Fichier source : BrasRobotControleClavier.cpp
/* Un bras robot anime au clavier */
/* */
/* Auteur: Nicolas JANEY */
/* nicolas.janey@univ-fcomte.fr */
/* Janvier 2018 */
#include <stdlib.h>
#include <stdio.h>
#include <GL/glut.h>
#include <GL/gl.h>
#include <GL/glu.h>
/* Constantes globales */
static const float jaune[] = { 1.0F,1.0F,0.0F,1.0F };
static const float rouge[] = { 1.0F,0.0F,0.0F,1.0F };
static const float vert[] = { 0.0F,1.0F,0.0F,1.0F };
static const float bleu[] = { 0.0F,0.0F,1.0F,1.0F };
static const float blanc[] = { 1.0F,1.0F,1.0F,1.0F };
static const float gris[] = { 0.5F,0.5F,0.5F,1.0F };
static const float noir[] = { 0.0F,0.0F,0.0F,1.0F };
/* Variables globales */
static int cFond = 0; // Numero de la couleur de fond (0: gris, 1: blanc, 2:noir)
static float r = 10.0F; // Angle de rotation de la scene sur elle-meme
static float r1 = 0.0F; // Angle de rotation r1
static float r2 = 0.0F; // Angle de rotation r2
static int anim = 0; // Flag d'action/desactivation de l'animation
static int pMode = 1; // Flag de switch entre modes d'affichage wireframe et fill
static int wTx = 640; // Resolution horizontale de la fenetre
static int wTy = 480; // Resolution verticale de la fenetre
static int wPx = 50; // Position horizontale de la fenetre
static int wPy = 50; // Position verticale de la fenetre
/* Fonction d'initialisation des parametres */
/* OpenGL ne changeant pas au cours de la vie */
/* du programme */
void init(void) {
const GLfloat shininess[] = { 50.0 };
glMaterialfv(GL_FRONT,GL_SPECULAR,blanc);
glMaterialfv(GL_FRONT,GL_SHININESS,shininess);
glLightfv(GL_LIGHT0,GL_DIFFUSE,rouge);
glLightfv(GL_LIGHT1,GL_DIFFUSE,jaune);
glLightfv(GL_LIGHT2,GL_DIFFUSE,bleu);
glEnable(GL_LIGHTING);
glEnable(GL_LIGHT0);
glEnable(GL_LIGHT1);
glEnable(GL_LIGHT2);
glDepthFunc(GL_LESS);
glEnable(GL_DEPTH_TEST);
glEnable(GL_NORMALIZE);
glEnable(GL_AUTO_NORMAL);
}
/* Scene dessinee */
#include <math.h>
#ifndef M_PI
#define M_PI 3.14159
#endif
static void cylindre(double hauteur,double rayon,int ns) {
glPushMatrix();
hauteur /= 2.0F;
glBegin(GL_QUAD_STRIP);
for( int i = 0 ; i <= ns ; i++ ){
float a = (2*M_PI*i)/ns;
float cs = cos(a);
float sn = -sin(a);
glNormal3f(cs,0.0F,sn);
float x = rayon*cs;
float z = rayon*sn;
glVertex3f(x,hauteur,z);
glVertex3f(x,-hauteur,z); }
glEnd();
glPopMatrix();
}
static void brasRobot(float r1,float r2) {
glPushMatrix();
glRotatef(r1,0.0F,1.0F,0.0F);
glTranslatef(1.5F,0.0F,0.0F);
glPushMatrix();
glRotatef(90.0F,0.0F,0.0F,1.0F);
cylindre(3.0,0.5,36);
glPopMatrix();
glTranslatef(1.5F,0.0F,0.0F);
glRotatef(r2,0.0F,1.0F,0.0F);
glTranslatef(1.5F,0.0F,0.0F);
glPushMatrix();
glRotatef(90.0F,0.0F,0.0F,1.0F);
cylindre(3.0,0.4,36);
glPopMatrix();
glPopMatrix();
}
void scene(void) {
glPushMatrix();
glScalef(3.0F,3.0F,3.0F);
brasRobot(r1,r2);
glPopMatrix();
}
/* Fonction executee lors d'un rafraichissement */
/* de la fenetre de dessin */
void display(void) {
printf("D\n");
const float *fond;
switch (cFond) {
case 0 :
fond = gris;
break;
case 1 :
fond = blanc;
break;
case 2 :
fond = noir;
break; }
glClearColor(fond[0],fond[1],fond[2],fond[3]);
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
const GLfloat light0_position[] = { 0.0,0.0,0.0,1.0 };
const GLfloat light1_position[] = { -1.0,1.0,1.0,0.0 };
const GLfloat light2_position[] = { 1.0,-1.0,1.0,0.0 };
glLightfv(GL_LIGHT0,GL_POSITION,light0_position);
glLightfv(GL_LIGHT1,GL_POSITION,light1_position);
glLightfv(GL_LIGHT2,GL_POSITION,light2_position);
glPolygonMode(GL_FRONT_AND_BACK,(pMode == 1) ? GL_FILL : GL_LINE);
glPushMatrix();
glRotatef(r,1.0F,2.0F,3.0F);
scene();
glPopMatrix();
glFlush();
glutSwapBuffers();
int error = glGetError();
if ( error != GL_NO_ERROR )
printf("Attention erreur %d\n",error);
}
/* Fonction executee lorsqu'aucun evenement */
/* n'est en file d'attente */
void idle(void) {
printf("I\n");
r += 1.3355F;
glutPostRedisplay();
}
/* Fonction executee lors d'un changement */
/* de la taille de la fenetre OpenGL */
void reshape(int wx,int wy) {
printf("R\n");
wTx = wx;
wTy = wy;
glViewport(0,0,wx,wy);
glMatrixMode(GL_PROJECTION);
glLoadIdentity();
gluPerspective(80.0F,(double) wx/wy,1.0,40.0);
glMatrixMode(GL_MODELVIEW);
glLoadIdentity();
gluLookAt(0.0,0.0,20.0,0.0,0.0,0.0,0.0,1.0,0.0);
}
/* Fonction executee lors de l'appui */
/* d'une touche alphanumerique du clavier */
void keyboard(unsigned char key,int x,int y) {
printf("K\n");
switch (key) {
case 'a' :
{ anim = !anim;
glutIdleFunc(( anim ) ? idle : NULL); }
break;
case 'z' :
{ pMode = !pMode;
glutPostRedisplay(); }
break;
case 'f' :
{ cFond = (cFond+1)%3;
glutPostRedisplay(); }
break;
case 'F' :
{ static int full = 0;
static int wFx;
static int wFy;
full = !full;
if ( full ) {
wFx = glutGet(GLUT_WINDOW_WIDTH);
wFy = glutGet(GLUT_WINDOW_HEIGHT);
wPx = glutGet(GLUT_WINDOW_X);
wPy = glutGet(GLUT_WINDOW_Y);
glutFullScreen(); }
else {
glutPositionWindow(wPx,wPy);
glutReshapeWindow(wFx,wFy); } }
break;
case 0x1B :
exit(0);
break; }
}
/* Fonction executee lors de l'appui */
/* d'une touche speciale du clavier : */
/* - touches de curseur */
/* - touches de fonction */
void special(int specialKey,int x,int y) {
printf("S\n");
switch(specialKey) {
case GLUT_KEY_UP :
r1 += 1.0F;
glutPostRedisplay();
break;
case GLUT_KEY_DOWN :
r1 -= 1.0F;
glutPostRedisplay();
break;
case GLUT_KEY_PAGE_UP :
r2 += 1.0F;
glutPostRedisplay();
break;
case GLUT_KEY_PAGE_DOWN :
r2 -= 1.0F;
glutPostRedisplay();
break; }
}
/* Fonction principale */
int main(int argc,char **argv) {
glutInit(&argc,argv);
glutInitDisplayMode(GLUT_RGBA|GLUT_DEPTH|GLUT_DOUBLE);
glutInitWindowSize(wTx,wTy);
glutInitWindowPosition(wPx,wPy);
glutCreateWindow("Un bras robot animé au clavier");
init();
glutSpecialFunc(special);
glutKeyboardFunc(keyboard);
glutReshapeFunc(reshape);
glutIdleFunc((anim) ? idle : NULL);
glutDisplayFunc(display);
glutMainLoop();
return(0);
}
RETOUR