(1)移動，旋轉，縮放
(2)T-R-T及關節結構
(3)存檔，讀檔，播放
(4)內插動作Interpolate
(5)期末作品
TODO:先從T-R-T範例
TRT.exe
TRT.cpp
TODO:貝殼專案
T-R-T範例
矩陣
#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];///angle1=0,angle2=0,angle3=0,angle4=0;
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 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("%.1f",angle[i]);
fprintf(fout,"%.1f \n",angle[i]);
}
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();
}
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;
}
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();
}
PLAY 可以播放
為了用內插公式，將原先的存檔改為只存特定姿勢
#include <GL/glut.h>
#include <stdio.h>
FILE * fout=NULL;
FILE * fin=NULL;
float oldX=0, oldY=0,angleOld[8],angleNew[8];
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];///angle1=0,angle2=0,angle3=0,angle4=0;
int angleID=1,playing=0;
void readNew() ///讀檔案，讀進一筆新的資料
{
if(fin==NULL)fin=fopen("a.txt","r");
for(int i=0;i<8;i++)
{
angleOld[i]=angleNew[i];
fscanf(fin,"%f",&angleNew[i]);
printf("%f \n",angleNew[i]);
}
printf("\n");
}
void timerPlay(int t) ///計時器，用來做內插的
{
glutTimerFunc(20,timerPlay,t+1);
float a=(t%50)/50.0;
if(t%50==0)readNew();
for(int i=0;i<8;i++)
{
angle[i]=(1-a)*angleOld[i]+(a)*angleNew[i]; 這是內插公式
}
glutPostRedisplay();
}
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 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("%.1f",angle[i]);
fprintf(fout,"%.1f \n",angle[i]);
}
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();
}
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')glutTimerFunc(20,timerPlay,0);
if(key=='s') ///能將動作像截圖一樣存起來
{ ///寫檔案，寫入一筆動作
if(fout==NULL)fout=fopen("a.txt","w+");
for(int i=0;i<10;i++)
{
printf("%.1f",angle[i]);
fprintf(fout,"%.1f \n",angle[i]);
}
fprintf(fout,"\n");
printf("\n");
}
}
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();
}
用運內插做出連續動作
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