第一節是繼續坐上星期的關節TRT觀念我們將關節點作編號，使他可以操作使用滑鼠與鍵盤數字鍵1-4可以任意地轉動關節
第二節一開始我們PRINTF輸出他轉的角度職使我們可以清楚知道關節轉了幾度
#include <GL/glut.h>#include <stdio.h>
FILE * fout=NULL;
float oldX=0, oldY=0;
void drawBody(){
glPushMatrix();
glScalef(1, 0.5, 0.5);
glutSolidCube(1);
glPopMatrix();
}
void drawArm(){
glPushMatrix();
glScalef(0.6, 0.3, 0.3);
glutSolidCube(1);
glPopMatrix();
}
float angle[10];
int angleID=1;
void display()
{
{ ///Lighting
glColor3ub(166,132,100);
GLfloat pos[]={0, 0, -1, 0};
glLightfv(GL_LIGHT0, GL_POSITION, pos);
glEnable(GL_LIGHT0);
//glEnable(GL_LIGHTING);
glEnable(GL_DEPTH_TEST);
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
}
glPushMatrix();
glTranslatef(0.5, 0, 0);///最後一步, 把樓下的 "會對Arm Joint做旋轉的東西" 再移到右上 掛上去 ver 4
glRotatef(angle[1], 0,0,1);///把下面整團, 都對中間做旋轉 ver 3
glTranslatef(0.25, 0,0);///這是把它往右移, Arm Joint在中間 ver 2
drawArm();///這是個Arm ver 1 Right Upper Arm
glPushMatrix();
glTranslatef(0.25, 0, 0);///最後一步, 把樓下的 "會對Arm Joint做旋轉的東西" 再移到右上 掛上去 ver 4
glRotatef(angle[2], 0,0,1);///把下面整團, 都對中間做旋轉 ver 3
glTranslatef(0.25, 0,0);///這是把它往右移, Arm Joint在中間 ver 2
drawArm(); ///Right Lower Arm
glPopMatrix();
glPopMatrix();
glPushMatrix();
glTranslatef(-0.5, 0, 0);///最後一步, 把樓下的 "會對Arm Joint做旋轉的東西" 再移到右上 掛上去 ver 4
glRotatef(-angle[3], 0,0,1);///把下面整團, 都對中間做旋轉 ver 3
glTranslatef(-0.25, 0,0);///這是把它往右移, Arm Joint在中間 ver 2
drawArm();///這是個Arm ver 1 Left Upper Arm
glPushMatrix();
glTranslatef(-0.25, 0, 0);///最後一步, 把樓下的 "會對Arm Joint做旋轉的東西" 再移到右上 掛上去 ver 4
glRotatef(-angle[4], 0,0,1);///把下面整團, 都對中間做旋轉 ver 3
glTranslatef(-0.25, 0,0);///這是把它往右移, Arm Joint在中間 ver 2
drawArm(); ///Left Lower Arm
glPopMatrix();
glPopMatrix();
drawBody();
glFlush();
}
void keyboard(unsigned char key,int x,int y){
if(key=='1')angleID=1;
if(key=='2')angleID=2;
if(key=='3')angleID=3;
if(key=='4')angleID=4;
}
void motion(int x, int y)
{ angle[angleID] -= y- oldY;
oldY=y; oldX=x;
if(fout==NULL) fout=fopen("a.txt","w+");
printf("%f",angle[1]);
fprintf(fout, "%f\n",angle[1]);
}
void mouse(int button, int state, int x, int y){
if(state==GLUT_DOWN) { oldX=x; oldY=y; }
}
void timer(int t)
{
glutTimerFunc(20, timer, t+1);
//angle++;
glutPostRedisplay();
}
int main(int argc, char**argv)
{
glutInit(&argc, argv);
glutCreateWindow("T-R-T test");
glutDisplayFunc(display);
glutTimerFunc(20, timer, 0);
glutMouseFunc(mouse);
glutMotionFunc(motion);
glutKeyboardFunc(keyboard);
glutMainLoop();
}
#include <GL/glut.h>
#include <stdio.h>
FILE * fout=NULL;
FILE * fin=NULL;
float oldX=0, oldY=0;
void drawBody(){
glPushMatrix();
glScalef(1, 0.5, 0.5);
glutSolidCube(1);
glPopMatrix();
}
void drawArm(){
glPushMatrix();
glScalef(0.6, 0.3, 0.3);
glutSolidCube(1);
glPopMatrix();
}
float angle[10];
int angleID=1, playing=0;
void display()
{
{ ///Lighting
glColor3ub(166,132,100);
GLfloat pos[]={0, 0, -1, 0};
glLightfv(GL_LIGHT0, GL_POSITION, pos);
glEnable(GL_LIGHT0);
//glEnable(GL_LIGHTING);
glEnable(GL_DEPTH_TEST);
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
}
glPushMatrix();
glTranslatef(0.5, 0, 0);///最後一步, 把樓下的 "會對Arm Joint做旋轉的東西" 再移到右上 掛上去 ver 4
glRotatef(angle[1], 0,0,1);///把下面整團, 都對中間做旋轉 ver 3
glTranslatef(0.25, 0,0);///這是把它往右移, Arm Joint在中間 ver 2
drawArm();///這是個Arm ver 1 Right Upper Arm
glPushMatrix();
glTranslatef(0.25, 0, 0);///最後一步, 把樓下的 "會對Arm Joint做旋轉的東西" 再移到右上 掛上去 ver 4
glRotatef(angle[2], 0,0,1);///把下面整團, 都對中間做旋轉 ver 3
glTranslatef(0.25, 0,0);///這是把它往右移, Arm Joint在中間 ver 2
drawArm(); ///Right Lower Arm
glPopMatrix();
glPopMatrix();
glPushMatrix();
glTranslatef(-0.5, 0, 0);///最後一步, 把樓下的 "會對Arm Joint做旋轉的東西" 再移到右上 掛上去 ver 4
glRotatef(-angle[3], 0,0,1);///把下面整團, 都對中間做旋轉 ver 3
glTranslatef(-0.25, 0,0);///這是把它往右移, Arm Joint在中間 ver 2
drawArm();///這是個Arm ver 1 Left Upper Arm
glPushMatrix();
glTranslatef(-0.25, 0, 0);///最後一步, 把樓下的 "會對Arm Joint做旋轉的東西" 再移到右上 掛上去 ver 4
glRotatef(-angle[4], 0,0,1);///把下面整團, 都對中間做旋轉 ver 3
glTranslatef(-0.25, 0,0);///這是把它往右移, Arm Joint在中間 ver 2
drawArm(); ///Left Lower Arm
glPopMatrix();
glPopMatrix();
drawBody();
glFlush();
}
void keyboard(unsigned char key,int x,int y){
if(key=='1')angleID=1;
if(key=='2')angleID=2;
if(key=='3')angleID=3;
if(key=='4')angleID=4;
if(key=='p')playing=1;
}
void motion(int x, int y)
{ angle[angleID] -= y- oldY;
oldY=y; oldX=x;
if(fout==NULL) fout=fopen("a.txt","w+");
for(int i=0;i<10;i++){
printf("%f",angle[1]);
fprintf(fout, "%f\n",angle[1]);
}
printf("\n");fprintf(fout,"\n");
}
void mouse(int button, int state, int x, int y){
if(state==GLUT_DOWN) { oldX=x; oldY=y; }
}
void timer(int t)
{
glutTimerFunc(20, timer, t+1);
//angle++;
if(playing==1){
if(fin==NULL) fin=fopen("a.txt", "r");
for(int i=0;i<10;i++){
fscanf(fin,"%f", &angle[i]);
}
}
glutPostRedisplay();
}
int main(int argc, char**argv)
{
glutInit(&argc, argv);
glutCreateWindow("T-R-T test");
glutDisplayFunc(display);
glutTimerFunc(20, timer, 0);
glutMouseFunc(mouse);
glutMotionFunc(motion);
glutKeyboardFunc(keyboard);
glutMainLoop();
}
存檔案~~
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