Le source : BrasRobotPartiel.cpp
/* Une scene OpenGL simple : un bras robot */
/* */
/* Auteur: Nicolas JANEY */
/* nicolas.janey@univ-fcomte.fr */
/* Septembre 2010 */
#include <stdio.h>
#include <math.h>
#include <GL/glut.h>
#include <GL/gl.h>
#include <GL/glu.h>
/* Variables et constantes globales */
static const float blanc[] = { 1.0F,1.0F,1.0F,1.0F };
static const float gris[] = { 0.7F,0.7F,0.7F,1.0F };
static float r1 = 30.0F;
static float r2 = -50.0F;
static int objet = 0;
/* Fonction d'initialisation des parametres */
/* OpenGL ne changeant pas au cours de la vie */
/* du programme */
void init(void) {
const GLfloat mat_shininess[] = { 50.0 };
glMaterialfv(GL_FRONT,GL_SPECULAR,blanc);
glMaterialfv(GL_FRONT,GL_SHININESS,mat_shininess);
glLightfv(GL_LIGHT0,GL_DIFFUSE,gris);
glLightfv(GL_LIGHT1,GL_DIFFUSE,gris);
glLightfv(GL_LIGHT2,GL_DIFFUSE,gris);
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 avec des cubes */
void scene5() {
glPushMatrix();
glRotatef(r1,0.0F,1.0F,0.0F);
glTranslatef(1.5F,0.0F,0.0F);
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);
glPushMatrix();
glScalef(3.0F,0.8F,0.8F);
glutSolidCube(1.0);
glPopMatrix();
glPopMatrix();
}
/* Scene dessinee avec des cylindres */
void cylindre(double h,double r,int n,int m) {
glPushMatrix();
glRotatef(90.0F,1.0F,0.0F,0.0F);
glTranslatef(0.0F,0.0F,-h/2);
GLUquadricObj *qobj = gluNewQuadric();
gluQuadricDrawStyle(qobj,GLU_FILL);
gluCylinder(qobj,r,r,h,n,m);
gluDeleteQuadric(qobj);
glPopMatrix();
}
void scene6() {
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(3.0,0.5,12,12);
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(3.0,0.4,12,12);
glPopMatrix();
glPopMatrix();
}
/* Fonction executee lors d'un rafraichissement */
/* de la fenetre de dessin */
void display(void) {
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
const GLfloat light0_position[] = { 1.0,1.0,1.0,0.0 };
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);
glPushMatrix();
switch (objet) {
case 0 :
scene5();
break;
case 1 :
scene6();
break; }
glPopMatrix();
glFlush();
glutSwapBuffers();
int error = glGetError();
if ( error != GL_NO_ERROR )
printf("Erreur OpenGL\n",error);
}
/* Fonction executee lors d'un changement */
/* de la taille de la fenetre OpenGL */
/* -> Ajustement de la camera de visualisation */
void reshape(int x,int y) {
glViewport(0,0,x,y);
glMatrixMode(GL_PROJECTION) ;
glLoadIdentity() ;
gluPerspective(15.0F,(float) x/y,1.0,50.0) ;
glMatrixMode(GL_MODELVIEW) ;
glLoadIdentity() ;
gluLookAt(2.5,10.0,15.0,2.5,0.5,0.0,0.0,1.0,0.0);
}
/* Fonction executee lors de la frappe */
/* d'une touche du clavier */
void keyboard(unsigned char key,int x,int y) {
switch ( key ) {
case 0x0D :
objet = (objet+1)%2;
glutPostRedisplay();
break;
case 0x1B :
exit(0);
break; }
}
/* Fonction principale */
int main(int argc,char **argv) {
glutInit(&argc,argv);
glutInitDisplayMode(GLUT_RGBA|GLUT_DEPTH|GLUT_DOUBLE);
glutInitWindowSize(450,300);
glutInitWindowPosition(50,50);
glutCreateWindow("Bras robot partiel");
init();
glutKeyboardFunc(keyboard);
glutReshapeFunc(reshape);
glutDisplayFunc(display);
glutMainLoop();
return(0);
}
RETOUR