opengl 机器人手臂

#include <GL/glut.h>
#include <stdlib.h>

static int shoulder = 0, elbow = 0;

void init(void)
{
glClearColor (0.0, 0.0, 0.0, 0.0);
glShadeModel (GL_FLAT);
}

void display(void)
{
glClear (GL_COLOR_BUFFER_BIT);
//glLoadIdentity();
glPushMatrix();//保存的是单位矩阵
glTranslatef (-1.0, 0.0, 0.0);//可以理解为绕着z=-1在转
glRotatef ((GLfloat) shoulder, 0.0, 0.0, 1.0);
glRotatef ((GLfloat) elbow, 0.0, 1.0, 1.0);
glTranslatef (1.0, 0.0, 0.0);//可以理解为坐标又回到了原点
glPushMatrix();//讲这个原点坐标保存起来
glScalef (2.0, 0.4, 0.4);//x轴扩大了两倍，
glutWireCube (1.0);//以原点为中心画一个正方体
glPopMatrix();

glPushMatrix();//再次恢复上一次的坐标,
glTranslatef (1.0, 0.12, 0.0);
glRotatef ((GLfloat) elbow, 0.0, 1.0, 0.0);
glTranslatef (0.55, 0.0, 0.0);
glPushMatrix();
glScalef (1.0, 0.2, 0.2);
//glScalef (2.0, 0.4, 1.0);
glutWireCube (1.0);
glPopMatrix();

glTranslatef (0.55, 0.0, 0.0);//使用第二节手臂的局部坐标
glRotatef ((GLfloat) elbow, 0.0, 1.0, 0.0);
glTranslatef (0.30, 0.0, 0.0);
glScalef (0.5, 0.1, 0.1);
glutWireCube (1.0);

glPopMatrix();//再次恢复第一节手臂的局部坐标
glTranslatef (1.0, -0.12, 0.0);
glRotatef ((GLfloat) elbow, 0.0, 1.0, 0.0);
glTranslatef (0.55, 0.0, 0.0);
glPushMatrix();
glScalef (1.0, 0.2, 0.2);
glutWireCube (1.0);
glPopMatrix();

glTranslatef (0.55, 0.0, 0.0);//采用第二节手臂的局部坐标
glRotatef ((GLfloat) elbow, 0.0, 1.0, 0.0);
glTranslatef (0.30, 0.0, 0.0);
glScalef (0.5, 0.1, 0.1);
glutWireCube (1.0);

glPopMatrix();
glutSwapBuffers();
// glFlush ();
}

void reshape (int w, int h)
{
glViewport (0, 0, (GLsizei) w, (GLsizei) h);
glMatrixMode (GL_PROJECTION);
glLoadIdentity ();
gluPerspective(65.0, (GLfloat) w/(GLfloat) h, 1.0, 20.0);
glMatrixMode(GL_MODELVIEW);
glLoadIdentity();
glTranslatef (0.0, 0.0, -5.0);
}

void keyboard (unsigned char key, int x, int y)
{
static int angle=5;
switch (key) {
case 's':
shoulder = (shoulder + 5) % 360;
glutPostRedisplay();
break;
case 'S':
shoulder = (shoulder - 5) % 360;
glutPostRedisplay();
break;
case 'e':
//elbow = (elbow + 5) % 360;
if(elbow>=90&&angle>0){
angle=-angle;
}
if(elbow<0&&angle<0){
angle=-angle;
}
printf("%d,%d\n",elbow,angle);
elbow = (elbow + angle);
printf("%d\n",elbow);
glutPostRedisplay();
break;
case 'E':
elbow = (elbow - 5) % 360;
glutPostRedisplay();
break;
case 27:
exit(0);
break;
default:
break;
}
}

int main(int argc, char** argv)
{
glutInit(&argc, argv);
glutInitDisplayMode (GLUT_DOUBLE | GLUT_RGB);
glutInitWindowSize (500, 500);
glutInitWindowPosition (100, 100);
glutCreateWindow (argv[0]);
init ();
glutDisplayFunc(display);
glutReshapeFunc(reshape);
glutKeyboardFunc(keyboard);
glutMainLoop();
return 0;
}