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基于OpenGL的三维机器人仿真
#include<windows.h>#include<gl/glut.h>#pragma comment(lib, "glut32.lib")#include <iostream>using namespace std;GLfloat no_mat[] = { 0.0, 0.0, 0.0, 1.0 };GLfloat mat_ambient[] = { 0.8, 0.8, 0.8, 1.0 };GLfloat mat_ambient_color[] = { 0.8, 0.8, 0.2, 1.0 };GLfloat mat_diffuse[] = { 0.5, 0.8, 0.0, 1.0 };GLfloat mat_specular[] = { 1.0, 0.0, 0.5, 1.0 };GLfloat no_shininess[] = { 0.5 };GLfloat low_shininess[] = { 5.0 };GLfloat high_shininess[] = { 100.0 };GLfloat mat_emission[] = {0.3, 0.2, 0.2, 0.0};static int angle = 0, neck = 0, lshoulder = 0, lelbow = 0, rshoulder = 0, relbow = 0,lhips = 0, rhips = 0, lfoot = 0, rfoot = 0, flagneck = 0, flaglshoulder = 0,flaglelbow = 0, flagrshoulder = 0, flagrelbow = 0, flaglhips = 0,flagrhips = 0, flaglfoot = 0, flagrfoot = 0;void init(void){ GLfloat ambient[] = { 0.0, 0.0, 0.0, 1.0 }; GLfloat diffuse[] = { 1.0, 1.0, 1.0, 1.0 }; GLfloat position[] = { 0.0, 5.0, 10.0, 0.0 }; GLfloat lmodel_ambient[] = { 0.4, 0.4, 0.4, 1.0 }; GLfloat local_view[] = { 0.0 }; glClearColor(0,0,0,0); glLightfv(GL_LIGHT0, GL_AMBIENT, ambient); glLightfv(GL_LIGHT0, GL_DIFFUSE, diffuse); glLightfv(GL_LIGHT0, GL_POSITION, position); glLightModelfv(GL_LIGHT_MODEL_AMBIENT, lmodel_ambient); glLightModelfv(GL_LIGHT_MODEL_LOCAL_VIEWER, local_view); glShadeModel(GL_SMOOTH); glEnable(GL_DEPTH_TEST); glEnable(GL_LIGHTING); glEnable(GL_LIGHT0);}void draw_body(void){ glPushMatrix(); glTranslatef(0,1.5,0); glScalef(0.5,1,0.4); glMaterialfv(GL_FRONT, GL_AMBIENT, mat_ambient_color); glMaterialfv(GL_FRONT, GL_DIFFUSE, mat_diffuse); glMaterialfv(GL_FRONT, GL_SPECULAR, mat_specular); glMaterialfv(GL_FRONT, GL_SHININESS, high_shininess); glMaterialfv(GL_FRONT, GL_EMISSION, no_mat); glutSolidCube(4); ; glPopMatrix();}void draw_leftshoulder(void){ glPushMatrix(); glMaterialfv(GL_FRONT, GL_AMBIENT, no_mat); glMaterialfv(GL_FRONT, GL_DIFFUSE, mat_diffuse); glMaterialfv(GL_FRONT, GL_SPECULAR, no_mat); glMaterialfv(GL_FRONT, GL_SHININESS, no_shininess); glMaterialfv(GL_FRONT, GL_EMISSION, no_mat); glTranslatef(1.5, 3,0); glRotatef(lshoulder, 1, 0, 0); glTranslatef(0, -0.5, 0); glScalef(0.4, 1, 0.5); glutSolidCube(2); glScalef(1 / 0.4, 1 / 1, 1 / 0.5); glTranslatef(0, -1.4, 0); glRotatef(lelbow, 1,0, 0); glutWireSphere(0.4, 200, 500); glScalef(0.4, 1, 0.5); glTranslatef(0, -1.4, 0); glutSolidCube(2); glPopMatrix();}void draw_rightshoulder(void){ glPushMatrix(); glMaterialfv(GL_FRONT, GL_AMBIENT, no_mat); glMaterialfv(GL_FRONT, GL_DIFFUSE, mat_diffuse); glMaterialfv(GL_FRONT, GL_SPECULAR, no_mat); glMaterialfv(GL_FRONT, GL_SHININESS, no_shininess); glMaterialfv(GL_FRONT, GL_EMISSION, no_mat); glTranslatef(-1.5,3,0); glRotatef(rshoulder,1,0,0); glTranslatef(0,-0.5,0); glScalef(0.4,1,0.5); glutSolidCube(2); glScalef(1/0.4,1/1,1/0.5); glTranslatef(0,-1.4,0); glRotatef(relbow,1,0,0); glutWireSphere(0.4,200,500); glScalef(0.4,1,0.5); glTranslatef(0,-1.4,0); glutSolidCube(2); glPopMatrix();}void draw_head(void){ glPushMatrix(); glMaterialfv(GL_FRONT, GL_AMBIENT, no_mat); glMaterialfv(GL_FRONT, GL_DIFFUSE, mat_diffuse); glMaterialfv(GL_FRONT, GL_SPECULAR, mat_specular); glMaterialfv(GL_FRONT, GL_SHININESS, low_shininess); glMaterialfv(GL_FRONT, GL_EMISSION, no_mat); glTranslatef(0,3.5,0); glRotatef(neck,0,0,1); glTranslatef(0,1,0); glutWireSphere(1,200,500); glPopMatrix();}void draw_leftfoot(void){ glPushMatrix(); glMaterialfv(GL_FRONT, GL_AMBIENT, no_mat); glMaterialfv(GL_FRONT, GL_DIFFUSE, mat_diffuse); glMaterialfv(GL_FRONT, GL_SPECULAR, no_mat); glMaterialfv(GL_FRONT, GL_SHININESS, no_shininess); glMaterialfv(GL_FRONT, GL_EMISSION, no_mat); glTranslatef(-0.6,-0.6,0); glRotatef(lfoot,1,0,0); glTranslatef(0,-1,0); glScalef(0.4,1,0.5); glutSolidCube(2); glScalef(1/0.4,1/1,1/0.5); glTranslatef(0,-1.4,0); glRotatef(lhips,1,0,0); glutWireSphere(0.4,200,500); glScalef(0.4,1,0.5); glTranslatef(0,-1.4,0); glutSolidCube(2); glPopMatrix();}void draw_rightfoot(void){ glPushMatrix(); glMaterialfv(GL_FRONT, GL_AMBIENT, no_mat); glMaterialfv(GL_FRONT, GL_DIFFUSE, mat_diffuse); glMaterialfv(GL_FRONT, GL_SPECULAR, no_mat); glMaterialfv(GL_FRONT, GL_SHININESS, no_shininess); glMaterialfv(GL_FRONT, GL_EMISSION, no_mat); glTranslatef(0.6,-0.6,0); glRotatef(rfoot,1,0,0); glTranslatef(0,-1,0); glScalef(0.4,1,0.5); glutSolidCube(2); glScalef(1/0.4,1/1,1/0.5); glTranslatef(0,-1.4,0); glRotatef(rhips,1,0,0); glutWireSphere(0.4,200,500); glScalef(0.4,1,0.5); glTranslatef(0,-1.4,0); glutSolidCube(2); glPopMatrix();}void display(void){ glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT); glPushMatrix(); glRotatef(angle,0,1,0); glTranslatef(0,4,0); draw_body(); draw_head(); draw_leftshoulder(); draw_rightshoulder(); draw_leftfoot(); draw_rightfoot(); glPopMatrix(); glutSwapBuffers();}void reshape(int w,int h){ glViewport(0,0,w,h); glMatrixMode(GL_PROJECTION); glLoadIdentity(); glOrtho(-8,8,-8,8,-10,10); glMatrixMode(GL_MODELVIEW); glLoadIdentity(); gluLookAt (0.0, 4.0, 10, 0.0, 4, 0.0, 0.0, 1.0, 0.0);}void keyboard(unsigned char key,int x,int y){ switch(key) { case '1': angle=(angle+5)%360; glutPostRedisplay(); break; case '2': angle=(angle-5)%360; glutPostRedisplay(); break; case '3': if(flagneck) { neck=neck+5; if(neck>=30)flagneck=0; } else{ neck=neck-5; if(neck<=-30)flagneck=1; } glutPostRedisplay(); break; case '4': if(flaglshoulder) { lshoulder+=5; if(lshoulder>=60)flaglshoulder=0; } else { lshoulder-=5; if(lshoulder<=-60)flaglshoulder=1; } glutPostRedisplay(); break; case '5': if(flagrshoulder) { rshoulder+=5; if(rshoulder>=60)flagrshoulder=0; } else { rshoulder-=5; if(rshoulder<=-60)flagrshoulder=1; } glutPostRedisplay(); break; case '6': if(flaglelbow) { lelbow+=5; if(lelbow>=60)flaglelbow=0; } else { lelbow-=5; if(lelbow<=-60)flaglelbow=1; } glutPostRedisplay(); break; case '7': if(flagrelbow) { relbow+=5; if(relbow>=60)flagrelbow=0; } else { relbow-=5; if(relbow<=-60)flagrelbow=1; } glutPostRedisplay(); break; case '8': if(flaglhips) { lhips+=5; if(lhips>=60)flaglhips=0; } else { lhips-=5; if(lhips<=-60)flaglhips=1; } glutPostRedisplay(); break; case '9': if(flagrhips) { rhips+=5; if(rhips>=60)flagrhips=0; } else { rhips-=5; if(rhips<=-60)flagrhips=1; } glutPostRedisplay(); break; case 'a': if(flaglfoot) { lfoot+=5; if(lfoot>=60)flaglfoot=0; } else { lfoot-=5; if(lfoot<=-60)flaglfoot=1; } glutPostRedisplay(); break; case 'b': if(flagrfoot) { rfoot+=5; if(rfoot>=60)flagrfoot=0; } else { rfoot-=5; if(rfoot<=-60)flagrfoot=1; } glutPostRedisplay(); break; default: break; }}int main(int argc,char** argv){ printf("按键’1’,’2’为整体旋转\n"); printf("按键’3’为头部旋转\n"); printf("按键’4’,’5’,’6’,’7’为手臂旋转\n"); printf("按键’8’,’9’,’a’,’b’为腿部旋转\n"); glutInit(&argc,argv); glutInitDisplayMode(GLUT_DOUBLE|GLUT_RED); glutInitWindowSize(600,600); glutInitWindowPosition(100,100); glutCreateWindow(argv[0]); init(); glutDisplayFunc(display); glutReshapeFunc(reshape); glutKeyboardFunc(keyboard); glutMainLoop(); return 0;}图形展示：
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