glutSwapBuffers();
}
//随便画一些小东西
void Something()
{
glPushMatrix();
glRotatef(xRot, 1.0f, 0.0f, 0.0f);
glRotatef(yRot, 0.0f, 1.0f, 0.0f);
glTranslatef(0,-3.5f,0);
glutWireSphere(2.0f,50,50);
glutWireTorus(0.3f, 1.0f,50,50);
glutWireCone(0.30f, 1.1f, 20, 20);
glPopMatrix();
}
void renderBitmapString(float x, float y, void *font,char *string)
{
char *c;
glRasterPos2f(x, y);
for (c=string; *c != '\0'; c++) {
glutBitmapCharacter(font, *c);
}
}
void reshape (int w1, int h1)
{
w=w1;
h=h1;
glViewport (0, 0, (GLsizei) w1, (GLsizei) h1);
glMatrixMode (GL_PROJECTION);
glLoadIdentity ();
gluPerspective(65.0, (GLfloat) w1/(GLfloat) h1, 1.0, 20.0);
glMatrixMode(GL_MODELVIEW);
glLoadIdentity();
glTranslatef (0.0, 0.0, -8.0);
}
void keyboard (unsigned char key, int x, int y)
{
switch (key) {
case 'w': //向后走
turn1=turn;
forward = forward -0.04*sin((GLfloat)turn1/360*3.14*2);
z=z-0.05*cos((GLfloat)turn1/360*3.14*2);
if(tag==0){
shoulder1 = (shoulder1 + 1);
shoulder2 = (shoulder2 - 1);
if(shoulder1>=0){elbow=elbow-1.2;}
else{elbow=elbow+1.2;}
}
else
{
shoulder1 = (shoulder1 - 1);
shoulder2 = (shoulder2 + 1);
if(shoulder1>=0){elbow=elbow+1.25;}
else{elbow=elbow-1.2;}
}
if(shoulder1>30){
tag=1;
}
if(shoulder1<-30){
tag=0;
}
IsStop=true;
glutPostRedisplay();
break;
case 's': //向前走
turn1=turn;
forward = forward +0.04*sin((GLfloat)turn1/360*3.14*2);
z=z+0.05*cos((GLfloat)turn1/360*3.14*2);
if(tag==0){
shoulder1 = (shoulder1 - 1);
shoulder2 = (shoulder2 + 1);
}
else
{
shoulder1 = (shoulder1 + 1);
shoulder2 = (shoulder2 - 1);
}
if(shoulder1>30){
tag=0;
}
if(shoulder1<-30){
tag=1;
}
IsStop=true;
glutPostRedisplay();
break;
case 'd'://右转
turn = (turn - 5) % 360;
glutPostRedisplay();
IsStop=true;
break;
case 'a'://左转
turn = (turn + 5) % 360;
glutPostRedisplay();
IsStop=true;
break;
case 'l':
shoulder1 = (shoulder1 + 2) % 360;
shoulder2 = (shoulder2 - 4) % 360;
glutPostRedisplay();
IsStop=true;
break;
case 'L':
shoulder1 = (shoulder1 - 5) % 360;
shoulder2 = (shoulder2 + 10) % 360;
glutPostRedisplay();
IsStop=true;
break;
case 'P':
IsStop=false;
break;
case 'p':
IsStop=false;
break;
case 27:
exit(0);
break;
default:
break;
}
}
//设置视觉角度
void setOrthographicProjection()
{
glMatrixMode(GL_PROJECTION);
glPushMatrix();
glLoadIdentity();
gluOrtho2D(0, w, 0, h);
glScalef(1, -1, 1);
glTranslatef(0, -h, 0);
glMatrixMode(GL_MODELVIEW);
}
void resetPerspectiveProjection()
{
glMatrixMode(GL_PROJECTION);
glPopMatrix();
glMatrixMode(GL_MODELVIEW);
}
//光源的坐标变化
void SpecialKeys(int key, int x, int y)
{
if(key == GLUT_KEY_UP)
xRot-= 5.0f;
if(key == GLUT_KEY_DOWN)
xRot += 5.0f;
if(key == GLUT_KEY_LEFT)
yRot -= 5.0f;
if(key == GLUT_KEY_RIGHT)
yRot += 5.0f;
if(key > 356.0f)
xRot = 0.0f;
if(key < -1.0f)
xRot = 355.0f;
if(key > 356.0f)
yRot = 0.0f;
if(key < -1.0f)
yRot = 355.0f;
glutPostRedisplay();
}
//鼠标事件
void Mouse(int button,int state, int x, int y)
{
if (state == GLUT_DOWN)//鼠标按下
{
if (x<0)
{
//向左旋转
yRot -= 5.0f;
}else if (x>=0)
{
//向右旋转
yRot += 5.0f;
}else if (y>=0)
{
//向上旋转
xRot-= 5.0f;
}else if (y<0)
{
//向下旋转
xRot += 5.0f;
}
if(xRot> 356.0f)
xRot = 0.0f;
if(xRot < -1.0f)
xRot = 355.0f;
if(yRot > 356.0f)
yRot = 0.0f;
if(yRot < -1.0f)
yRot = 355.0f;
glutPostRedisplay();
}
}
//时间函数,定时刷新
void TimerFunction(int value)
{
display();
glutPostRedisplay();
glutTimerFunc(33,TimerFunction, 1);
}
//主函数
int main(int argc, char** argv)
{
glutInit(&argc, argv);
glutInitDisplayMode (GLUT_DOUBLE | GLUT_RGB);
glutInitWindowSize (800, 600);
glutInitWindowPosition (100, 100);
glutCreateWindow("机器人 按W向前走 按s向后走 按a向左转 按d向右转 按p可以自行转动");
SetupRC();
glutDisplayFunc(display);
glutReshapeFunc(reshape);
glutKeyboardFunc(keyboard);
glutSpecialFunc(SpecialKeys);
glutMouseFunc(Mouse);
glutTimerFunc(33, TimerFunction, 1);
// glutIdleFunc(display);
glutMainLoop();
return 0;
}
