Le source : TD-Minilangage-Robot2.cpp
/* Auteur: Nicolas JANEY */
/* nicolas.janey@univ-fcomte.fr */
/* Janvier 2002 */
/* Modelisation OpenGL d'une scene */
/* composee d'un bras robot */
#include <stdio.h>
#include <stdlib.h>
#include <math.h>
#include <GL/glut.h>
#include <GL/gl.h>
#include <GL/glu.h>
#include "ModuleCouleurs.h"
#include "ModuleFont.h"
#include "ModuleManipulateur.h"
#include "ModuleMenus.h"
#include "ModuleReshape.h"
static int f1 ;
static int f2 ;
static int maille = 0 ;
static float r1 = -100.0 ;
static float r2 = 40.0 ;
static float r3 = 75.0 ;
static float ouv = 0.0 ;
void myinit(void) {
GLfloat light_position0[] = { 0.0F,0.0F,1.0F,0.0F };
GLfloat light_position1[] = { 0.0F,0.0F,1.0F,0.0F };
glLightfv(GL_LIGHT0,GL_AMBIENT,couleurNoir());
glLightfv(GL_LIGHT0,GL_DIFFUSE,couleurBlanc());
glLightfv(GL_LIGHT1,GL_DIFFUSE,couleurBlanc());
glLightfv(GL_LIGHT0,GL_SPECULAR,couleurNoir());
glLightfv(GL_LIGHT0,GL_POSITION,light_position0);
glLightfv(GL_LIGHT1,GL_POSITION,light_position1);
glEnable(GL_LIGHT0);
glEnable(GL_LIGHT1);
glEnable(GL_AUTO_NORMAL);
glDepthFunc(GL_LESS);
glEnable(GL_ALPHA_TEST);
glEnable(GL_BLEND);
glBlendFunc(GL_SRC_ALPHA,GL_ONE_MINUS_SRC_ALPHA);
glLightModeli(GL_LIGHT_MODEL_TWO_SIDE,GL_TRUE);
setManipulateurClavierAngle(16.0F,20.0F,0.0F);
}
void axes() {
glPushMatrix() ;
glColor4fv(couleurJaune()) ;
glBegin(GL_LINES) ;
glVertex3f(0.0F,0.0F,0.0F) ;
glVertex3f(1.0F,0.0F,0.0F) ;
glEnd() ;
placeFontCursor(1.05F,0.05F,0.05F);
simpleBitmapOutput("x");
glColor4fv(couleurCyan()) ;
glBegin(GL_LINES) ;
glVertex3f(0.0F,0.0F,0.0F) ;
glVertex3f(0.0F,1.0F,0.0F) ;
glEnd() ;
placeFontCursor(0.05F,1.05F,0.05F);
simpleBitmapOutput("y");
glColor4fv(couleurMagenta()) ;
glBegin(GL_LINES) ;
glVertex3f(0.0F,0.0F,0.0F) ;
glVertex3f(0.0F,0.0F,1.0F) ;
glEnd() ;
placeFontCursor(0.05F,0.05F,1.05F);
simpleBitmapOutput("z");
if ( maille ) {
glColor4fv(couleurGrisMoyen()) ;
for ( int i = -100 ; i < 100 ; i++ ) {
glBegin(GL_LINES) ;
glVertex3f((float) i,0.0F,200.0F) ;
glVertex3f((float) i,0.0F,-200.0F) ;
glEnd() ;
glBegin(GL_LINES) ;
glVertex3f(200.0F,0.0F,(float) i) ;
glVertex3f(-200.0F,0.0F,(float) i) ;
glEnd() ; } }
glPopMatrix() ;
}
void display(void) {
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
glEnable(GL_DEPTH_TEST);
glPushMatrix() ;
manipulateurSouris();
manipulateurClavier();
axes() ;
glPushMatrix();
glRotatef(r1,0.0F,1.0F,0.0F) ;
glTranslatef(1.5F,0.0F,0.0F) ;
glColor4fv(couleurRouge()) ;
glPushMatrix();
glScalef(3.0F,1.0F,1.0F) ;
glutWireCube(1.0) ;
glPopMatrix();
glTranslatef(1.5F,0.0F,0.0F) ;
glRotatef(r2,0.0F,1.0F,0.0F) ;
glTranslatef(1.5F,0.0F,0.0F) ;
glColor4fv(couleurVert()) ;
glPushMatrix();
glScalef(3.0F,0.8F,0.8F) ;
glutWireCube(1.0) ;
glPopMatrix();
glTranslatef(1.8F,0.0F,0.0F) ;
glRotatef(r3,1.0F,0.0F,0.0F) ;
glColor4fv(couleurBleu()) ;
glPushMatrix();
glScalef(0.6F,1.2F,1.8F) ;
glutWireCube(1.0) ;
glPopMatrix();
glTranslatef(0.8F,0.0F,0.0F) ;
glPushMatrix();
glTranslatef(0.0F,0.0F,ouv+0.2F) ;
glColor4fv(couleurJaune()) ;
glPushMatrix();
glScalef(1.0F,1.2F,0.4F) ;
glutWireCube(1.0) ;
glPopMatrix();
glPopMatrix();
glPushMatrix();
glTranslatef(0.0F,0.0F,-ouv-0.2F) ;
glColor4fv(couleurJaune()) ;
glPushMatrix();
glScalef(1.0F,1.2F,0.4F) ;
glutWireCube(1.0) ;
glPopMatrix();
glPopMatrix();
glPopMatrix();
glPushMatrix();
glPopMatrix();
glEnable(GL_CULL_FACE);
glEnable(GL_LIGHTING);
glPushMatrix();
glRotatef(r1,0.0F,1.0F,0.0F) ;
glTranslatef(1.5F,0.0F,0.0F) ;
glMaterialfv(GL_FRONT,GL_DIFFUSE,couleurRouge(0.4F)) ;
glPushMatrix();
glScalef(3.0F,1.0F,1.0F) ;
glutSolidCube(1.0) ;
glPopMatrix();
glTranslatef(1.5F,0.0F,0.0F) ;
glRotatef(r2,0.0F,1.0F,0.0F) ;
glTranslatef(1.5F,0.0F,0.0F) ;
glMaterialfv(GL_FRONT,GL_DIFFUSE,couleurVert(0.4F)) ;
glPushMatrix();
glScalef(3.0F,0.8F,0.8F) ;
glutSolidCube(1.0) ;
glPopMatrix();
glTranslatef(1.8F,0.0F,0.0F) ;
glRotatef(r3,1.0F,0.0F,0.0F) ;
glMaterialfv(GL_FRONT,GL_DIFFUSE,couleurBleu(0.4F)) ;
glPushMatrix();
glScalef(0.6F,1.2F,1.8F) ;
glutSolidCube(1.0) ;
glPopMatrix();
glTranslatef(0.8F,0.0F,0.0F) ;
glPushMatrix();
glTranslatef(0.0F,0.0F,ouv+0.2F) ;
glMaterialfv(GL_FRONT,GL_DIFFUSE,couleurJaune(0.4F)) ;
glPushMatrix();
glScalef(1.0F,1.2F,0.4F) ;
glutSolidCube(1.0) ;
glPopMatrix();
glPopMatrix();
glPushMatrix();
glTranslatef(0.0F,0.0F,-ouv-0.2F) ;
glMaterialfv(GL_FRONT,GL_DIFFUSE,couleurJaune(0.4F)) ;
glPushMatrix();
glScalef(1.0F,1.2F,0.4F) ;
glutSolidCube(1.0) ;
glPopMatrix();
glPopMatrix();
glPopMatrix();
glDisable(GL_LIGHTING);
glDisable(GL_CULL_FACE);
glPopMatrix() ;
glDisable(GL_DEPTH_TEST);
glFlush();
glutSwapBuffers();
}
void key2(unsigned char key,int x,int y) {
switch ( key ) {
case '1' : r1 += 2 ;
glutPostWindowRedisplay(f1);
glutPostWindowRedisplay(f2);
break;
case '7' : r1 -= 2 ;
glutPostWindowRedisplay(f1);
glutPostWindowRedisplay(f2);
break;
case '2' : r2 += 2 ;
glutPostWindowRedisplay(f1);
glutPostWindowRedisplay(f2);
break;
case '8' : r2 -= 2 ;
glutPostWindowRedisplay(f1);
glutPostWindowRedisplay(f2);
break;
case '3' : r3 += 2 ;
glutPostWindowRedisplay(f1);
glutPostWindowRedisplay(f2);
break;
case '9' : r3 -= 2 ;
glutPostWindowRedisplay(f1);
glutPostWindowRedisplay(f2);
break;
case 43 : ouv += 0.02F ;
if ( ouv > 0.5 )
ouv = 0.5 ;
glutPostWindowRedisplay(f1);
glutPostWindowRedisplay(f2);
break;
case 45 : ouv -= 0.02F ;
if ( ouv < 0.0 )
ouv = 0.0 ;
glutPostWindowRedisplay(f1);
glutPostWindowRedisplay(f2);
break;
case 32 : maille = 1 - maille ;
glutPostWindowRedisplay(f1);
break;
case 0x1B : exit(0);
break; }
}
void key(unsigned char key,int x,int y) {
if ( keyManipulateur(key,x,y) )
glutPostWindowRedisplay(f1);
else
key2(key,x,y);
}
void special2(int key,int x,int y) {
if ( specialManipulateur(key,x,y) ) {
glutPostWindowRedisplay(f1); }
}
void reshape2(int w,int h) {
glViewport(0,0,w,h);
glMatrixMode(GL_PROJECTION);
glLoadIdentity();
glOrtho(0,w,-h,0,-1.0,1.0);
glMatrixMode(GL_MODELVIEW);
glLoadIdentity();
}
void display2() {
glClear(GL_DEPTH_BUFFER_BIT|GL_COLOR_BUFFER_BIT);
glClearColor(0.0F,0.0F,0.0F,1.0F) ;
glColor4fv(couleurBlanc());
glPushMatrix();
float pos = 1.0F;
placeFontCursor(5.0F,-pos*20.0F,0.0F) ;
simpleBitmapOutput(REGULAR8x13,"ANGLE R1 : %8.3f",r1) ;
pos += 1.0F;
placeFontCursor(5.0F,-pos*20.0F,0.0F) ;
simpleBitmapOutput(REGULAR8x13,"ANGLE R2 : %8.3f",r2) ;
pos += 1.0F;
placeFontCursor(5.0F,-pos*20.0F,0.0F) ;
simpleBitmapOutput(REGULAR8x13,"ANGLE R3 : %8.3f",r3) ;
pos += 1.0F;
placeFontCursor(5.0F,-pos*20.0F,0.0F) ;
simpleBitmapOutput(REGULAR8x13,"VALEUR D : %8.3f",ouv) ;
glPopMatrix();
glutSwapBuffers();
}
int main(int argc,char **argv) {
glutInit(&argc,argv);
glutInitDisplayMode(GLUT_RGBA|GLUT_DEPTH|GLUT_DOUBLE);
glutInitWindowSize(380,270);
glutInitWindowPosition(50,50);
f1 = glutCreateWindow("Mini-langage");
myinit();
creationMenuBasique();
setParametresOrthoBasique(-5.0,5.0,-5.0,5.0,-50.0,50.0);
setManipulateurDistance(1.0F);
glutReshapeFunc(reshapeOrthoBasique);
glutKeyboardFunc(key);
glutSpecialFunc(specialBasique);
glutMotionFunc(motionBasique);
glutMouseFunc(sourisBasique);
glutDisplayFunc(display);
glutInitWindowSize(210,90);
glutInitWindowPosition(60,370);
glutInitDisplayMode(GLUT_RGBA|GLUT_DEPTH|GLUT_DOUBLE);
f2 = glutCreateWindow("Valeurs");
creationMenuBasique();
glutDisplayFunc(display2);
glutReshapeFunc(reshape2);
glutKeyboardFunc(key2);
glutSpecialFunc(special2);
glutMainLoop();
return(0);
}
RETOUR