Programa del brazo robot - Práctica #3 del 4 de marzo de 2008
//Programa brazo.c
//4 de marzo de 2008
//Igor Valiente - igor at servidor dot unam dot mx
#include <GL/glut.h>
GLfloat light_diffuse[] = {1.0, 0.0, 0.0, 1.0}; /* Red diffuse light. */
GLfloat light_position[] = {1.0, 1.0, -1.0, 0.0}; /* Infinite light location. */
GLfloat n[6][3] = { /* Normals for the 6 faces of a cube. */
{-1.0, 0.0, 0.0}, {0.0, 1.0, 0.0}, {1.0, 0.0, 0.0},
{0.0, -1.0, 0.0}, {0.0, 0.0, 1.0}, {0.0, 0.0, -1.0} };
GLint faces[6][4] = { /* Vertex indices for the 6 faces of a cube. */
{0, 1, 2, 3}, {3, 2, 6, 7}, {7, 6, 5, 4},
{4, 5, 1, 0}, {5, 6, 2, 1}, {7, 4, 0, 3} };
GLfloat v[8][3]; /* Will be filled in with X,Y,Z vertexes. */
static int shoulder=0;
static int joint=0;
static int wrist=0;
void drawBox(void)
{
int i;
for (i = 0; i < 6; i++) {
glBegin(GL_QUADS);
glNormal3fv(&n[i][0]);
glVertex3fv(&v[faces[i][0]][0]);
glVertex3fv(&v[faces[i][1]][0]);
glVertex3fv(&v[faces[i][2]][0]);
glVertex3fv(&v[faces[i][3]][0]);
glEnd();
}
}
void brazo(int shoulder, int joint, int wrist)
{
//empieza el dibujo del brazo robot
glPushMatrix();
//empieza el brazo
glRotatef((GLfloat)shoulder, 0.0, 0.0, 1.0);
glTranslatef(1.0, 0.0, 0.0);
glPushMatrix();
glScalef(2.0,0.5,0.5);
drawBox();
glPopMatrix();
//termina brazo
//empieza antebrazo
glTranslatef(1.0, 0.0, 0.0);
glRotatef((GLfloat)joint, 0.0, 0.0, 1.0);
glTranslatef(1.0, 0.0, 0.0);
glPushMatrix();
glScalef(2.0,0.5,0.5);
drawBox();
glPopMatrix();
//termina antebrazo-- M6
//empieza el grip
glPushMatrix();
//empieza el primer dedo
glPushMatrix();
glTranslatef(1.0,0.0,0.0);
glRotatef((GLfloat)wrist,0.0,0.0,1.0);
glTranslatef(0.35,0.125,0.0);
glPushMatrix();
glScalef(0.7,0.25,0.25);
drawBox();
glPopMatrix();
glPopMatrix();
//termina el primer dedo
//empieza el segundo dedo
glPushMatrix();
glTranslatef(1.0,0.0,0.0);
glRotatef((GLfloat)-wrist,0.0,0.0,1.0);
glTranslatef(0.35,-0.125,0.0);
glPushMatrix();
glScalef(0.7,0.25,0.25);
drawBox();
glPopMatrix();
glPopMatrix();
//termina el segundo dedo
glPopMatrix();
//termina el grip
glPopMatrix();
//termina el dibujo del brazo robot
}
display(void)
{
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
brazo(shoulder,joint,wrist);
glutSwapBuffers();
}
void
init(void)
{
/* Setup cube vertex data. */
v[0][0] = v[1][0] = v[2][0] = v[3][0] = -0.5;
v[4][0] = v[5][0] = v[6][0] = v[7][0] = 0.5;
v[0][1] = v[1][1] = v[4][1] = v[5][1] = -0.5;
v[2][1] = v[3][1] = v[6][1] = v[7][1] = 0.5;
v[0][2] = v[3][2] = v[4][2] = v[7][2] = 0.5;
v[1][2] = v[2][2] = v[5][2] = v[6][2] = -0.5;
/* Enable a single OpenGL light. */
glLightfv(GL_LIGHT0, GL_DIFFUSE, light_diffuse);
glLightfv(GL_LIGHT0, GL_POSITION, light_position);
glEnable(GL_LIGHT0);
glEnable(GL_LIGHTING);
/* Use depth buffering for hidden surface elimination. */
glEnable(GL_DEPTH_TEST);
/* Setup the view of the cube. */
glMatrixMode(GL_PROJECTION);
gluPerspective( /* field of view in degree */ 90.0,
/* aspect ratio */ 1.0,
/* Z near */ 1.0, /* Z far */ 20.0);
glMatrixMode(GL_MODELVIEW);
gluLookAt(0.0, 0.0, 5.0, /* eye is at (0,0,5) */
0.0, 0.0, 0.0, /* center is at (0,0,0) */
0.0, 1.0, 0.); /* up is in positive Y direction */
/* Adjust cube position to be asthetic angle. */
//glTranslatef(0.0, 0.0, -1.0);
glRotatef(20, 1.0, 0.0, 0.0);
//glRotatef(-20, 0.0, 0.0, 1.0);
}
int keyboard(char key, int x, int y)
{
switch(key){
case 27: exit(0); //tecla de escape
break;
case 'h': shoulder=(shoulder+5)%360;
glutPostRedisplay();
break;
case 'H': shoulder=(shoulder-5)%360;
glutPostRedisplay();
break;
case 'c': joint=(joint+5)%360;
glutPostRedisplay();
break;
case 'C': joint=(joint-5)%360;
glutPostRedisplay();
break;
case 'm': wrist=(wrist+5)%360;
glutPostRedisplay();
break;
case 'M': wrist=(wrist-5)%360;
glutPostRedisplay();
break;
default: break;
}
glutPostRedisplay();
}
int main(int argc, char **argv)
{
glutInit(&argc, argv);
glutInitDisplayMode(GLUT_DOUBLE | GLUT_RGB | GLUT_DEPTH);
glutInitWindowSize(500,500);
glutCreateWindow("Brazo robot rojo");
glutDisplayFunc(display);
glutKeyboardFunc(keyboard);
init();
glutMainLoop();
return 0; /* ANSI C requires main to return int. */
}
posted by Igor Valiente at
3:01 p.m.
|
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