使用OpenGL实现一个简易的Robot模拟(2)

  glPushMatrix();
  glRotatef(yRot, 0.0f, 1.0f, 0.0f);
  glRotatef(xRot, 1.0f, 0.0f, 0.0f);
  glLightfv(GL_LIGHT0,GL_POSITION,lightPos);
  glLightfv(GL_LIGHT0,GL_SPOT_DIRECTION,spotDir);
  //画一个光源
  glColor3ub(255,0,0);
  glTranslatef(lightPos[0],lightPos[1],lightPos[2]);

       glutSolidCone(0.3f,0.3f,10,10);
  glPushAttrib(GL_LIGHTING_BIT);
  glDisable(GL_LIGHTING);
  glColor3ub(255,255,0);
  glutSolidSphere(0.1f,10.0f,10);
  glPopAttrib();
       glPopMatrix();

       glTranslatef (0.0, -0.5, 0.0);  
       glColor3f(0.8,1.0,0.2);  
       glPushMatrix();
       glScalef (0.5, 1.0, 0.5);
       glutSolidCube(1.0); 
       glPopMatrix();  
  
       glTranslatef (0.0, -0.5, 0.0);//提起右小腿  
       glRotatef ((GLfloat) elbow, 1.0, 0.0, 0.0); 
       glTranslatef (0.0, -0.5, 0.0); 
     
       glColor3f(0.5,0.1,0.8);       
       glPushMatrix(); 
           glScalef (0.5, 1.0, 0.5); 
           glutSolidCube(1.0); 
       glPopMatrix();  
  
       glTranslatef (0.0, -0.5, -0.1);//右脚  
       glColor3f(0.5,0.2,1.0);    
       glPushMatrix(); 
           glScalef (0.5, 0.1, 0.7); 
           glutSolidCube(1.0); 
       glPopMatrix();  
    glPopMatrix ();  
  
    glPushMatrix(); 
       glTranslatef (forward,0.0,z);  
       glRotatef ((GLfloat) turn, 0.0, 1.0, 0.0);  
  
       glTranslatef (-0.375, 0.0, 0.0);//左大腿  
       glRotatef ((GLfloat) shoulder1, 1.0, 0.0, 0.0); 
       glTranslatef (0.0, -0.5, 0.0);  
  
       glColor3f(0.8,1.0,0.2);  
       glPushMatrix(); 
           glScalef (0.5, 1.0, 0.5); 
           glutSolidCube(1.0); 
       glPopMatrix();  
  
  
       glTranslatef (0.0, -0.5, 0.0);//左小腿  
       glRotatef ((GLfloat) elbow, 1.0, 0.0, 0.0); 
       glTranslatef (0.0, -0.5, 0.0); 
     
       glColor3f(0.5,0.1,0.8);  
       glPushMatrix(); 
           glScalef (0.5, 1.0, 0.5);//缩放四方体
           glutSolidCube(1.0);//画四方体 
       glPopMatrix();  
       glTranslatef (0.0, -0.5, -0.1);//左脚  
       glColor3f(0.5,0.2,1.0);  
       glPushMatrix(); 
           glScalef (0.5, 0.1, 0.7); 
           glutSolidCube(1.0); 
       glPopMatrix();  
  
   glPopMatrix();  
         
   glPushMatrix();  
       glTranslatef (forward,0.0,z);  
       glRotatef ((GLfloat) turn, 0.0, 1.0, 0.0); 
        
       glTranslatef (0.0, 1.0,  0.0);//躯干  
         
       glColor3f(0.5,0.5,1.0);  
       glPushMatrix(); 
           glScalef (1.4, 2.0, 0.5); 
           glutSolidCube(1.0); 
       glPopMatrix();  
  
         
       glTranslatef (0.0, 1.25, 0.0);//头  
       glColor3f(1.0,0.3,0.2);  
       glPushMatrix(); 
           glScalef (0.5, 0.5, 0.5); 
           glutSolidCube(1.0); 
       glPopMatrix();  
  
   glPopMatrix();  
         
   glPushMatrix();  
       glTranslatef (forward,0.0,z);  
       glRotatef ((GLfloat) turn, 0.0, 1.0, 0.0); 
         
   
       glTranslatef (0.85, 1.75, 0.0);//右臂  
       glRotatef ((GLfloat) shoulder1, 1.0, 0.0, 0.0); 
       glTranslatef (0.0, -0.5, 0.0); 
     
       glColor3f(1.0,0.0,1.0);     
       glPushMatrix(); 
           glScalef (0.3, 1.3, 0.4); 
           glutSolidCube(1.0); 
       glPopMatrix();  
  
   glPopMatrix();  
   glPushMatrix();  
       glTranslatef (forward,0.0,z);  
       glRotatef ((GLfloat) turn, 0.0, 1.0, 0.0); 
         
       glTranslatef (-0.85, 1.75, 0.0);//左臂  
       glRotatef ((GLfloat) shoulder2, 1.0, 0.0, 0.0); 
       glTranslatef (0.0, -0.5, 0.0); 
     
       glColor3f(1.0,0.0,1.0);  
       glPushMatrix(); 
           glScalef (0.3, 1.3, 0.4); 
           glutSolidCube(1.0); 
       glPopMatrix();  

   glPopMatrix();