大吃六斤Week06

week06

將上週的week05-2_TRT_robot程式碼拿來修改

week06-1_TRT_robot2_teapot

#include <GL/glut.h>

float angle = 0 ;

void display( )

{

    glClear ( GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT );

    glutSolidSphere( 0.01 , 30 , 30 ); ///小球作為中心點

    glPushMatrix( );

        glRotatef (angle,0,0,1) ; ///轉動

        glTranslatef( 0.45 , 0 , 0 ); ///往右移動0.45讓關節在正中心

        glutSolidTeapot(0.3); ///畫茶壺

    glPopMatrix();

    glutSwapBuffers();

    angle++ ;

}

int main(int argc,char*argv[])

{

    glutInit(&argc,argv);

    glutInitDisplayMode(GLUT_RGB|GLUT_DOUBLE|GLUT_DEPTH);

    glutCreateWindow("week06");

    glutDisplayFunc(display);

    glutIdleFunc(display);

    glutMainLoop();

}

在程式碼加上 glTranslatef( 0.5 , 0.5 , 0); ///把茶壺掛到( 0.5 , 0.5 , 0 ) 的座標

week06-2_TRT_robot3_hierarchy

複製week05-2的程式碼

#include <GL/glut.h>

float angle = 0 ;

void myCube()

{

    glPushMatrix();

        glScalef(1,0.3,0.3); ///調大小

        glutSolidCube(0.5); ///正方塊

    glPopMatrix();

}

void display()

{

    glClear ( GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT );

    glutSolidSphere(0.01,30,30); ///小球作為中心點

    glPushMatrix();

        glTranslatef(0.25,0.0,0);

        glRotatef (angle,0,0,1) ; 

        glTranslatef(0.25,0,0); 

        myCube(); 

        glPushMatrix();

            glTranslatef(0.25,0.0,0); 

            glRotatef (angle,0,0,1) ; 

            glTranslatef(0.25,0,0); 

            myCube(); 

        glPopMatrix();

    glPopMatrix();

    glutSwapBuffers();

    angle++ ;

}

int main(int argc,char*argv[])

{

    glutInit(&argc,argv);

    glutInitDisplayMode(GLUT_RGB|GLUT_DOUBLE|GLUT_DEPTH);

    glutCreateWindow("week06");

    glutDisplayFunc(display);

    glutIdleFunc(display);

    glutMainLoop();

}

week06-3_TRT_robot4_arm_hand_right_left

把

glPushMatrix();

        glTranslatef(0.25,0.0,0); 

        glRotatef (angle,0,0,1) ; 

        glTranslatef(0.25,0,0); 

        myCube(); 

        glPushMatrix();

            glTranslatef(0.25,0.0,0); 

            glRotatef (angle,0,0,1) ;

            glTranslatef(0.25,0,0); 

            myCube(); 

        glPopMatrix();

    glPopMatrix();

複製一遍，把位置加上負號，做出左右手

#include <GL/glut.h>

float angle = 0 ;

void myCube() ///改函式

{

    glPushMatrix();

        glScalef(1,0.3,0.3); ///調大小

        glutSolidCube(0.5); ///正方塊

    glPopMatrix();

}

void display()

{

    glClear ( GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT );

    glutSolidSphere(0.01,30,30); ///小球作為中心點

    glPushMatrix(); ///右邊的

        glTranslatef(0.25,0.0,0);

        glRotatef (angle,0,0,1) ;

        glTranslatef(0.25,0,0);

        myCube();

        glPushMatrix();

            glTranslatef(0.25,0.0,0);

            glRotatef (angle,0,0,1) ;

            glTranslatef(0.25,0,0);

            myCube();

        glPopMatrix();

    glPopMatrix();

    glPushMatrix(); ///左邊的

        glTranslatef(-0.25,0.0,0);

        glRotatef (angle,0,0,1) ;

        glTranslatef(-0.25,0,0);

        myCube();

        glPushMatrix();

            glTranslatef(-0.25,0.0,0);

            glRotatef (angle,0,0,1) ;

            glTranslatef(-0.25,0,0);

            myCube();

        glPopMatrix();

    glPopMatrix();

    glutSwapBuffers();

    angle++ ;

}

int main(int argc,char*argv[])

{

    glutInit(&argc,argv);

    glutInitDisplayMode(GLUT_RGB|GLUT_DOUBLE|GLUT_DEPTH);

    glutCreateWindow("week06");

    glutDisplayFunc(display);

    glutIdleFunc(display);

    glutMainLoop();

}

week06-4_TRT_robot5_mouse_motion_angle

#include <GL/glut.h>

float angle = 0 ;

void myCube() ///改函式

{

    glPushMatrix();

        glScalef(1,0.3,0.3); ///調大小

        glutSolidCube(0.5); ///正方塊

    glPopMatrix();

}

void display()

{

    glClear ( GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT );

    glutSolidSphere(0.01,30,30); ///小球作為中心點

    glPushMatrix(); ///右邊的

        glTranslatef(0.25,0.0,0);

        glRotatef (angle,0,0,1) ;

        glTranslatef(0.25,0,0);

        myCube();

        glPushMatrix();

            glTranslatef(0.25,0.0,0);

            glRotatef (angle,0,0,1) ;

            glTranslatef(0.25,0,0);

            myCube();

        glPopMatrix();

    glPopMatrix();

    glPushMatrix(); ///左邊的

        glTranslatef(-0.25,0.0,0);

        glRotatef (-angle,0,0,1) ;

        glTranslatef(-0.25,0,0);

        myCube();

        glPushMatrix();

            glTranslatef(-0.25,0.0,0);

            glRotatef (-angle,0,0,1) ;

            glTranslatef(-0.25,0,0);

            myCube();

        glPopMatrix();

    glPopMatrix();

    glutSwapBuffers();

    ///angle++ ; ///註解掉

}

void motion(int x,int y) ///新加入的mouse motion

{

    angle = x;

}

int main(int argc,char*argv[])

{

    glutInit(&argc,argv);

    glutInitDisplayMode(GLUT_RGB|GLUT_DOUBLE|GLUT_DEPTH);

    glutCreateWindow("week06");

    glutMotionFunc(motion); ///新加入的mouse motion

    glutDisplayFunc(display);

    glutIdleFunc(display);

    glutMainLoop();

}

#include <GL/glut.h>

float angle = 0 ;

void myCube() ///改函式

{

    glPushMatrix();

        glScalef(1,0.3,0.3); ///調大小

        glutSolidCube(0.5); ///正方塊

    glPopMatrix();

}

void display()

{

    glClear ( GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT );

    glutSolidSphere(0.01,30,30); ///小球作為中心點

    glPushMatrix(); ///右邊的

        glTranslatef(0.25,0.0,0);

        glRotatef (angle,0,0,1) ;

        glTranslatef(0.25,0,0);

        myCube();

        glPushMatrix();

            glTranslatef(0.25,0.0,0);

            glRotatef (angle,0,0,1) ;

            glTranslatef(0.25,0,0);

            myCube();

        glPopMatrix();

    glPopMatrix();

    glPushMatrix(); ///左邊的

        glTranslatef(-0.25,0.0,0);

        glRotatef (-angle,0,0,1) ;

        glTranslatef(-0.25,0,0);

        myCube();

        glPushMatrix();

            glTranslatef(-0.25,0.0,0);

            glRotatef (-angle,0,0,1) ;

            glTranslatef(-0.25,0,0);

            myCube();

        glPopMatrix();

    glPopMatrix();

    glutSwapBuffers();

    ///angle++ ;

}

int oldX=0;

void mouse(int button,int state,int x,int y) ///mouse函式

{

    oldX=x;

}

void motion(int x,int y)

{

    angle +=(x-oldX); ///x-oldX 改變量

    oldX =x;

}

int main(int argc,char*argv[])

{

    glutInit(&argc,argv);

    glutInitDisplayMode(GLUT_RGB|GLUT_DOUBLE|GLUT_DEPTH);

    glutCreateWindow("week06");

    glutMotionFunc(motion); ///新加入的mouse motion

    glutMouseFunc(mouse); ///新加入的mouse函式

    glutDisplayFunc(display);

    glutIdleFunc(display);

    glutMainLoop();

}