矩阵堆栈机械手.cpp

经典 C++代码

#include<windows.h>
#include<GL\gl.h>
#include<GL\glu.h>
#include<GL\glaux.h>

#pragma comment(lib,"opengl32")
#pragma comment(lib,"glu32")
#pragma comment(lib,"glaux")

void Init(void);
void drawPlane(void);
void CALLBACK elbowAdd(void);
void CALLBACK shoulderAdd(void);
void CALLBACK shoulderSubtract(void);
void CALLBACK Paint(void);
void CALLBACK Resize(GLsizei w,GLsizei h);

static int shoulder=0,elbow=0;

void CALLBACK elbowAdd(void)
{
	elbow=(elbow+5)%360;
}

void CALLBACK elbowSubtract(void)
{
	elbow=(elbow-5)%360;
}

void CALLBACK shoulderAdd(void)
{
	shoulder=(shoulder+5)%360;
}

void CALLBACK shoulderSubtract(void)
{
	shoulder=(shoulder-5)%360;
}

void CALLBACK Paint(void)
{
	glClear(GL_COLOR_BUFFER_BIT);
	glColor3f(1.0,1.0,1.0);

	glPushMatrix();
	glTranslatef(-1.0,0.0,0.0);
	glRotatef((GLfloat)shoulder,0.0,0.0,1.0);
	glTranslatef(1.0,0.0,0.0);
	auxWireBox(2.0,0.4,1.0);

	glTranslatef(1.0,0.0,0.0);
	glRotatef((GLfloat)elbow,0.0,0.0,1.0);
	glTranslatef(-1.0,0.0,0.0);
	auxWireBox(2.0,0.4,1.0);

	glPopMatrix();
	glFlush();
}

void Init(void)
{
	glShadeModel(GL_FLAT);
}

void CALLBACK Resize(GLsizei w,GLsizei h)
{
	if(!h)return;
	glViewport(0,0,w,h);
	glMatrixMode(GL_PROJECTION);
	glLoadIdentity();
	gluPerspective(65.0,(GLfloat)w/(GLfloat)h,1.0,20.0);
	glMatrixMode(GL_MODELVIEW);
	glLoadIdentity();
	glTranslatef(0.0,0.0,-5.0);
}

int main(int argc,char** argv)
{
	auxInitDisplayMode(AUX_SINGLE|AUX_RGB);
	auxInitPosition(0,0,400,400);
	auxInitWindow("Composite Modeling Transformations");

	Init();

	auxKeyFunc(AUX_LEFT,shoulderSubtract);
	auxKeyFunc(AUX_RIGHT,shoulderAdd);
	auxKeyFunc(AUX_UP,elbowAdd);
	auxKeyFunc(AUX_DOWN,elbowSubtract);
	auxReshapeFunc(Resize);
	auxMainLoop(Paint);
	return(0);
}