Le source : BrasRobotCamera2.cpp
/* Modelisation d'un bras robot, */
/* gestion du clavier */
/* et camera de visualisation en pespective */
/* */
/* Auteur: Nicolas JANEY */
/* nicolas.janey@univ-fcomte.fr */
/* Septembre 2011 */
#include <stdlib.h>
#include <stdio.h>
#include <math.h>
#include <GL/glut.h>
#include <GL/gl.h>
#include <GL/glu.h>
#ifndef M_PI
#define M_PI 3.14159
#endif
/* Variables et constantes globales */
/* pour les angles et les couleurs utilises */
static int aff = 1;
static int lum = 1;
static float r1 = 10.0F;
static float r2 = -20.0F;
static const float blanc[] = { 1.0F,1.0F,1.0F,1.0F };
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 };
/* 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_LIGHT0);
glEnable(GL_LIGHT1);
glEnable(GL_LIGHT2);
glDepthFunc(GL_LESS);
glEnable(GL_DEPTH_TEST);
glEnable(GL_NORMALIZE);
glEnable(GL_AUTO_NORMAL);
}
void mySolidCylinder(float hauteur,float rayon,int ns,int nl,int bases) {
GLboolean nm = glIsEnabled(GL_NORMALIZE);
if ( !nm )
glEnable(GL_NORMALIZE);
float normale[4];
glGetFloatv(GL_CURRENT_NORMAL,normale);
glPushMatrix();
for ( int j = 0 ; j < nl ; j++ ) {
float hi = hauteur/2-j*hauteur/nl;
float hf = hi-hauteur/nl;
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,hi,z);
glVertex3f(x,hf,z); }
glEnd(); }
if ( bases ) {
glBegin(GL_POLYGON);
glNormal3f(0.0F,1.0F,0.0F);
for( int i = 0 ; i < ns ; i++ ) {
float a = (2*M_PI*i)/ns;
float cs = cos(a);
float sn = -sin(a);
float x = rayon*cs;
float z = rayon*sn;
glVertex3f(x,hauteur/2.0F,z); }
glEnd();
glBegin(GL_POLYGON);
glNormal3f(0.0F,-1.0F,0.0F);
for( int i = 0 ; i < ns ; i++ ) {
float a = (2*M_PI*i)/ns;
float cs = cos(a);
float sn = sin(a);
float x = rayon*cs;
float z = rayon*sn;
glVertex3f(x,-hauteur/2.0F,z); }
glEnd(); }
glPopMatrix();
glNormal3f(normale[0],normale[1],normale[2]);
if ( !nm )
glDisable(GL_NORMALIZE);
}
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);
mySolidCylinder(3.0,0.5,12,12,1);
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(3.0,0.4,12,12,1);
glPopMatrix();
glPopMatrix();
}
/* Scene dessinee */
void scene(void) {
glPushMatrix();
brasRobot(r1,r2);
glPopMatrix();
}
/* Fonction executee lors d'un changement */
/* de la taille de la fenetre OpenGL */
void reshape(int x,int y) {
double distance = sqrt(500.0);
glViewport(0,0,x,y);
glMatrixMode(GL_PROJECTION);
glLoadIdentity();
gluPerspective(16.0,(double) x/y,distance-7.0,distance+7.0);
glMatrixMode(GL_MODELVIEW);
glLoadIdentity();
glRotatef(26.565F,1.0F,0.0F,0.0F);
glTranslatef(0.0F,-10.0F,-20.0F);
}
/* Fonction executee lors d'un rafraichissement */
/* de la fenetre de dessin */
void display(void) {
glClearColor(0.5F,0.5F,0.5F,0.5F);
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);
if ( lum )
glEnable(GL_LIGHTING);
else
glDisable(GL_LIGHTING);
glPolygonMode(GL_FRONT_AND_BACK,(aff) ? GL_FILL : GL_LINE);
glPushMatrix();
scene();
glPopMatrix();
glFlush();
glutSwapBuffers();
}
/* Fonction executee lors de la frappe */
/* d'une touche du special clavier */
void special(int code,int x,int y) {
switch ( code ) {
case GLUT_KEY_UP :
r1 += 1.0F;
glutPostRedisplay();
break;
case GLUT_KEY_DOWN :
r1 -= 1.0F;
glutPostRedisplay();
break;
case GLUT_KEY_RIGHT :
r2 += 1.0F;
glutPostRedisplay();
break;
case GLUT_KEY_LEFT :
r2 -= 1.0F;
glutPostRedisplay();
break; }
}
/* Fonction executee lors de l'appui */
/* d'une touche alphanumerique du clavier */
void keyboard(unsigned char key,int x,int y) {
switch (key) {
case 0x20 :
aff = !aff;
glutPostRedisplay();
break;
case 0x0D :
lum = !lum;
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(600,300);
glutInitWindowPosition(50,50);
glutCreateWindow("Bras robot avec camera sans gluLookAt (v1)");
init();
glutKeyboardFunc(keyboard);
glutSpecialFunc(special);
glutReshapeFunc(reshape);
glutDisplayFunc(display);
glutMainLoop();
return(0);
}
RETOUR