OpenGL图形编程（free glut库） 机械臂的实现

 1 #include"windows.h"
#include "GL/freeglut.h"



void  ReShape(GLsizei w, GLsizei h);
void display();
void KeyAction(unsigned char key, int x, int y);
void  ChangeData(int id);

bool isshoudlerUP = true;
bool iselbowUP = true;
bool isotherUP = true;



GLfloat shoudler = 20;   // 第一个关节的旋转角
GLfloat elbow = -10;   // 第2个关节的旋转角
GLfloat other = -50;


int main(int argc, char * argv[])
{
    glutInit(&argc,argv);
    glutInitDisplayMode(GLUT_DOUBLE | GLUT_RGBA);

    glutInitWindowPosition(50, 50);
    glutInitWindowSize(700, 700);

    glutCreateWindow("机械手臂");

    glEnable(GL_DEPTH_TEST);   // 打开深度测试

    glutReshapeFunc(ReShape);
    glutDisplayFunc(display);
    glutKeyboardFunc(KeyAction);

    glutIdleFunc(display);

    glutTimerFunc(50, ChangeData,1);

    glutMainLoop();
    return 0;
}


void  ReShape(GLsizei w, GLsizei h)
{
    glViewport(0,0,w,h);
    glMatrixMode(GL_PROJECTION);
    glLoadIdentity();
    gluPerspective(60, 1*(GLfloat)w / (GLfloat)h, 1, 30);
    gluLookAt(6, 6, 6, 1, 0, 0, 0, 1, 0);
}


void display()
{
    glColor4f(0, 0, 0, 0);
    glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);

    glMatrixMode(GL_MODELVIEW);
    //glutInitDisplayMode();   坑   *******

    glPushMatrix();
    // 绘制第一节关节
    glTranslatef(-1, 0, 0);
    glRotatef(shoudler, 0, 0,1);
    glTranslatef(1, 0, 0);

    glPushMatrix();
    glColor4f(0, 1, 1, 0);
    glScalef(2, 0.4, 1);
    glutWireCube(1);
    glPopMatrix();

    // 绘制第二个关节
    glTranslatef(1, 0, 0);
    glRotatef(elbow, 0, 0, 1);
    glTranslatef(1, 0, 0);
    glPushMatrix();
    glColor4f(1, 0, 1, 0);
    glScalef(2, 0.4, 1);
    glutWireCube(1);
    glPopMatrix();

    // 绘制第三个关节
    glPushMatrix();
    glTranslatef(1, 0, 0);
    glRotatef(other, 0, 0, 1);
    glTranslatef(0.5, 0, 0.5);

    glPushMatrix();
    glColor4f(1, 0.5, 0.5, 0);
    glScalef(1, 0.2, 0.5);
    glutWireCube(1);
    glPopMatrix();
    // （2）
    glTranslatef(0.5, 0, 0);
    glRotatef(other, 0, 0, 1);
    glTranslatef(0.4, 0, 0);

    glPushMatrix();
    glColor4f(0, 0, 1, 0);
    glScalef(0.8, 0.2, 0.3);
    glutWireCube(1);
    glPopMatrix();

    glPopMatrix();

    // 绘制第四个关节
    glPushMatrix();
    glTranslatef(1, 0, 0);
    glRotatef(other, 0, 0, 1);
    glTranslatef(0.5, 0, -0.5);

    glPushMatrix();
    glColor4f(1, 0.5, 0.5, 0);
    glScalef(1, 0.2, 0.5);
    glutWireCube(1);
    glPopMatrix();

    // （2）
    glTranslatef(0.5, 0, 0);
    glRotatef(other, 0, 0, 1);
    glTranslatef(0.4, 0, 0);

    glPushMatrix();
    glColor4f(0, 0, 1, 0);
    glScalef(0.8, 0.2, 0.3);
    glutWireCube(1);
    glPopMatrix();
    glPopMatrix();


    glPopMatrix();



    /**************************坐标**************************************/
    {
        glPushMatrix();
        glLoadIdentity();
        glColor4f(1, 1, 1, 0);
        glTranslatef(0, 0, 0);
        glutWireCube(0.1f);
        glPopMatrix();
        glPushMatrix();
        glBegin(GL_LINE_STRIP);
        glColor4f(1, 0, 0, 0);
        glTranslatef(0, 0, 0);
        for (int i = -10; i < 10; i++)
        {
            glVertex3f(i, 0, 0);
        }
        glEnd();
        glFlush();
        glPopMatrix();

        glPushMatrix();
        glBegin(GL_LINE_STRIP);
        glColor4f(0, 1, 0, 0);
        glTranslatef(0, 0, 0);
        for (int i = -10; i < 10; i++)
        {
            glVertex3f(0, i, 0);
        }
        glEnd();
        glFlush();
        glPopMatrix();

        glPushMatrix();
        glBegin(GL_LINE_STRIP);
        glColor4f(0, 0, 1, 0);
        glTranslatef(0, 0, 0);
        for (int i = -10; i < 10; i++)
        {
            glVertex3f(0, 0, i);
        }
        glEnd();
        glFlush();
        glPopMatrix();
        /****************************************************************/
    }

    glutSwapBuffers();
}



void KeyAction(unsigned char key, int x, int y)
{
    switch (key)
    {
    case 'a':
        if (shoudler < 50) shoudler += 5; break;
    case 'A':
        if(shoudler>-50) shoudler -= 5; break;
    case 'b':
        if (elbow < 40) elbow += 5; break;
    case 'B':
        if (elbow > -50) elbow -= 5; break;
    case 'c':
        if (other < 10) other += 5; break;
    case 'C':
        if (other > -120) other -= 5; break;
    default:
        break;
    }
}


void  ChangeData(int id)
{

    if (isshoudlerUP)
    {
        shoudler += 1;
        if (shoudler > 50) isshoudlerUP = false;
    }else
    {
        shoudler -= 1;
        if (shoudler < -50) isshoudlerUP = true;
    }
    if (iselbowUP)
    {
        elbow += 3;
        if (elbow > 30) iselbowUP = false;
    }
    else
    {
        elbow -= 3;
        if (elbow < -60) iselbowUP = true;
    }

    if (isotherUP)
    {
        other += 5;
        if (other > 10) isotherUP = false;
    }
    else
    {
        other -= 5;
        if (other < -120) isotherUP = true;
    }

    glutTimerFunc(50, ChangeData, 1);
}