oglarm.c

本文件是ni公司的labwindows/cvi软件的部分例子和源程序

//----------------------------------------------------------------------------
// This demo shows how the powerful OpenGL can be used to render realistic 3D images.
//
//  main.c:  Contains main program structure, initialization and drawing
//  routines.  Positioning callbacks are defined in "positionme.c"
//----------------------------------------------------------------------------

//----------------------------------------------------------------------------
// Includes
//----------------------------------------------------------------------------
#include <windows.h>
#include <GL\gl.h>
#include <GL\glu.h>
#include <ansi_c.h>
#include <cvirte.h>     
#include <userint.h>
#include "oglarm.h"
#include "cviogl.h"

//----------------------------------------------------------------------------
// Define default values
//----------------------------------------------------------------------------
#define DFLT_VIEW_LATITUDE      75.0
#define DFLT_VIEW_LONGITUDE     45.0
#define DFLT_VIEWPOINT_X        0.0
#define DFLT_VIEWPOINT_Y        0.0
#define DFLT_VIEWPOINT_Z        1.0
#define DFLT_VIEW_DISTANCE      8.5
#define DFLT_LIGHT_LATITUDE     30.0
#define DFLT_BASE_ANGLE         -33.0
#define DFLT_SHOULDER_ANGLE     -42.0
#define DFLT_ELBOW_ANGLE        77.0
#define DFLT_WRIST_ANGLE        30.0
#define DFLT_CLAW_ANGLE         50.0

// Define other useful constants
#define ANGLE_INCREMENT         4.0
#define CLAW_OPEN               0
#define CLAW_CLOSED             1
#define TRUE                    1
#define FALSE                   0       

//----------------------------------------------------------------------------
// Variables
//----------------------------------------------------------------------------
// Define panel reference vars
int mainPanel, OGLControlPanel;

// Define bitmap handles for joystick button displays
int fourWayButtonUp, fourWayButtonDown, verticalButtonUp, verticalButtonDown,
    horizontalButtonUp, horizontalButtonDown, clawButtonOpen, clawButtonClose;

// Define vars used for rotating arm object and view
double shoulderRotation =       DFLT_SHOULDER_ANGLE;
double elbowRotation =          DFLT_ELBOW_ANGLE;
double baseRotation =           DFLT_BASE_ANGLE;
double clawAngle =              DFLT_CLAW_ANGLE;
double wristRotation =          DFLT_WRIST_ANGLE;
double viewLongitude =          DFLT_VIEW_LONGITUDE;
double viewLatitude =           DFLT_VIEW_LATITUDE;
double viewDistance =           DFLT_VIEW_DISTANCE;
double viewPointX =             DFLT_VIEWPOINT_X;
double viewPointY =             DFLT_VIEWPOINT_Y;
double viewPointZ =             DFLT_VIEWPOINT_Z;
double clawState =              CLAW_OPEN;

// Define other useful vars
int holdButtonDown, miscCounter;
int xJoyCoord, yJoyCoord;
GLUquadricObj   *object;

//----------------------------------------------------------------------------
// Prototypes
//----------------------------------------------------------------------------
void DrawArmImage(int fastFlag);
void InitOGLControl(void);
void RenderArmImage(int fastFlag);

//----------------------------------------------------------------------------
//  Main
//----------------------------------------------------------------------------
int main (int argc, char *argv[])
{
    if (InitCVIRTE (0, argv, 0) == 0)   /* Needed if linking in external compiler; harmless otherwise */
        return -1;  /* out of memory */
    
    // Load the main program panel 
    if ((mainPanel = LoadPanel (0, "oglarm.uir", MAINPNL)) < 0)
        return -1;
    
    // Convert the CVI picture control to an OGL control
    OGLControlPanel = OGLConvertCtrl (mainPanel, MAINPNL_ARM_IMAGE);
    
    // Initialize the OGL control
    InitOGLControl();
    
    // Display plot
    OGLRefreshGraph(mainPanel, OGLControlPanel);
    
    // Display the main Panel
    DisplayPanel(mainPanel);

    // Enter the UI loop
    RunUserInterface();
    
    // Hide the panel and discard the OGL control along with the panel
    HidePanel (mainPanel);
    OGLDiscardCtrl(mainPanel,OGLControlPanel);
    DiscardPanel (mainPanel);
    return 0;
}

//----------------------------------------------------------------------------
//  InitOGLControl():  Initializes the OGL control and sets the rendering
//  properties appropriate to the arm image     

void InitOGLControl(void)
{
    // Setup lighting for system
    OGLSetCtrlAttribute(mainPanel,OGLControlPanel,OGLATTR_LIGHTING_ENABLE, 1);
    OGLSetCtrlAttribute(mainPanel,OGLControlPanel,OGLATTR_LIGHT_SELECT,    1);
    OGLSetCtrlAttribute(mainPanel,OGLControlPanel,OGLATTR_LIGHT_ENABLE,    1);
    OGLSetCtrlAttribute(mainPanel,OGLControlPanel,OGLATTR_LIGHT_DISTANCE,  2.0);
    OGLSetCtrlAttribute (mainPanel, OGLControlPanel,OGLATTR_LIGHT_LATITUDE, DFLT_LIGHT_LATITUDE);

    // Setup viewing position for system
    OGLSetCtrlAttribute(mainPanel,OGLControlPanel,OGLATTR_PROJECTION_TYPE, OGLVAL_PERSPECTIVE);
    OGLSetCtrlAttribute (mainPanel, OGLControlPanel,OGLATTR_VIEW_DIRECTION, OGLVAL_USER_DEFINED);
    OGLSetCtrlAttribute (mainPanel, OGLControlPanel,OGLATTR_VIEW_LATITUDE, DFLT_VIEW_LATITUDE);
    OGLSetCtrlAttribute (mainPanel, OGLControlPanel,OGLATTR_VIEW_LONGITUDE, DFLT_VIEW_LONGITUDE);
    OGLSetCtrlAttribute (mainPanel, OGLControlPanel, OGLATTR_VIEW_CENTERX,DFLT_VIEWPOINT_X);
    OGLSetCtrlAttribute (mainPanel, OGLControlPanel, OGLATTR_VIEW_CENTERY,DFLT_VIEWPOINT_Y);
    OGLSetCtrlAttribute (mainPanel, OGLControlPanel, OGLATTR_VIEW_CENTERZ,DFLT_VIEWPOINT_Z);                         
    OGLSetCtrlAttribute(mainPanel,OGLControlPanel,OGLATTR_VIEW_DISTANCE,DFLT_VIEW_DISTANCE);
    
    // Disable 3D plotting feature of the OGL instrument driver; use only lighting properties
    // and coordinate system
    OGLSetCtrlAttribute (mainPanel,OGLControlPanel, OGLATTR_PLOTTING_ENABLE, 0);
}

//----------------------------------------------------------------------------
//  RenderArmImage():  Renders the arm image to the OGL control.
//----------------------------------------------------------------------------
void RenderArmImage(int fastFlag)
{

    GLfloat specularLight0[]    ={1.0f, 1.0f, 1.0f, 1.0f};
    int fastMode;

    glPushAttrib(GL_ALL_ATTRIB_BITS);
    glMatrixMode(GL_PROJECTION);
    glPushMatrix();
        glMatrixMode(GL_MODELVIEW);
        glPushMatrix();

            glEnable(GL_DEPTH_TEST);
            glShadeModel(GL_SMOOTH);    

            glEnable(GL_COLOR_MATERIAL);
            glColorMaterial(GL_FRONT_AND_BACK,GL_AMBIENT_AND_DIFFUSE);
            glMaterialfv(GL_FRONT_AND_BACK, GL_SPECULAR, specularLight0);
            glMateriali(GL_FRONT_AND_BACK, GL_SHININESS, 128);   

            DrawArmImage(fastFlag);
    
        glPopMatrix();
        glMatrixMode(GL_PROJECTION);
    glPopMatrix();
    glPopAttrib();
    glFlush();
}

//----------------------------------------------------------------------------
//  DrawArmImage():  Draws the OGL robotic arm image in its entirety
//----------------------------------------------------------------------------
void DrawArmImage(int fastFlag)
{
    
    // Create a new quadric object; we'll refer to this structure when using
    // the GLU routines to draw higher-level primitives
    object = gluNewQuadric();
    
    // Vector routine to draw grid on scene "floor"
    glColor3f(0.0f, 0.0f, 1.0f);    
    glLineWidth(3.0);
    glBegin(GL_LINES);
        for (miscCounter=0; miscCounter < 21; miscCounter++)
        {
            
            // Each vertex pair will be connected by a line
            glVertex2f(-5.0,-5.0+0.5*miscCounter);
            glVertex2f(5.0,-5.0+0.5*miscCounter);
            glVertex2f(-5.0+0.5*miscCounter,5.0);
            glVertex2f(-5.0+0.5*miscCounter,-5.0);
        }
    glEnd();
    
    // Draw in "Line" mode for speed
    if (fastFlag)
        gluQuadricDrawStyle(object,GLU_LINE);
    
    // Draw the arm assembly piece by piece
    glPushMatrix();
    
        // Draw the base shoulder joint
        glColor3f(0.1f, 0.1f, 1.0f);
        gluCylinder(object, 0.5, 0.4, 0.3, 10, 10);   
        glTranslatef(0.0, 0.0, 0.3);          
        gluDisk(object,0.0,0.4,40,40);
        glColor3f(0.2f, 0.2f, 0.2f);    
        glRotatef(baseRotation, 0.0, 0.0, 1.0);      
        gluSphere(object, 0.3, 30, 30);  
        
        // Draw the shoulder member
        glRotatef(shoulderRotation,0.0,1.0,0.0); 
        glColor3f(0.1f, 0.1f, 1.0f);    
        gluCylinder(object, 0.15, 0.1, 1.0, 10, 10);              
        
        // Draw the elbow joint
        glTranslatef(0.0, 0.0, 1.0);      
        glColor3f(0.2f, 0.2f, 0.2f);    
        gluSphere(object, 0.2, 30, 30);       
        
        // Draw the forearm member 
        glRotatef(elbowRotation,0.0,1.0,0.0);   
        glColor3f(0.1f, 0.1f, 1.0f);    
        gluCylinder(object, 0.1, 0.06, 0.7, 10, 10);  
        
        /* Draw the wrist joint */
        glTranslatef(0.0, 0.0, 0.7); 
        glColor3f(0.2f, 0.2f, 0.2f);    
        glRotatef(wristRotation, 0.0, 0.0, 1.0);
        gluSphere(object, 0.15, 30, 30);  
        
        /* Draw bottom half of claw */
        glColor3f(0.9f, 0.9f, 0.0f);          
        glPushMatrix();   
            glRotatef(DFLT_CLAW_ANGLE - (int)17*clawState,0.0,1.0,0.0);     
            gluCylinder(object, 0.05, 0.04, 0.3, 10, 10);
            glTranslatef(0.0, 0.0, 0.3);  
            gluSphere(object, 0.04, 30, 30);    
            glTranslatef(0.0, 0.0, -0.05); 
            glRotatef(-70,0.0,1.0,0.0);     
            gluCylinder(object, 0.04, 0.02, 0.2, 10, 10);  
            glTranslatef(0.0, 0.0, 0.2);
            gluSphere(object, 0.02, 15, 15);     
        glPopMatrix();   
        
        /* Draw top half of claw */
        glRotatef(-DFLT_CLAW_ANGLE + (int)17*clawState,0.0,1.0,0.0);     
        gluCylinder(object, 0.05, 0.04, 0.3, 10, 10);
        glTranslatef(0.0, 0.0, 0.3);  
        gluSphere(object, 0.04, 30, 30);    
        glTranslatef(0.0, 0.0, -0.05);    
        glRotatef(70,0.0,1.0,0.0);     
        gluCylinder(object, 0.04, 0.02, 0.2, 10, 10);  
        glTranslatef(0.0, 0.0, 0.2);
        gluSphere(object, 0.02, 15, 15);     
    glPopMatrix();  
    gluDeleteQuadric(object);
    return;
}   

//----------------------------------------------------------------------------
//  OGLCallback():  Required by CVI for image refreshes and paints
//----------------------------------------------------------------------------
int CVICALLBACK OGLCallback (int panel, int control, int event,
        void *callbackData, int eD1, int eventData2)
{
    switch (event) {
        case OGLEVENT_REFRESH:
            
            // Render the arm image when REFRESH event is received
            RenderArmImage(eD1);
            break;
    }
    return 0;
}

//----------------------------------------------------------------------------
//  QuitApplication():  Exits the UI loop and allows the program to terminate
//----------------------------------------------------------------------------
int CVICALLBACK QuitApplication (int panel, int control, int event,
        void *callbackData, int eventData1, int eventData2)
{
    switch (event) {
        case EVENT_COMMIT:
            QuitUserInterface (0);
            break;
    }
    return 0;
}