP = true;
 13 bool isotherUP = true;
 14 
 15 
 16 
 17 GLfloat shoudler = 20;   // 第一个关节的旋转角
 18 GLfloat elbow = -10;   // 第2个关节的旋转角
 19 GLfloat other = -50;
 20 
 21 
 22 int main(int argc, char * argv[])
 23 {
 24     glutInit(&argc,argv);
 25     glutInitDisplayMode(GLUT_DOUBLE | GLUT_RGBA);
 26 
 27     glutInitWindowPosition(50, 50);
 28     glutInitWindowSize(700, 700);
 29 
 30     glutCreateWindow("机械手臂");
 31 
 32     glEnable(GL_DEPTH_TEST);   // 打开深度测试
 33 
 34     glutReshapeFunc(ReShape);
 35     glutDisplayFunc(display);
 36     glutKeyboardFunc(KeyAction);
 37 
 38     glutIdleFunc(display);
 39 
 40     glutTimerFunc(50, ChangeData,1);
 41 
 42     glutMainLoop();
 43     return 0;
 44 }
 45 
 46 
 47 void  ReShape(GLsizei w, GLsizei h)
 48 {
 49     glViewport(0,0,w,h);
 50     glMatrixMode(GL_PROJECTION);
 51     glLoadIdentity();
 52     gluPerspective(60, 1*(GLfloat)w / (GLfloat)h, 1, 30);
 53     gluLookAt(6, 6, 6, 1, 0, 0, 0, 1, 0);
 54 }
 55 
 56 
 57 void display()
 58 {
 59     glColor4f(0, 0, 0, 0);
 60     glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
 61 
 62     glMatrixMode(GL_MODELVIEW);
 63     //glutInitDisplayMode();   坑   *******
 64 
 65     glPushMatrix();
 66     // 绘制第一节关节
 67     glTranslatef(-1, 0, 0);
 68     glRotatef(shoudler, 0, 0,1);
 69     glTranslatef(1, 0, 0);
 70 
 71     glPushMatrix();
 72     glColor4f(0, 1, 1, 0);
 73     glScalef(2, 0.4, 1);
 74     glutWireCube(1);
 75     glPopMatrix();
 76 
 77     // 绘制第二个关节
 78     glTranslatef(1, 0, 0);
 79     glRotatef(elbow, 0, 0, 1);
 80     glTranslatef(1, 0, 0);
 81     glPushMatrix();
 82     glColor4f(1, 0, 1, 0);
 83     glScalef(2, 0.4, 1);
 84     glutWireCube(1);
 85     glPopMatrix();
 86 
 87     // 绘制第三个关节
 88     glPushMatrix();
 89     glTranslatef(1, 0, 0);
 90     glRotatef(other, 0, 0, 1);
 91     glTranslatef(0.5, 0, 0.5);
 92 
 93     glPushMatrix();
 94     glColor4f(1, 0.5, 0.5, 0);
 95     glScalef(1, 0.2, 0.5);
 96     glutWireCube(1);
 97     glPopMatrix();
 98     // （2）
 99     glTranslatef(0.5, 0, 0);
100     glRotatef(other, 0, 0, 1);
101     glTranslatef(0.4, 0, 0);
102 
103     glPushMatrix();
104     glColor4f(0, 0, 1, 0);
105     glScalef(0.8, 0.2, 0.3);
106     glutWireCube(1);
107     glPopMatrix();
108 
109     glPopMatrix();
110 
111     // 绘制第四个关节
112     glPushMatrix();
113     glTranslatef(1, 0, 0);
114     glRotatef(other, 0, 0, 1);
115     glTranslatef(0.5, 0, -0.5);
116 
117     glPushMatrix();
118     glColor4f(1, 0.5, 0.5, 0);
119     glScalef(1, 0.2, 0.5);
120     glutWireCube(1);
121     glPopMatrix();
122 
123     // （2）
124     glTranslatef(0.5, 0, 0);
125     glRotatef(other, 0, 0, 1);
126     glTranslatef(0.4, 0, 0);
127 
128     glPushMatrix();
129     glColor4f(0, 0, 1, 0);
130     glScalef(0.8, 0.2, 0.3);
131     glutWireCube(1);
132     glPopMatrix();
133     glPopMatrix();
134 
135 
136     glPopMatrix();
137 
138 
139 
140     /**************************坐标**************************************/
141     {
142         glPushMatrix();
143         glLoadIdentity();
144         glColor4f(1, 1, 1, 0);
145         glTranslatef(0, 0, 0);
146         glutWireCube(0.1f);
147         glPopMatrix();
148         glPushMatrix();
149         glBegin(GL_LINE_STRIP);
150         glColor4f(1, 0, 0, 0);
151         glTranslatef(0, 0, 0);
152         for (int i = -10; i < 10; i++)
153         {
154             glVertex3f(i, 0, 0);
155         }
156         glEnd();
157         glFlush();
158         glPopMatrix();
159 
160         glPushMatrix();
161         glBegin(GL_LINE_STRIP);
162         glColor4f(0, 1, 0, 0);
163         glTranslatef(0, 0, 0);
164         for (int i = -10; i < 10; i++)
165         {
166             glVertex3f(0, i, 0);
167         }
168         glEnd();
169         glFlush();
170         glPopMatrix();
171 
172         glPushMatrix();
173         glBegin(GL_LINE_STRIP);
174         glColor4f(0, 0, 1, 0);
175         glTranslatef(0, 0, 0);
176         for (int i = -10; i < 10; i++)
177         {
178             glVertex3f(0, 0, i);
179         }
180         glEnd();
181         glFlush();
182         glPopMatrix();
183         /****************************************************************/
184     }
185 
186     glutSwapBuffers();
187 }
188 
189 
190 
191 void KeyAction(unsigned char key, int x, int y)
192 {
193     switch (key)
194     {
195     case \'a\':
196         if (shoudler < 50) shoudler += 5; break;
197     case \'A\':
198         if(shoudler>-50) shoudler -= 5; break;
199     case \'b\':
200         if (elbow < 40) elbow += 5; break;
201     case \'B\':
202         if (elbow > -50) elbow -= 5; break;
203     case \'c\':
204         if (other < 10) other += 5; break;
205     case \'C\':
206         if (other > -120) other -= 5; break;
207     default:
208         break;
209     }
210 }
211 
212 
213 void  ChangeData(int id)
214 {
215 
216     if (isshoudlerUP)
217     {
218         shoudler += 1;
219         if (shoudler > 50) isshoudlerUP = false;
220     }else
221     {
222         shoudler -= 1;
223         if (shoudler < -50) isshoudlerUP = true;
224     }
225     if (iselbowUP)
226     {
227         elbow += 3;
228         if (elbow > 30) iselbowUP = false;
229     }
230     else
231     {
232         elbow -= 3;
233         if (elbow < -60) iselbowUP = true;
234     }
235 
236     if (isotherUP)
237     {
238         other += 5;
239         if (other > 10) isotherUP = false;
240     }
241     else
242     {
243         other -= 5;
244         if (other < -120) isotherUP = true;
245     }
246 
247     glutTimerFunc(50, ChangeData, 1);
248 }

 

posted on 2020-04-18 16:54  黑色spider  阅读(359)  评论(0)  编辑  收藏  举报

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