/*
* Copyright (c) 1993-1997, Silicon Graphics, Inc.
* ALL RIGHTS RESERVED
* Permission to use, copy, modify, and distribute this software for
* any purpose and without fee is hereby granted, provided that the above
* copyright notice appear in all copies and that both the copyright notice
* and this permission notice appear in supporting documentation, and that
* the name of Silicon Graphics, Inc. not be used in advertising
* or publicity pertaining to distribution of the software without specific,
* written prior permission.
*
* THE MATERIAL EMBODIED ON THIS SOFTWARE IS PROVIDED TO YOU "AS-IS"
* AND WITHOUT WARRANTY OF ANY KIND, EXPRESS, IMPLIED OR OTHERWISE,
* INCLUDING WITHOUT LIMITATION, ANY WARRANTY OF MERCHANTABILITY OR
* FITNESS FOR A PARTICULAR PURPOSE. IN NO EVENT SHALL SILICON
* GRAPHICS, INC. BE LIABLE TO YOU OR ANYONE ELSE FOR ANY DIRECT,
* SPECIAL, INCIDENTAL, INDIRECT OR CONSEQUENTIAL DAMAGES OF ANY
* KIND, OR ANY DAMAGES WHATSOEVER, INCLUDING WITHOUT LIMITATION,
* LOSS OF PROFIT, LOSS OF USE, SAVINGS OR REVENUE, OR THE CLAIMS OF
* THIRD PARTIES, WHETHER OR NOT SILICON GRAPHICS, INC. HAS BEEN
* ADVISED OF THE POSSIBILITY OF SUCH LOSS, HOWEVER CAUSED AND ON
* ANY THEORY OF LIABILITY, ARISING OUT OF OR IN CONNECTION WITH THE
* POSSESSION, USE OR PERFORMANCE OF THIS SOFTWARE.
*
* US Government Users Restricted Rights
* Use, duplication, or disclosure by the Government is subject to
* restrictions set forth in FAR 52.227.19(c)(2) or subparagraph
* (c)(1)(ii) of the Rights in Technical Data and Computer Software
* clause at DFARS 252.227-7013 and/or in similar or successor
* clauses in the FAR or the DOD or NASA FAR Supplement.
* Unpublished-- rights reserved under the copyright laws of the
* United States. Contractor/manufacturer is Silicon Graphics,
* Inc., 2011 N. Shoreline Blvd., Mountain View, CA 94039-7311.
*
* OpenGL(R) is a registered trademark of Silicon Graphics, Inc.
*/
/*
* robot.c
* This program shows how to composite modeling transformations
* to draw translated and rotated hierarchical models.
* Interaction: pressing the s and e keys (shoulder and elbow)
* alters the rotation of the robot arm.
*/
#include <stdio.h>
#include <stdlib.h>
#include <GL/glut.h>
#include <GL/gl.h>
#include <GL/glu.h>
#include "ModuleCouleurs.h"
#include "ModuleManipulateur.h"
#include "ModuleMenus.h"
#include "ModuleReshape.h"
static int shoulder = 0, elbow = 0;
void display(void) {
glClear(GL_COLOR_BUFFER_BIT);
glColor4fv(couleurNoir());
glPushMatrix();
manipulateurSouris();
manipulateurClavier();
glPushMatrix();
glTranslatef(-1.0,0.0,0.0);
glRotatef((GLfloat) shoulder,0.0,0.0,1.0);
glTranslatef(1.0,0.0,0.0);
glPushMatrix();
glScalef(2.0F,0.4F,1.0F);
glutWireCube(1.0);
glPopMatrix();
glTranslatef(1.0,0.0,0.0);
glRotatef((GLfloat) elbow,0.0,0.0,1.0);
glTranslatef(1.0,0.0,0.0);
glPushMatrix();
glScalef(2.0F,0.4F,1.0F);
glutWireCube(1.0);
glPopMatrix();
glPopMatrix();
glPopMatrix();
glFlush();
glutSwapBuffers();
}
void myinit(void) {
glClearColor(1.0,1.0,1.0,1.0);
}
void special(int k, int x, int y) {
switch (k) {
case GLUT_KEY_UP : elbow = (elbow + 5) % 360;
glutPostRedisplay();
break;
case GLUT_KEY_DOWN : elbow = (elbow - 5) % 360;
glutPostRedisplay();
break;
case GLUT_KEY_LEFT : shoulder = (shoulder + 5) % 360;
glutPostRedisplay();
break;
case GLUT_KEY_RIGHT : shoulder = (shoulder - 5) % 360;
glutPostRedisplay();
break; }
}
int main(int argc,char **argv) {
glutInit(&argc,argv);
glutInitDisplayMode(GLUT_RGBA|GLUT_DOUBLE);
glutInitWindowSize(300,300);
glutInitWindowPosition(50,50);
glutCreateWindow("Bras robot");
myinit();
creationMenuBasique();
setParametresPerspectiveBasique(65.0F,1.0F,1.0F,20.0F,0.0F,0.0F,-5.0F);
setManipulateurDistance(5.0F);
glutReshapeFunc(reshapePerspectiveBasique);
glutKeyboardFunc(keyBasique);
glutSpecialFunc(special);
glutMotionFunc(motionBasique);
glutMouseFunc(sourisBasique);
glutDisplayFunc(display);
glutMainLoop();
return(0);
}
RETOUR