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BE LIABLE TO YOU OR ANYONE ELSE FOR ANY DIRECT, * SPECIAL, INCIDENTAL, INDIRECT OR CONSEQUENTIAL DAMAGES OF ANY * KIND, OR ANY DAMAGES WHATSOEVER, INCLUDING WITHOUT LIMITATION, * LOSS OF PROFIT, LOSS OF USE, SAVINGS OR REVENUE, OR THE CLAIMS OF * THIRD PARTIES, WHETHER OR NOT SILICON GRAPHICS, INC. HAS BEEN * ADVISED OF THE POSSIBILITY OF SUCH LOSS, HOWEVER CAUSED AND ON * ANY THEORY OF LIABILITY, ARISING OUT OF OR IN CONNECTION WITH THE * POSSESSION, USE OR PERFORMANCE OF THIS SOFTWARE. * * US Government Users Restricted Rights * Use, duplication, or disclosure by the Government is subject to * restrictions set forth in FAR 52.227.19(c)(2) or subparagraph * (c)(1)(ii) of the Rights in Technical Data and Computer Software * clause at DFARS 252.227-7013 and/or in similar or successor * clauses in the FAR or the DOD or NASA FAR Supplement. * Unpublished-- rights reserved under the copyright laws of the * United States. Contractor/manufacturer is Silicon Graphics, * Inc., 2011 N. Shoreline Blvd., Mountain View, CA 94039-7311. * * OpenGL(R) is a registered trademark of Silicon Graphics, Inc. */ /* * robot.c * This program shows how to composite modeling transformations * to draw translated and rotated hierarchical models. * Interaction: pressing the s and e keys (shoulder and elbow) * alters the rotation of the robot arm. */ /* * Extended example: * - mouse for interaction * - glut menus * - variables to control debugging output * * Geoff Leach * 3/4/2007 */ #include #include #include #include typedef enum { debug_keyboard, debug_special, debug_motion } debug_flags; bool debug[] = { true, true, true, true }; static int shoulder = 0, elbow = 0; static int lastX = 0, lastY = 0; static float rotateX = 0.0, rotateY = 0.0; static bool lighting = false; typedef enum { solid, wireframe } renderMode_t; renderMode_t renderMode = solid; void init(void) { glClearColor (0.0, 0.0, 0.0, 0.0); glShadeModel (GL_FLAT); } void drawAxes(float length) { glPushAttrib(GL_CURRENT_BIT); glBegin(GL_LINES); /* x axis */ glColor3f(1.0, 0.0, 0.0); glVertex3f(0.0, 0.0, 0.0); glVertex3f(length, 0.0, 0.0); /* y axis */ glColor3f(0.0, 1.0, 0.0); glVertex3f(0.0, 0.0, 0.0); glVertex3f(0.0, length, 0.0); /* z axis */ glColor3f(0.0, 0.0, 1.0); glVertex3f(0.0, 0.0, 0.0); glVertex3f(0.0, 0.0, length); glEnd(); glPopAttrib(); } void display(void) { glClear (GL_COLOR_BUFFER_BIT); glPushMatrix(); /* Global coordinate system */ drawAxes(10.0); /* Global transformations */ glTranslatef (-1.0, 0.0, 0.0); glRotatef (rotateX, 1.0, 0.0, 0.0); glRotatef (rotateY, 0.0, 1.0, 0.0); /* Upper arm */ drawAxes(2.0); glRotatef ((GLfloat) shoulder, 0.0, 0.0, 1.0); drawAxes(2.0); glTranslatef (1.0, 0.0, 0.0); drawAxes(2.0); glPushMatrix(); glScalef (2.0, 0.4, 1.0); glutSolidCube (1.0); glPopMatrix(); /* Lower arm */ drawAxes(2.0); glTranslatef (1.0, 0.0, 0.0); glRotatef ((GLfloat) elbow, 0.0, 0.0, 1.0); drawAxes(2.0); glTranslatef (1.0, 0.0, 0.0); drawAxes(2.0); glPushMatrix(); glScalef (2.0, 0.4, 1.0); glutSolidCube (1.0); glPopMatrix(); glPopMatrix(); glutSwapBuffers(); } 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 mouse(int button, int state, int x, int y) { lastX = x; lastY = y; } void motion(int x, int y) { int dx, dy; if (debug[debug_motion]) { printf("motion: x y %d %d\n", x, y); printf("motion: rotateX rotateY %f %f\n", rotateX, rotateY); } dx = x - lastX; dy = y - lastY; rotateX += dy; rotateY += dx; lastX = x; lastY = y; glutPostRedisplay(); } void special (int key, int x, int y) { if (debug[debug_special]) printf("special: key = %d\n", key); } /* ARGSUSED1 */ void keyboard (unsigned char key, int x, int y) { if (debug[debug_keyboard]) printf("keyboard: key = %d\n", key); switch (key) { case 's': shoulder = (shoulder + 5) % 360; glutPostRedisplay(); break; case 'S': shoulder = (shoulder - 5) % 360; glutPostRedisplay(); break; case 'e': elbow = (elbow + 5) % 360; glutPostRedisplay(); break; case 'E': elbow = (elbow - 5) % 360; glutPostRedisplay(); break; case 27: exit(0); break; default: break; } } void menu(int value) { switch (value) { case 0: lighting = false; break; case 1: lighting = true; break; case 2: glPolygonMode(GL_FRONT_AND_BACK, GL_LINE); renderMode = wireframe; break; case 3: renderMode = solid; glPolygonMode(GL_FRONT_AND_BACK, GL_FILL); break; default: break; } glutPostRedisplay(); } int main(int argc, char** argv) { /* Create window and initialise */ glutInit(&argc, argv); glutInitDisplayMode (GLUT_DOUBLE | GLUT_RGB); glutInitWindowSize (500, 500); glutInitWindowPosition (100, 100); glutCreateWindow (argv[0]); init (); /* Register callbacks */ glutDisplayFunc(display); glutReshapeFunc(reshape); glutKeyboardUpFunc(keyboard); glutSpecialUpFunc(special); glutMouseFunc(mouse); glutMotionFunc(motion); /* Create menus */ glutCreateMenu(menu); glutAddMenuEntry("Lighting off", 0); glutAddMenuEntry("Lighting on", 1); glutAddMenuEntry("Wireframe", 2); glutAddMenuEntry("Solid", 3); glutAddMenuEntry("Flat", 4); glutAddMenuEntry("Smooth", 5); glutAttachMenu(GLUT_RIGHT_BUTTON); glutMainLoop(); return 0; }