Fichier source : BrasRobotComplet.cpp
/* Fonctionnement de GLUt */
/* */
/* Auteur: Nicolas JANEY */
/* nicolas.janey@univ-fcomte.fr */
/* Janvier 2019 */
#include <stdlib.h>
#include <stdio.h>
#include <GL/glut.h>
#include <GL/gl.h>
#include <GL/glu.h>
/* Variables globales */
static float r1 = 0.0F; // Angle de rotation du bras du robot
static float r2 = 0.0F; // Angle de rotation de l'avant-bras du robot
static float r3 = 0.0F; // Angle de rotation de la pince
static float r4 = 9.0F; // Ouverture de la pince (angle)
static int pMode = 1; // Flag de switch entre modes d'affichage wireframe et fill
static int wTx = 600; // Resolution horizontale de la fenetre
static int wTy = 360; // 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 */
static void init(void) {
glEnable(GL_LIGHTING);
glEnable(GL_LIGHT0);
glDepthFunc(GL_LESS);
glEnable(GL_DEPTH_TEST);
glEnable(GL_NORMALIZE);
}
/* Scene dessinee */
#include <math.h>
#ifndef M_PI
#define M_PI 3.14159
#endif
/* Dessin d'une "boite" parallelipipedique */
void mySolidCube(double w,double h,double d) {
glPushMatrix();
glScalef((float) w,(float) h,(float) d);
glutSolidCube(1.0);
glPopMatrix();
}
/* Dessin d'un cylindre */
static void mySolidCylinder(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();
}
/* Une mandibule */
void mandibule(float r4) {
glPushMatrix();
glTranslatef(0.0F,0.0F,-0.65F);
glRotatef(r4,0.0F,-1.0F,0.0F);
glRotatef(90.0F,0.0F,1.0F,0.0F);
glutSolidCone(0.3,1.8,12,6);
glPopMatrix();
}
static void brasRobot(float r1,float r2,float r3,float r4) {
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);
mySolidCylinder(3.0,0.5,24);
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);
mySolidCylinder(3.0,0.4,24);
glPopMatrix();
glTranslatef(1.8F,0.0F,0.0F) ;
glRotatef(r3,1.0F,0.0F,0.0F) ;
mySolidCube(0.6,1.2,1.8) ;
glTranslatef(0.3F,0.0F,0.0F) ;
mandibule(r4);
glRotatef(180.0F,1.0F,0.0F,0.0F);
mandibule(r4);
glPopMatrix();
}
void scene(void) {
glPushMatrix();
glRotatef(20.0F,1.0F,1.0F,1.0F);
glScalef(0.2F,0.2F,0.2F);
brasRobot(r1,r2,r3,r4);
glPopMatrix();
}
/* Fonction executee lors d'un rafraichissement */
/* de la fenetre de dessin */
static void display(void) {
if ( pMode == 1 ) {
glPolygonMode(GL_FRONT_AND_BACK,GL_FILL);
glEnable(GL_LIGHTING); }
else {
glPolygonMode(GL_FRONT_AND_BACK,GL_LINE);
glDisable(GL_LIGHTING); }
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
glPushMatrix();
scene();
glPopMatrix();
glFlush();
glutSwapBuffers();
int error = glGetError();
if ( error != GL_NO_ERROR )
printf("Attention erreur %d\n",error);
}
/* Fonction executee lors d'un changement */
/* de la taille de la fenetre OpenGL */
static void reshape(int wx,int wy) {
wTx = wx;
wTy = wy;
glViewport(0,0,wx,wy);
glMatrixMode(GL_PROJECTION);
glLoadIdentity();
double ratio =(double) wx/wy;
if ( wx > wy )
glOrtho(-ratio,ratio,-1.0,1.0,-10.0,10.0);
else
glOrtho(-1.0,1.0,-1.0/ratio,1.0/ratio,-10.0,10.0);
glMatrixMode(GL_MODELVIEW);
glLoadIdentity();
}
/* Fonction executee lors de l'appui */
/* d'une touche alphanumerique du clavier */
static void keyboard(unsigned char key,int x,int y) {
switch (key) {
case 45 :
{ r4 += 0.1F;
if ( r4 > 21.0F )
r4 = 21.0F;
else
glutPostRedisplay(); }
break;
case 43 :
{ r4 -= 0.1F;
if ( r4 < 9.0F )
r4 = 9.0F;
else
glutPostRedisplay(); }
break;
case ' ' :
{ pMode = !pMode;
glutPostRedisplay(); }
break;
case 'f' :
case 'F' :
glutFullScreen();
break;
case 0x1B :
exit(0);
break; }
}
/* Fonction executee lors de l'appui */
/* d'une touche speciale du clavier : */
/* - touches de curseur */
/* - touches de fonction */
static void special(int specialKey,int x,int y) {
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;
case GLUT_KEY_RIGHT :
r3 += 1.0F;
glutPostRedisplay();
break;
case GLUT_KEY_LEFT :
r3 -= 1.0F;
glutPostRedisplay();
break; }
}
/* Fonction exécutée automatiquement */
/* lors de l'exécution de la fonction exit() */
static void clean(void) {
printf("Bye\n");
}
/* Fonction principale */
int main(int argc,char **argv) {
atexit(clean);
glutInit(&argc,argv);
glutInitDisplayMode(GLUT_RGBA|GLUT_DEPTH|GLUT_DOUBLE);
glutInitWindowSize(wTx,wTy);
glutInitWindowPosition(wPx,wPy);
glutCreateWindow("Un bras robot avec une pince de saisie");
init();
glutKeyboardFunc(keyboard);
glutSpecialFunc(special);
glutReshapeFunc(reshape);
glutDisplayFunc(display);
glutMainLoop();
return(0);
}
RETOUR