/** * program : glutmech V1.1 * author : Simon Parkinson-Bates. * E-mail : sapb@yallara.cs.rmit.edu.au * Copyright Simon Parkinson-Bates. * "source if freely avaliable to anyone to copy as long as they * acknowledge me in their work." * * Funtional features * ------------------ * * online menu system avaliable by pressing left mouse button * * online cascading help system avaliable, providing information on * the several key strokes and what they do. * * animation sequence coded which makes the mech walk through an * environment. Shadows will soon be added to make it look * more realistic. * * menu control to view mech in wireframe or sold mode. * * various key strokes avaliable to control idependently the mechs * many joints. * * various key strokes avaliable to view mech and environment from * different angles * * various key strokes avaliable to alter positioning of the single * light source. * * * Program features * ---------------- * * uses double buffering * * uses display lists * * uses glut to manage windows, callbacks, and online menu. * * uses glpolygonfill() to maintain colors in wireframe and solid * mode. * **/ /* start of compilation conditions */ #define SPHERE #define COLOR #define LIGHT #define TORSO #define HIP #define SHOULDER #define UPPER_ARM #define LOWER_ARM #define ROCKET_POD #define UPPER_LEG #define LOWER_LEG #define NO_NORM //#define ANIMATION #define DRAW_MECH //#define DRAW_ENVIRO //#define MOVE_LIGHT /* end of compilation conditions */ /* start various header files needed */ #include #include #define GLUT #define GLUT_KEY #define GLUT_SPEC #include /* end of header files */ /* start of display list definitions */ #define SOLID_MECH_TORSO 1 #define SOLID_MECH_HIP 2 #define SOLID_MECH_SHOULDER 3 #define SOLID_MECH_UPPER_ARM 4 #define SOLID_MECH_FOREARM 5 #define SOLID_MECH_UPPER_LEG 6 #define SOLID_MECH_FOOT 7 #define SOLID_MECH_ROCKET 8 #define SOLID_MECH_VULCAN 9 #define SOLID_ENVIRO 10 /* end of display list definitions */ /* start of motion rate variables */ #define ANKLE_RATE 3 #define HEEL_RATE 3 #define ROTATE_RATE 10 #define TILT_RATE 10 #define ELBOW_RATE 2 #define SHOULDER_RATE 5 #define LAT_RATE 5 #define CANNON_RATE 40 #define UPPER_LEG_RATE 3 #define UPPER_LEG_RATE_GROIN 10 #define LIGHT_TURN_RATE 10 #define VIEW_TURN_RATE 10 /* end of motion rate variables */ /* start of motion variables */ /* Some files do not define M_PI... */ #ifndef M_PI #define M_PI 3.14159265358979323846 #endif GLUquadricObj *qobj; char leg = 0; int shoulder1 = 0, shoulder2 = 0, shoulder3 = 0, shoulder4 = 0, lat1 = 20, lat2 = 20, elbow1 = 0, elbow2 = 0, pivot = 0, tilt = 10, ankle1 = 0, ankle2 = 0, heel1 = 0, heel2 = 0, hip11 = 0, hip12 = 10, hip21 = 0, hip22 = 10, fire = 0, solid_part = 0, anim = 0, turn = 0, turn1 = 0, lightturn = 0, lightturn1 = 0; float elevation = 0.0, distance = 0.0, frame = 3.0 /* foot1v[] = {} foot2v[] = {} */ ; /* end of motion variables */ /* start of material definitions */ #ifdef LIGHT GLfloat mat_specular[] = {0.628281, 0.555802, 0.366065, 1.0}; GLfloat mat_ambient[] = {0.24725, 0.1995, 0.0745, 1.0}; GLfloat mat_diffuse[] = {0.75164, 0.60648, 0.22648, 1.0}; GLfloat mat_shininess[] = {128.0 * 0.4}; GLfloat mat_specular2[] = {0.508273, 0.508273, 0.508373}; GLfloat mat_ambient2[] = {0.19225, 0.19225, 0.19225}; GLfloat mat_diffuse2[] = {0.50754, 0.50754, 0.50754}; GLfloat mat_shininess2[] = {128.0 * 0.6}; GLfloat mat_specular3[] = {0.296648, 0.296648, 0.296648}; GLfloat mat_ambient3[] = {0.25, 0.20725, 0.20725}; GLfloat mat_diffuse3[] = {1, 0.829, 0.829}; GLfloat mat_shininess3[] = {128.0 * 0.088}; GLfloat mat_specular4[] = {0.633, 0.727811, 0.633}; GLfloat mat_ambient4[] = {0.0215, 0.1745, 0.0215}; GLfloat mat_diffuse4[] = {0.07568, 0.61424, 0.07568}; GLfloat mat_shininess4[] = {128 * 0.6}; GLfloat mat_specular5[] = {0.60, 0.60, 0.50}; GLfloat mat_ambient5[] = {0.0, 0.0, 0.0}; GLfloat mat_diffuse5[] = {0.5, 0.5, 0.0}; GLfloat mat_shininess5[] = {128.0 * 0.25}; #endif /* end of material definitions */ /* start of the body motion functions */ void Heel1Add(void) { heel1 = (heel1 + HEEL_RATE) % 360; } void Heel1Subtract(void) { heel1 = (heel1 - HEEL_RATE) % 360; } void Heel2Add(void) { heel2 = (heel2 + HEEL_RATE) % 360; } void Heel2Subtract(void) { heel2 = (heel2 - HEEL_RATE) % 360; } void Ankle1Add(void) { ankle1 = (ankle1 + ANKLE_RATE) % 360; } void Ankle1Subtract(void) { ankle1 = (ankle1 - ANKLE_RATE) % 360; } void Ankle2Add(void) { ankle2 = (ankle2 + ANKLE_RATE) % 360; } void Ankle2Subtract(void) { ankle2 = (ankle2 - ANKLE_RATE) % 360; } void RotateAdd(void) { pivot = (pivot + ROTATE_RATE) % 360; } void RotateSubtract(void) { pivot = (pivot - ROTATE_RATE) % 360; } void MechTiltSubtract(void) { tilt = (tilt - TILT_RATE) % 360; } void MechTiltAdd(void) { tilt = (tilt + TILT_RATE) % 360; } void elbow1Add(void) { elbow1 = (elbow1 + ELBOW_RATE) % 360; } void elbow1Subtract(void) { elbow1 = (elbow1 - ELBOW_RATE) % 360; } void elbow2Add(void) { elbow2 = (elbow2 + ELBOW_RATE) % 360; } void elbow2Subtract(void) { elbow2 = (elbow2 - ELBOW_RATE) % 360; } void shoulder1Add(void) { shoulder1 = (shoulder1 + SHOULDER_RATE) % 360; } void shoulder1Subtract(void) { shoulder1 = (shoulder1 - SHOULDER_RATE) % 360; } void shoulder2Add(void) { shoulder2 = (shoulder2 + SHOULDER_RATE) % 360; } void shoulder2Subtract(void) { shoulder2 = (shoulder2 - SHOULDER_RATE) % 360; } void shoulder3Add(void) { shoulder3 = (shoulder3 + SHOULDER_RATE) % 360; } void shoulder3Subtract(void) { shoulder3 = (shoulder3 - SHOULDER_RATE) % 360; } void shoulder4Add(void) { shoulder4 = (shoulder4 + SHOULDER_RATE) % 360; } void shoulder4Subtract(void) { shoulder4 = (shoulder4 - SHOULDER_RATE) % 360; } void lat1Raise(void) { lat1 = (lat1 + LAT_RATE) % 360; } void lat1Lower(void) { lat1 = (lat1 - LAT_RATE) % 360; } void lat2Raise(void) { lat2 = (lat2 + LAT_RATE) % 360; } void lat2Lower(void) { lat2 = (lat2 - LAT_RATE) % 360; } void FireCannon(void) { fire = (fire + CANNON_RATE) % 360; } void RaiseLeg1Forward(void) { hip11 = (hip11 + UPPER_LEG_RATE) % 360; } void LowerLeg1Backwards(void) { hip11 = (hip11 - UPPER_LEG_RATE) % 360; } void RaiseLeg1Outwards(void) { hip12 = (hip12 + UPPER_LEG_RATE_GROIN) % 360; } void LowerLeg1Inwards(void) { hip12 = (hip12 - UPPER_LEG_RATE_GROIN) % 360; } void RaiseLeg2Forward(void) { hip21 = (hip21 + UPPER_LEG_RATE) % 360; } void LowerLeg2Backwards(void) { hip21 = (hip21 - UPPER_LEG_RATE) % 360; } void RaiseLeg2Outwards(void) { hip22 = (hip22 + UPPER_LEG_RATE_GROIN) % 360; } void LowerLeg2Inwards(void) { hip22 = (hip22 - UPPER_LEG_RATE_GROIN) % 360; } /* end of body motion functions */ /* start of light source position functions */ void TurnRight(void) { turn = (turn - VIEW_TURN_RATE) % 360; } void TurnLeft(void) { turn = (turn + VIEW_TURN_RATE) % 360; } void TurnForwards(void) { turn1 = (turn1 - VIEW_TURN_RATE) % 360; } void TurnBackwards(void) { turn1 = (turn1 + VIEW_TURN_RATE) % 360; } void LightTurnRight(void) { lightturn = (lightturn + LIGHT_TURN_RATE) % 360; } void LightTurnLeft(void) { lightturn = (lightturn - LIGHT_TURN_RATE) % 360; } void LightForwards(void) { lightturn1 = (lightturn1 + LIGHT_TURN_RATE) % 360; } void LightBackwards(void) { lightturn1 = (lightturn1 - LIGHT_TURN_RATE) % 360; } /* end of light source position functions */ /* start of geometric shape functions */ void Box(float width, float height, float depth, char solid) { char i, j = 0; float x = width / 2.0, y = height / 2.0, z = depth / 2.0; for (i = 0; i < 4; i++) { glRotatef(90.0, 0.0, 0.0, 1.0); if (j) { if (!solid) glBegin(GL_LINE_LOOP); else glBegin(GL_QUADS); glNormal3f(-1.0, 0.0, 0.0); glVertex3f(-x, y, z); glVertex3f(-x, -y, z); glVertex3f(-x, -y, -z); glVertex3f(-x, y, -z); glEnd(); if (solid) { glBegin(GL_TRIANGLES); glNormal3f(0.0, 0.0, 1.0); glVertex3f(0.0, 0.0, z); glVertex3f(-x, y, z); glVertex3f(-x, -y, z); glNormal3f(0.0, 0.0, -1.0); glVertex3f(0.0, 0.0, -z); glVertex3f(-x, -y, -z); glVertex3f(-x, y, -z); glEnd(); } j = 0; } else { if (!solid) glBegin(GL_LINE_LOOP); else glBegin(GL_QUADS); glNormal3f(-1.0, 0.0, 0.0); glVertex3f(-y, x, z); glVertex3f(-y, -x, z); glVertex3f(-y, -x, -z); glVertex3f(-y, x, -z); glEnd(); if (solid) { glBegin(GL_TRIANGLES); glNormal3f(0.0, 0.0, 1.0); glVertex3f(0.0, 0.0, z); glVertex3f(-y, x, z); glVertex3f(-y, -x, z); glNormal3f(0.0, 0.0, -1.0); glVertex3f(0.0, 0.0, -z); glVertex3f(-y, -x, -z); glVertex3f(-y, x, -z); glEnd(); } j = 1; } } } void Octagon(float side, float height, char solid) { char j; float x = sin(0.785398163) * side, y = side / 2.0, z = height / 2.0, c; c = x + y; for (j = 0; j < 8; j++) { glTranslatef(-c, 0.0, 0.0); if (!solid) glBegin(GL_LINE_LOOP); else glBegin(GL_QUADS); glNormal3f(-1.0, 0.0, 0.0); glVertex3f(0.0, -y, z); glVertex3f(0.0, y, z); glVertex3f(0.0, y, -z); glVertex3f(0.0, -y, -z); glEnd(); glTranslatef(c, 0.0, 0.0); if (solid) { glBegin(GL_TRIANGLES); glNormal3f(0.0, 0.0, 1.0); glVertex3f(0.0, 0.0, z); glVertex3f(-c, -y, z); glVertex3f(-c, y, z); glNormal3f(0.0, 0.0, -1.0); glVertex3f(0.0, 0.0, -z); glVertex3f(-c, y, -z); glVertex3f(-c, -y, -z); glEnd(); } glRotatef(45.0, 0.0, 0.0, 1.0); } } /* end of geometric shape functions */ #ifdef NORM void Normalize(float v[3]) { GLfloat d = sqrt(v[1] * v[1] + v[2] * v[2] + v[3] * v[3]); if (d == 0.0) { printf("zero length vector"); return; } v[1] /= d; v[2] /= d; v[3] /= d; } void NormXprod(float v1[3], float v2[3], float v[3], float out[3]) { GLint i, j; GLfloat length; out[0] = v1[1] * v2[2] - v1[2] * v2[1]; out[1] = v1[2] * v2[0] - v1[0] * v2[2]; out[2] = v1[0] * v2[1] - v1[1] * v2[0]; Normalize(out); } #endif void SetMaterial(GLfloat spec[], GLfloat amb[], GLfloat diff[], GLfloat shin[]) { glMaterialfv(GL_FRONT, GL_SPECULAR, spec); glMaterialfv(GL_FRONT, GL_SHININESS, shin); glMaterialfv(GL_FRONT, GL_AMBIENT, amb); glMaterialfv(GL_FRONT, GL_DIFFUSE, diff); } void MechTorso(char solid) { glNewList(SOLID_MECH_TORSO, GL_COMPILE); #ifdef LIGHT SetMaterial(mat_specular, mat_ambient, mat_diffuse, mat_shininess); #endif glColor3f(1.0, 1.0, 0.0); Box(1.0, 1.0, 3.0, solid); glTranslatef(0.75, 0.0, 0.0); #ifdef LIGHT SetMaterial(mat_specular2, mat_ambient2, mat_diffuse2, mat_shininess2); #endif glColor3f(0.5, 0.5, 0.5); Box(0.5, 0.6, 2.0, solid); glTranslatef(-1.5, 0.0, 0.0); Box(0.5, 0.6, 2.0, solid); glTranslatef(0.75, 0.0, 0.0); glEndList(); } void MechHip(char solid) { int i; glNewList(SOLID_MECH_HIP, GL_COMPILE); #ifdef LIGHT SetMaterial(mat_specular, mat_ambient, mat_diffuse, mat_shininess); #endif glColor3f(1.0, 1.0, 0.0); Octagon(0.7, 0.5, solid); #ifdef SPHERE for (i = 0; i < 2; i++) { if (i) glScalef(-1.0, 1.0, 1.0); glTranslatef(1.0, 0.0, 0.0); #ifdef LIGHT SetMaterial(mat_specular2, mat_ambient2, mat_diffuse2, mat_shininess2); #endif glColor3f(0.5, 0.5, 0.5); if (!solid) gluQuadricDrawStyle(qobj, GLU_LINE); gluSphere(qobj, 0.2, 16, 16); glTranslatef(-1.0, 0.0, 0.0); } glScalef(-1.0, 1.0, 1.0); #endif glEndList(); } void Shoulder(char solid) { glNewList(SOLID_MECH_SHOULDER, GL_COMPILE); #ifdef LIGHT SetMaterial(mat_specular, mat_ambient, mat_diffuse, mat_shininess); #endif glColor3f(1.0, 1.0, 0.0); Box(1.0, 0.5, 0.5, solid); glTranslatef(0.9, 0.0, 0.0); #ifdef LIGHT SetMaterial(mat_specular2, mat_ambient2, mat_diffuse2, mat_shininess2); #endif glColor3f(0.5, 0.5, 0.5); #ifdef SPHERE if (!solid) gluQuadricDrawStyle(qobj, GLU_LINE); gluSphere(qobj, 0.6, 16, 16); #endif glTranslatef(-0.9, 0.0, 0.0); glEndList(); } void UpperArm(char solid) { int i; glNewList(SOLID_MECH_UPPER_ARM, GL_COMPILE); #ifdef LIGHT SetMaterial(mat_specular, mat_ambient, mat_diffuse, mat_shininess); #endif glColor3f(1.0, 1.0, 0.0); Box(1.0, 2.0, 1.0, solid); glTranslatef(0.0, -0.95, 0.0); glRotatef(90.0, 1.0, 0.0, 0.0); #ifdef LIGHT SetMaterial(mat_specular2, mat_ambient2, mat_diffuse2, mat_shininess2); #endif glColor3f(0.5, 0.5, 0.5); if (!solid) gluQuadricDrawStyle(qobj, GLU_LINE); gluCylinder(qobj, 0.4, 0.4, 1.5, 16, 10); #ifdef LIGHT SetMaterial(mat_specular, mat_ambient, mat_diffuse, mat_shininess); #endif glColor3f(1.0, 1.0, 0.0); glRotatef(-90.0, 1.0, 0.0, 0.0); glTranslatef(-0.4, -1.85, 0.0); glRotatef(90.0, 0.0, 1.0, 0.0); for (i = 0; i < 2; i++) { if (!solid) gluQuadricDrawStyle(qobj, GLU_LINE); if (i) gluCylinder(qobj, 0.5, 0.5, 0.8, 16, 10); else gluCylinder(qobj, 0.2, 0.2, 0.8, 16, 10); } for (i = 0; i < 2; i++) { if (i) glScalef(-1.0, 1.0, 1.0); if (!solid) gluQuadricDrawStyle(qobj, GLU_LINE); if (i) glTranslatef(0.0, 0.0, 0.8); gluDisk(qobj, 0.2, 0.5, 16, 10); if (i) glTranslatef(0.0, 0.0, -0.8); } glScalef(-1.0, 1.0, 1.0); glRotatef(-90.0, 0.0, 1.0, 0.0); glTranslatef(0.4, 2.9, 0.0); glEndList(); } void VulcanGun(char solid) { int i; glNewList(SOLID_MECH_VULCAN, GL_COMPILE); #ifdef LIGHT SetMaterial(mat_specular2, mat_ambient2, mat_diffuse2, mat_shininess2); #endif glColor3f(0.5, 0.5, 0.5); if (!solid) { gluQuadricDrawStyle(qobj, GLU_LINE); } gluCylinder(qobj, 0.5, 0.5, 0.5, 16, 10); glTranslatef(0.0, 0.0, 0.5); gluDisk(qobj, 0.0, 0.5, 16, 10); for (i = 0; i < 5; i++) { glRotatef(72.0, 0.0, 0.0, 1.0); glTranslatef(0.0, 0.3, 0.0); if (!solid) { gluQuadricDrawStyle(qobj, GLU_LINE); } gluCylinder(qobj, 0.15, 0.15, 2.0, 16, 10); gluCylinder(qobj, 0.06, 0.06, 2.0, 16, 10); glTranslatef(0.0, 0.0, 2.0); gluDisk(qobj, 0.1, 0.15, 16, 10); gluCylinder(qobj, 0.1, 0.1, 0.1, 16, 5); glTranslatef(0.0, 0.0, 0.1); gluDisk(qobj, 0.06, 0.1, 16, 5); glTranslatef(0.0, -0.3, -2.1); } glEndList(); } void ForeArm(char solid) { char i; glNewList(SOLID_MECH_FOREARM, GL_COMPILE); #ifdef LIGHT SetMaterial(mat_specular, mat_ambient, mat_diffuse, mat_shininess); #endif glColor3f(1.0, 1.0, 0.0); for (i = 0; i < 5; i++) { glTranslatef(0.0, -0.1, -0.15); Box(0.6, 0.8, 0.2, solid); glTranslatef(0.0, 0.1, -0.15); Box(0.4, 0.6, 0.1, solid); } glTranslatef(0.0, 0.0, 2.45); Box(1.0, 1.0, 2.0, solid); glTranslatef(0.0, 0.0, -1.0); glEndList(); } void UpperLeg(char solid) { int i; glNewList(SOLID_MECH_UPPER_LEG, GL_COMPILE); #ifdef LIGHT SetMaterial(mat_specular, mat_ambient, mat_diffuse, mat_shininess); #endif glColor3f(1.0, 1.0, 0.0); if (!solid) { gluQuadricDrawStyle(qobj, GLU_LINE); } glTranslatef(0.0, -1.0, 0.0); Box(0.4, 1.0, 0.7, solid); glTranslatef(0.0, -0.65, 0.0); for (i = 0; i < 5; i++) { Box(1.2, 0.3, 1.2, solid); glTranslatef(0.0, -0.2, 0.0); Box(1.0, 0.1, 1.0, solid); glTranslatef(0.0, -0.2, 0.0); } glTranslatef(0.0, -0.15, -0.4); Box(2.0, 0.5, 2.0, solid); glTranslatef(0.0, -0.3, -0.2); glRotatef(90.0, 1.0, 0.0, 0.0); #ifdef LIGHT SetMaterial(mat_specular2, mat_ambient2, mat_diffuse2, mat_shininess2); #endif glColor3f(0.5, 0.5, 0.5); gluCylinder(qobj, 0.6, 0.6, 3.0, 16, 10); #ifdef LIGHT SetMaterial(mat_specular, mat_ambient, mat_diffuse, mat_shininess); #endif glColor3f(1.0, 1.0, 0.0); glRotatef(-90.0, 1.0, 0.0, 0.0); glTranslatef(0.0, -1.5, 1.0); Box(1.5, 3.0, 0.5, solid); glTranslatef(0.0, -1.75, -0.8); Box(2.0, 0.5, 2.0, solid); glTranslatef(0.0, -0.9, -0.85); #ifdef LIGHT SetMaterial(mat_specular2, mat_ambient2, mat_diffuse2, mat_shininess2); #endif glColor3f(0.5, 0.5, 0.5); gluCylinder(qobj, 0.8, 0.8, 1.8, 16, 10); for (i = 0; i < 2; i++) { if (i) glScalef(-1.0, 1.0, 1.0); if (!solid) gluQuadricDrawStyle(qobj, GLU_LINE); if (i) glTranslatef(0.0, 0.0, 1.8); gluDisk(qobj, 0.0, 0.8, 16, 10); if (i) glTranslatef(0.0, 0.0, -1.8); } glScalef(-1.0, 1.0, 1.0); glEndList(); } void Foot(char solid) { glNewList(SOLID_MECH_FOOT, GL_COMPILE); #ifdef LIGHT SetMaterial(mat_specular2, mat_ambient2, mat_diffuse2, mat_shininess2); #endif glColor3f(0.5, 0.5, 0.5); glRotatef(90.0, 1.0, 0.0, 0.0); Octagon(1.5, 0.6, solid); glRotatef(-90.0, 1.0, 0.0, 0.0); glEndList(); } void LowerLeg(char solid) { float k, l; #ifdef LIGHT SetMaterial(mat_specular, mat_ambient, mat_diffuse, mat_shininess); #endif glColor3f(1.0, 1.0, 0.0); for (k = 0.0; k < 2.0; k++) { for (l = 0.0; l < 2.0; l++) { glPushMatrix(); glTranslatef(k, 0.0, l); #ifdef LIGHT SetMaterial(mat_specular, mat_ambient, mat_diffuse, mat_shininess); #endif glColor3f(1.0, 1.0, 0.0); Box(1.0, 0.5, 1.0, solid); glTranslatef(0.0, -0.45, 0.0); #ifdef LIGHT SetMaterial(mat_specular2, mat_ambient2, mat_diffuse2, mat_shininess2); #endif glColor3f(0.5, 0.5, 0.5); #ifdef SPHERE if (!solid) glutWireSphere(0.2, 16, 10); else glutSolidSphere(0.2, 16, 10); #endif if (leg) glRotatef((GLfloat) heel1, 1.0, 0.0, 0.0); else glRotatef((GLfloat) heel2, 1.0, 0.0, 0.0); /* glTranslatef(0.0, -0.2, 0.0); */ glTranslatef(0.0, -1.7, 0.0); #ifdef LIGHT SetMaterial(mat_specular, mat_ambient, mat_diffuse, mat_shininess); #endif glColor3f(1.0, 1.0, 0.0); Box(0.25, 3.0, 0.25, solid); glTranslatef(0.0, -1.7, 0.0); #ifdef LIGHT SetMaterial(mat_specular2, mat_ambient2, mat_diffuse2, mat_shininess2); #endif glColor3f(0.5, 0.5, 0.5); #ifdef SPHERE if (!solid) glutWireSphere(0.2, 16, 10); else glutSolidSphere(0.2, 16, 10); #endif if (leg) glRotatef((GLfloat) - heel1, 1.0, 0.0, 0.0); else glRotatef((GLfloat) - heel2, 1.0, 0.0, 0.0); glTranslatef(0.0, -0.45, 0.0); #ifdef LIGHT SetMaterial(mat_specular, mat_ambient, mat_diffuse, mat_shininess); #endif glColor3f(1.0, 1.0, 0.0); Box(1.0, 0.5, 1.0, solid); if (!k && !l) { int j; glTranslatef(-0.4, -0.8, 0.5); if (leg) glRotatef((GLfloat) ankle1, 1.0, 0.0, 0.0); else glRotatef((GLfloat) ankle2, 1.0, 0.0, 0.0); glRotatef(90.0, 0.0, 1.0, 0.0); if (!solid) gluQuadricDrawStyle(qobj, GLU_LINE); gluCylinder(qobj, 0.8, 0.8, 1.8, 16, 10); for (j = 0; j < 2; j++) { if (!solid) gluQuadricDrawStyle(qobj, GLU_LINE); if (j) { glScalef(-1.0, 1.0, 1.0); glTranslatef(0.0, 0.0, 1.8); } gluDisk(qobj, 0.0, 0.8, 16, 10); if (j) glTranslatef(0.0, 0.0, -1.8); } glScalef(-1.0, 1.0, 1.0); glRotatef(-90.0, 0.0, 1.0, 0.0); glTranslatef(0.95, -0.8, 0.0); glCallList(SOLID_MECH_FOOT); } glPopMatrix(); } } } void RocketPod(char solid) { int i, j, k = 0; glNewList(SOLID_MECH_ROCKET, GL_COMPILE); #ifdef LIGHT SetMaterial(mat_specular2, mat_ambient2, mat_diffuse2, mat_shininess2); #endif glColor3f(0.5, 0.5, 0.5); glScalef(0.4, 0.4, 0.4); glRotatef(45.0, 0.0, 0.0, 1.0); glTranslatef(1.0, 0.0, 0.0); Box(2.0, 0.5, 3.0, solid); glTranslatef(1.0, 0.0, 0.0); glRotatef(45.0, 0.0, 0.0, 1.0); glTranslatef(0.5, 0.0, 0.0); Box(1.2, 0.5, 3.0, solid); glTranslatef(2.1, 0.0, 0.0); glRotatef(-90.0, 0.0, 0.0, 1.0); #ifdef LIGHT SetMaterial(mat_specular, mat_ambient, mat_diffuse, mat_shininess); #endif glColor3f(1.0, 1.0, 0.0); Box(2.0, 3.0, 4.0, solid); glTranslatef(-0.5, -1.0, 1.3); for (i = 0; i < 2; i++) { for (j = 0; j < 3; j++) { if (!solid) { gluQuadricDrawStyle(qobj, GLU_LINE); } glTranslatef(i, j, 0.6); #ifdef LIGHT SetMaterial(mat_specular3, mat_ambient3, mat_diffuse3, mat_shininess3); #endif glColor3f(1.0, 1.0, 1.0); gluCylinder(qobj, 0.4, 0.4, 0.3, 16, 10); glTranslatef(0.0, 0.0, 0.3); #ifdef LIGHT SetMaterial(mat_specular4, mat_ambient4, mat_diffuse4, mat_shininess4); #endif glColor3f(0.0, 1.0, 0.0); gluCylinder(qobj, 0.4, 0.0, 0.5, 16, 10); k++; glTranslatef(-i, -j, -0.9); } } glEndList(); } void Enviro(char solid) { int i, j; glNewList(SOLID_ENVIRO, GL_COMPILE); SetMaterial(mat_specular4, mat_ambient4, mat_diffuse4, mat_shininess4); glColor3f(0.0, 1.0, 0.0); Box(20.0, 0.5, 30.0, solid); SetMaterial(mat_specular4, mat_ambient3, mat_diffuse2, mat_shininess); glColor3f(0.6, 0.6, 0.6); glTranslatef(0.0, 0.0, -10.0); for (j = 0; j < 6; j++) { for (i = 0; i < 2; i++) { if (i) glScalef(-1.0, 1.0, 1.0); glTranslatef(10.0, 4.0, 0.0); Box(4.0, 8.0, 2.0, solid); glTranslatef(0.0, -1.0, -3.0); Box(4.0, 6.0, 2.0, solid); glTranslatef(-10.0, -3.0, 3.0); } glScalef(-1.0, 1.0, 1.0); glTranslatef(0.0, 0.0, 5.0); } glEndList(); } void Toggle(void) { if (solid_part) solid_part = 0; else solid_part = 1; } void disable(void) { glDisable(GL_LIGHTING); glDisable(GL_DEPTH_TEST); glDisable(GL_NORMALIZE); glPolygonMode(GL_FRONT_AND_BACK, GL_LINE); } void lighting(void) { GLfloat position[] = {0.0, 0.0, 2.0, 1.0}; #ifdef MOVE_LIGHT glRotatef((GLfloat) lightturn1, 1.0, 0.0, 0.0); glRotatef((GLfloat) lightturn, 0.0, 1.0, 0.0); glRotatef(0.0, 1.0, 0.0, 0.0); #endif glEnable(GL_LIGHTING); glEnable(GL_LIGHT0); glEnable(GL_NORMALIZE); glDepthFunc(GL_LESS); glPolygonMode(GL_FRONT_AND_BACK, GL_FILL); glLightfv(GL_LIGHT0, GL_POSITION, position); glLightf(GL_LIGHT0, GL_SPOT_CUTOFF, 80.0); glTranslatef(0.0, 0.0, 2.0); glDisable(GL_LIGHTING); Box(0.1, 0.1, 0.1, 0); glEnable(GL_LIGHTING); } void DrawMech(void) { int i, j; glScalef(0.5, 0.5, 0.5); glPushMatrix(); glTranslatef(0.0, -0.75, 0.0); glRotatef((GLfloat) tilt, 1.0, 0.0, 0.0); glRotatef(90.0, 1.0, 0.0, 0.0); #ifdef HIP glCallList(SOLID_MECH_HIP); #endif glRotatef(-90.0, 1.0, 0.0, 0.0); glTranslatef(0.0, 0.75, 0.0); glPushMatrix(); glRotatef((GLfloat) pivot, 0.0, 1.0, 0.0); glPushMatrix(); #ifdef TORSO glCallList(SOLID_MECH_TORSO); #endif glPopMatrix(); glPushMatrix(); glTranslatef(0.5, 0.5, 0.0); #ifdef ROCKET_POD glCallList(SOLID_MECH_ROCKET); #endif glPopMatrix(); for (i = 0; i < 2; i++) { glPushMatrix(); if (i) glScalef(-1.0, 1.0, 1.0); glTranslatef(1.5, 0.0, 0.0); #ifdef SHOULDER glCallList(SOLID_MECH_SHOULDER); #endif glTranslatef(0.9, 0.0, 0.0); if (i) { glRotatef((GLfloat) lat1, 0.0, 0.0, 1.0); glRotatef((GLfloat) shoulder1, 1.0, 0.0, 0.0); glRotatef((GLfloat) shoulder3, 0.0, 1.0, 0.0); } else { glRotatef((GLfloat) lat2, 0.0, 0.0, 1.0); glRotatef((GLfloat) shoulder2, 1.0, 0.0, 0.0); glRotatef((GLfloat) shoulder4, 0.0, 1.0, 0.0); } glTranslatef(0.0, -1.4, 0.0); #ifdef UPPER_ARM glCallList(SOLID_MECH_UPPER_ARM); #endif glTranslatef(0.0, -2.9, 0.0); if (i) glRotatef((GLfloat) elbow1, 1.0, 0.0, 0.0); else glRotatef((GLfloat) elbow2, 1.0, 0.0, 0.0); glTranslatef(0.0, -0.9, -0.2); #ifdef LOWER_ARM glCallList(SOLID_MECH_FOREARM); glPushMatrix(); glTranslatef(0.0, 0.0, 2.0); glRotatef((GLfloat) fire, 0.0, 0.0, 1.0); glCallList(SOLID_MECH_VULCAN); glPopMatrix(); #endif glPopMatrix(); } glPopMatrix(); glPopMatrix(); for (j = 0; j < 2; j++) { glPushMatrix(); if (j) { glScalef(-0.5, 0.5, 0.5); leg = 1; } else { glScalef(0.5, 0.5, 0.5); leg = 0; } glTranslatef(2.0, -1.5, 0.0); if (j) { glRotatef((GLfloat) hip11, 1.0, 0.0, 0.0); glRotatef((GLfloat) hip12, 0.0, 0.0, 1.0); } else { glRotatef((GLfloat) hip21, 1.0, 0.0, 0.0); glRotatef((GLfloat) hip22, 0.0, 0.0, 1.0); } glTranslatef(0.0, 0.3, 0.0); #ifdef UPPER_LEG glPushMatrix(); glCallList(SOLID_MECH_UPPER_LEG); glPopMatrix(); #endif glTranslatef(0.0, -8.3, -0.4); if (j) glRotatef((GLfloat) - hip12, 0.0, 0.0, 1.0); else glRotatef((GLfloat) - hip22, 0.0, 0.0, 1.0); glTranslatef(-0.5, -0.85, -0.5); #ifdef LOWER_LEG LowerLeg(1); #endif glPopMatrix(); } } void display(void) { glClearColor(0.0, 0.0, 0.0, 0.0); glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT); glEnable(GL_DEPTH_TEST); glPushMatrix(); glRotatef((GLfloat) turn, 0.0, 1.0, 0.0); glRotatef((GLfloat) turn1, 1.0, 0.0, 0.0); #ifdef LIGHT if (solid_part) { glPushMatrix(); lighting(); glPopMatrix(); } else disable(); #endif #ifdef DRAW_MECH glPushMatrix(); glTranslatef(0.0, elevation, 0.0); DrawMech(); glPopMatrix(); #endif #ifdef DRAW_ENVIRO glPushMatrix(); if (distance >= 20.136) distance = 0.0; glTranslatef(0.0, -5.0, -distance); glCallList(SOLID_ENVIRO); glTranslatef(0.0, 0.0, 10.0); glCallList(SOLID_ENVIRO); glPopMatrix(); #endif /* glPushMatrix(); glTranslated(1.0,0.0,0.0); glutWireTeapot(1.0); glPopMatrix(); glPushMatrix(); glTranslated(-1.0,0.0,0.0); glutWireTeapot(1.0); glPopMatrix(); glPopMatrix(); glPushMatrix(); glTranslated(0.0,1.0,0.0); glutWireTeapot(1.0); */ glPopMatrix(); glFlush(); glutSwapBuffers(); } void myinit(void) { char i = 1; qobj = gluNewQuadric(); #ifdef LIGHT SetMaterial(mat_specular2, mat_ambient2, mat_diffuse2, mat_shininess2); #endif glEnable(GL_DEPTH_TEST); MechTorso(i); MechHip(i); Shoulder(i); RocketPod(i); UpperArm(i); ForeArm(i); UpperLeg(i); Foot(i); VulcanGun(i); Enviro(i); } void PrintMVMatrix() { GLfloat mat[16]; int i,j; printf("Modelview Matrix\n"); glGetFloatv(GL_MODELVIEW_MATRIX,mat); for (i=0;i<4;i++){ for (j=0;j<4;j++) { printf("%f\t",mat[4*j+i]); } printf("\n"); } printf("\n"); } void myReshape(int w, int h) { glViewport(0, 0, w, h); glMatrixMode(GL_PROJECTION); glLoadIdentity(); gluPerspective(65.0, (GLfloat) w / (GLfloat) h, 1.0, 20.0); //glOrtho(-5.0,5.0,-5.0,5.0, -5.0, 5.0); glMatrixMode(GL_MODELVIEW); glLoadIdentity(); //gluLookAt(0.0,0.0,-5.0, // 0.0,0.0,5.0, // 0.0,1.0,0.0); glTranslatef(0.0, 1.2, -5.5); /* viewing transform */ PrintMVMatrix(); } #ifdef ANIMATION void animation_walk(void) { float angle; static int step; if (step == 0 || step == 2) { /* for(frame=3.0; frame<=21.0; frame=frame+3.0){ */ if (frame >= 0.0 && frame <= 21.0) { if (frame == 0.0) frame = 3.0; angle = (180 / M_PI) * (acos(((cos((M_PI / 180) * frame) * 2.043) + 1.1625) / 3.2059)); if (frame > 0) { elevation = -(3.2055 - (cos((M_PI / 180) * angle) * 3.2055)); } else elevation = 0.0; if (step == 0) { hip11 = -(frame * 1.7); if (1.7 * frame > 15) heel1 = frame * 1.7; heel2 = 0; ankle1 = frame * 1.7; if (frame > 0) hip21 = angle; else hip21 = 0; ankle2 = -hip21; shoulder1 = frame * 1.5; shoulder2 = -frame * 1.5; elbow1 = frame; elbow2 = -frame; } else { hip21 = -(frame * 1.7); if (1.7 * frame > 15) heel2 = frame * 1.7; heel1 = 0; ankle2 = frame * 1.7; if (frame > 0) hip11 = angle; else hip11 = 0; ankle1 = -hip11; shoulder1 = -frame * 1.5; shoulder2 = frame * 1.5; elbow1 = -frame; elbow2 = frame; } if (frame == 21) step++; if (frame < 21) frame = frame + 3.0; } } if (step == 1 || step == 3) { /* for(x=21.0; x>=0.0; x=x-3.0){ */ if (frame <= 21.0 && frame >= 0.0) { angle = (180 / M_PI) * (acos(((cos((M_PI / 180) * frame) * 2.043) + 1.1625) / 3.2029)); if (frame > 0) elevation = -(3.2055 - (cos((M_PI / 180) * angle) * 3.2055)); else elevation = 0.0; if (step == 1) { elbow2 = hip11 = -frame; elbow1 = heel1 = frame; heel2 = 15; ankle1 = frame; if (frame > 0) hip21 = angle; else hip21 = 0; ankle2 = -hip21; shoulder1 = 1.5 * frame; shoulder2 = -frame * 1.5; } else { elbow1 = hip21 = -frame; elbow2 = heel2 = frame; heel1 = 15; ankle2 = frame; if (frame > 0) hip11 = angle; else hip11 = 0; ankle1 = -hip11; shoulder1 = -frame * 1.5; shoulder2 = frame * 1.5; } if (frame == 0.0) step++; if (frame > 0) frame = frame - 3.0; } } if (step == 4) step = 0; distance += 0.1678; glutPostRedisplay(); } void animation(void) { animation_walk(); } #endif #ifdef GLUT #ifdef GLUT_KEY /* ARGSUSED1 */ void keyboard(unsigned char key, int x, int y) { int i = 0; switch (key) { /* start arm control functions */ case 'q':{ shoulder2Subtract(); i++; } break; case 'a':{ shoulder2Add(); i++; } break; case 'w':{ shoulder1Subtract(); i++; } break; case 's':{ shoulder1Add(); i++; } break; case '2':{ shoulder3Add(); i++; } break; case '1':{ shoulder4Add(); i++; } break; case '4':{ shoulder3Subtract(); i++; } break; case '3':{ shoulder4Subtract(); i++; } break; case 'z':{ lat2Raise(); i++; } break; case 'Z':{ lat2Lower(); i++; } break; case 'x':{ lat1Raise(); i++; } break; case 'X':{ lat1Lower(); i++; } break; case 'A':{ elbow2Add(); i++; } break; case 'Q':{ elbow2Subtract(); i++; } break; case 'S':{ elbow1Add(); i++; } break; case 'W':{ elbow1Subtract(); i++; } break; /* end of arm control functions */ /* start of torso control functions */ case 'd':{ RotateAdd(); i++; } break; case 'g':{ RotateSubtract(); i++; } break; case 'r':{ MechTiltAdd(); i++; } break; case 'f':{ MechTiltSubtract(); i++; } break; /* end of torso control functions */ /* start of leg control functions */ case 'h':{ RaiseLeg2Forward(); i++; } break; case 'y':{ LowerLeg2Backwards(); i++; } break; case 'Y':{ RaiseLeg2Outwards(); i++; } break; case 'H':{ LowerLeg2Inwards(); i++; } break; case 'j':{ RaiseLeg1Forward(); i++; } break; case 'u':{ LowerLeg1Backwards(); i++; } break; case 'U':{ RaiseLeg1Outwards(); i++; } break; case 'J':{ LowerLeg1Inwards(); i++; } break; case 'N':{ Heel2Add(); i++; } break; case 'n':{ Heel2Subtract(); i++; } break; case 'M':{ Heel1Add(); i++; } break; case 'm':{ Heel1Subtract(); i++; } break; case 'k':{ Ankle2Add(); i++; } break; case 'K':{ Ankle2Subtract(); i++; } break; case 'l':{ Ankle1Add(); i++; } break; case 'L':{ Ankle1Subtract(); i++; } break; /* end of leg control functions */ /* start of light source position functions */ case 'p':{ LightTurnRight(); i++; } break; case 'i':{ LightTurnLeft(); i++; } break; case 'o':{ LightForwards(); i++; } break; case '9':{ LightBackwards(); i++; } break; /* end of light source position functions */ } if (i) glutPostRedisplay(); } #endif #ifdef GLUT_SPEC /* ARGSUSED1 */ void special(int key, int x, int y) { int i = 0; switch (key) { /* start of view position functions */ case GLUT_KEY_RIGHT:{ TurnRight(); i++; } break; case GLUT_KEY_LEFT:{ TurnLeft(); i++; } break; case GLUT_KEY_DOWN:{ TurnForwards(); i++; } break; case GLUT_KEY_UP:{ TurnBackwards(); i++; } break; /* end of view postions functions */ /* start of miseclleneous functions */ case GLUT_KEY_PAGE_UP:{ FireCannon(); i++; } break; /* end of miscelleneous functions */ } if (i) glutPostRedisplay(); } #endif #endif void menu_select(int mode) { switch (mode) { #ifdef ANIMATION case 1: glutIdleFunc(animation); break; #endif case 2: glutIdleFunc(NULL); break; case 3: Toggle(); glutPostRedisplay(); break; case 4: exit(EXIT_SUCCESS); } } /* ARGSUSED */ void null_select(int mode) { } void glutMenu(void) { int glut_menu[13]; glut_menu[5] = glutCreateMenu(null_select); glutAddMenuEntry("forward : q,w", 0); glutAddMenuEntry("backwards : a,s", 0); glutAddMenuEntry("outwards : z,x", 0); glutAddMenuEntry("inwards : Z,X", 0); glut_menu[6] = glutCreateMenu(null_select); glutAddMenuEntry("upwards : Q,W", 0); glutAddMenuEntry("downwards : A,S", 0); glutAddMenuEntry("outwards : 1,2", 0); glutAddMenuEntry("inwards : 3,4", 0); glut_menu[1] = glutCreateMenu(null_select); glutAddMenuEntry(" : Page_up", 0); glut_menu[8] = glutCreateMenu(null_select); glutAddMenuEntry("forward : y,u", 0); glutAddMenuEntry("backwards : h.j", 0); glutAddMenuEntry("outwards : Y,U", 0); glutAddMenuEntry("inwards : H,J", 0); glut_menu[9] = glutCreateMenu(null_select); glutAddMenuEntry("forward : n,m", 0); glutAddMenuEntry("backwards : N,M", 0); glut_menu[9] = glutCreateMenu(null_select); glutAddMenuEntry("forward : n,m", 0); glutAddMenuEntry("backwards : N,M", 0); glut_menu[10] = glutCreateMenu(null_select); glutAddMenuEntry("toes up : K,L", 0); glutAddMenuEntry("toes down : k,l", 0); glut_menu[11] = glutCreateMenu(null_select); glutAddMenuEntry("right : right arrow", 0); glutAddMenuEntry("left : left arrow", 0); glutAddMenuEntry("down : up arrow", 0); glutAddMenuEntry("up : down arrow", 0); glut_menu[12] = glutCreateMenu(null_select); glutAddMenuEntry("right : p", 0); glutAddMenuEntry("left : i", 0); glutAddMenuEntry("up : 9", 0); glutAddMenuEntry("down : o", 0); glut_menu[4] = glutCreateMenu(NULL); glutAddSubMenu("at the shoulders? ", glut_menu[5]); glutAddSubMenu("at the elbows?", glut_menu[6]); glut_menu[7] = glutCreateMenu(NULL); glutAddSubMenu("at the hip? ", glut_menu[8]); glutAddSubMenu("at the knees?", glut_menu[9]); glutAddSubMenu("at the ankles? ", glut_menu[10]); glut_menu[2] = glutCreateMenu(null_select); glutAddMenuEntry("turn left : d", 0); glutAddMenuEntry("turn right : g", 0); glut_menu[3] = glutCreateMenu(null_select); glutAddMenuEntry("tilt backwards : f", 0); glutAddMenuEntry("tilt forwards : r", 0); glut_menu[0] = glutCreateMenu(NULL); glutAddSubMenu("move the arms.. ", glut_menu[4]); glutAddSubMenu("fire the vulcan guns?", glut_menu[1]); glutAddSubMenu("move the legs.. ", glut_menu[7]); glutAddSubMenu("move the torso?", glut_menu[2]); glutAddSubMenu("move the hip?", glut_menu[3]); glutAddSubMenu("rotate the scene..", glut_menu[11]); #ifdef MOVE_LIGHT glutAddSubMenu("rotate the light source..", glut_menu[12]); #endif glutCreateMenu(menu_select); #ifdef ANIMATION glutAddMenuEntry("Start Walk", 1); glutAddMenuEntry("Stop Walk", 2); #endif glutAddMenuEntry("Toggle Wireframe", 3); glutAddSubMenu("How do I ..", glut_menu[0]); glutAddMenuEntry("Quit", 4); glutAttachMenu(GLUT_LEFT_BUTTON); glutAttachMenu(GLUT_RIGHT_BUTTON); } int main(int argc, char **argv) { #ifdef GLUT /* start of glut windowing and control functions */ glutInit(&argc, argv); glutInitDisplayMode(GLUT_DOUBLE | GLUT_RGBA | GLUT_DEPTH); glutInitWindowSize(800, 600); glutCreateWindow("GLUT playground"); myinit(); glutDisplayFunc(display); glutReshapeFunc(myReshape); #ifdef GLUT_KEY glutKeyboardFunc(keyboard); #endif #ifdef GLUT_SPEC glutSpecialFunc(special); #endif glutMenu(); glutMainLoop(); /* end of glut windowing and control functions */ #endif return 0; /* ANSI C requires main to return int. */ }