glutmech.c

嵌入式GUI OpenGL源代码。OpenGL是嵌入式开发中常用的一种GUI系统。

    glPopMatrix();
  } else
    disable();
#endif
#ifdef DRAW_MECH
  glPushMatrix();
  glTranslatef(0.0, elevation, 0.0);
  DrawMech();
  glPopMatrix();
#endif
#ifdef DRAW_ENVIRO
  glPushMatrix();
  if (distance >= 20.136)
    distance = 0.0;
  glTranslatef(0.0, -5.0, -distance);
  glCallList(SOLID_ENVIRO);
  glTranslatef(0.0, 0.0, 10.0);
  glCallList(SOLID_ENVIRO);
  glPopMatrix();
#endif
  glPopMatrix();
  glFlush();
  glutSwapBuffers();
}

void
myinit(void)
{
  char i = 1;

  qobj = gluNewQuadric();
#ifdef LIGHT
  SetMaterial(mat_specular2, mat_ambient2, mat_diffuse2, mat_shininess2);
#endif
  glEnable(GL_DEPTH_TEST);
  MechTorso(i);
  MechHip(i);
  Shoulder(i);
  RocketPod(i);
  UpperArm(i);
  ForeArm(i);
  UpperLeg(i);
  Foot(i);
  VulcanGun(i);
  Enviro(i);
}

void
myReshape(int w, int h)
{
  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, 1.2, -5.5);  /* viewing transform  */
}

#ifdef ANIMATION
void
animation_walk(void)
{
  float angle;
  static int step;

  if (step == 0 || step == 2) {
    /* for(frame=3.0; frame<=21.0; frame=frame+3.0){ */
    if (frame >= 0.0 && frame <= 21.0) {
      if (frame == 0.0)
        frame = 3.0;
      angle = (180 / M_PI) * (acos(((cos((M_PI / 180) * frame) * 2.043) + 1.1625) / 3.2059));
      if (frame > 0) {
        elevation = -(3.2055 - (cos((M_PI / 180) * angle) * 3.2055));
      } else
        elevation = 0.0;
      if (step == 0) {
        hip11 = -(frame * 1.7);
        if (1.7 * frame > 15)
          heel1 = frame * 1.7;
        heel2 = 0;
        ankle1 = frame * 1.7;
        if (frame > 0)
          hip21 = angle;
        else
          hip21 = 0;
        ankle2 = -hip21;
        shoulder1 = frame * 1.5;
        shoulder2 = -frame * 1.5;
        elbow1 = frame;
        elbow2 = -frame;
      } else {
        hip21 = -(frame * 1.7);
        if (1.7 * frame > 15)
          heel2 = frame * 1.7;
        heel1 = 0;
        ankle2 = frame * 1.7;
        if (frame > 0)
          hip11 = angle;
        else
          hip11 = 0;
        ankle1 = -hip11;
        shoulder1 = -frame * 1.5;
        shoulder2 = frame * 1.5;
        elbow1 = -frame;
        elbow2 = frame;
      }
      if (frame == 21)
        step++;
      if (frame < 21)
        frame = frame + 3.0;
    }
  }
  if (step == 1 || step == 3) {
    /* for(x=21.0; x>=0.0; x=x-3.0){ */
    if (frame <= 21.0 && frame >= 0.0) {
      angle = (180 / M_PI) * (acos(((cos((M_PI / 180) * frame) * 2.043) + 1.1625) / 3.2029));
      if (frame > 0)
        elevation = -(3.2055 - (cos((M_PI / 180) * angle) * 3.2055));
      else
        elevation = 0.0;
      if (step == 1) {
        elbow2 = hip11 = -frame;
        elbow1 = heel1 = frame;
        heel2 = 15;
        ankle1 = frame;
        if (frame > 0)
          hip21 = angle;
        else
          hip21 = 0;
        ankle2 = -hip21;
        shoulder1 = 1.5 * frame;
        shoulder2 = -frame * 1.5;
      } else {
        elbow1 = hip21 = -frame;
        elbow2 = heel2 = frame;
        heel1 = 15;
        ankle2 = frame;
        if (frame > 0)
          hip11 = angle;
        else
          hip11 = 0;
        ankle1 = -hip11;
        shoulder1 = -frame * 1.5;
        shoulder2 = frame * 1.5;
      }
      if (frame == 0.0)
        step++;
      if (frame > 0)
        frame = frame - 3.0;
    }
  }
  if (step == 4)
    step = 0;
  distance += 0.1678;
  glutPostRedisplay();
}

void
animation(void)
{
  animation_walk();
}

#endif

#ifdef GLUT
#ifdef GLUT_KEY
/* ARGSUSED1 */
void
keyboard(unsigned char key, int x, int y)
{

  int i = 0;

  switch (key) {
    /* start arm control functions */
  case 'q':{
      shoulder2Subtract();
      i++;
    }
    break;
  case 'a':{
      shoulder2Add();
      i++;
    }
    break;
  case 'w':{
      shoulder1Subtract();
      i++;
    }
    break;
  case 's':{
      shoulder1Add();
      i++;
    }
    break;
  case '2':{
      shoulder3Add();
      i++;
    }
    break;
  case '1':{
      shoulder4Add();
      i++;
    }
    break;
  case '4':{
      shoulder3Subtract();
      i++;
    }
    break;
  case '3':{
      shoulder4Subtract();
      i++;
    }
    break;

  case 'z':{
      lat2Raise();
      i++;
    }
    break;
  case 'Z':{
      lat2Lower();
      i++;
    }
    break;
  case 'x':{
      lat1Raise();
      i++;
    }
    break;
  case 'X':{
      lat1Lower();
      i++;
    }
    break;

  case 'A':{
      elbow2Add();
      i++;
    }
    break;
  case 'Q':{
      elbow2Subtract();
      i++;
    }
    break;
  case 'S':{
      elbow1Add();
      i++;
    }
    break;
  case 'W':{
      elbow1Subtract();
      i++;
    }
    break;
    /* end of arm control functions */

    /* start of torso control functions */
  case 'd':{
      RotateAdd();
      i++;
    }
    break;
  case 'g':{
      RotateSubtract();
      i++;
    }
    break;
  case 'r':{
      MechTiltAdd();
      i++;
    }
    break;
  case 'f':{
      MechTiltSubtract();
      i++;
    }
    break;
    /* end of torso control functions */

    /* start of leg control functions */
  case 'h':{
      RaiseLeg2Forward();
      i++;
    }
    break;
  case 'y':{
      LowerLeg2Backwards();
      i++;
    }
    break;
  case 'Y':{
      RaiseLeg2Outwards();
      i++;
    }
    break;
  case 'H':{
      LowerLeg2Inwards();
      i++;
    }
    break;

  case 'j':{
      RaiseLeg1Forward();
      i++;
    }
    break;
  case 'u':{
      LowerLeg1Backwards();
      i++;
    }
    break;
  case 'U':{
      RaiseLeg1Outwards();
      i++;
    }
    break;
  case 'J':{
      LowerLeg1Inwards();
      i++;
    }
    break;

  case 'N':{
      Heel2Add();
      i++;
    }
    break;
  case 'n':{
      Heel2Subtract();
      i++;
    }
    break;
  case 'M':{
      Heel1Add();
      i++;
    }
    break;
  case 'm':{
      Heel1Subtract();
      i++;
    }
    break;

  case 'k':{
      Ankle2Add();
      i++;
    }
    break;
  case 'K':{
      Ankle2Subtract();
      i++;
    }
    break;
  case 'l':{
      Ankle1Add();
      i++;
    }
    break;
  case 'L':{
      Ankle1Subtract();
      i++;
    }
    break;
    /* end of leg control functions */

    /* start of light source position functions */
  case 'p':{
      LightTurnRight();
      i++;
    }
    break;
  case 'i':{
      LightTurnLeft();
      i++;
    }
    break;
  case 'o':{
      LightForwards();
      i++;
    }
    break;
  case '9':{
      LightBackwards();
      i++;
    }
    break;
    /* end of light source position functions */
  }
  if (i)
    glutPostRedisplay();
}

#endif

#ifdef GLUT_SPEC
/* ARGSUSED1 */
void
special(int key, int x, int y)
{

  int i = 0;

  switch (key) {
    /* start of view position functions */
  case GLUT_KEY_RIGHT:{
      TurnRight();
      i++;
    }
    break;
  case GLUT_KEY_LEFT:{
      TurnLeft();
      i++;
    }
    break;
  case GLUT_KEY_DOWN:{
      TurnForwards();
      i++;
    }
    break;
  case GLUT_KEY_UP:{
      TurnBackwards();
      i++;
    }
    break;
    /* end of view postions functions */
    /* start of miseclleneous functions */
  case GLUT_KEY_PAGE_UP:{
      FireCannon();
      i++;
    }
    break;
    /* end of miscelleneous functions */
  }
  if (i)
    glutPostRedisplay();
}

#endif
#endif
void
menu_select(int mode)
{
  switch (mode) {
#ifdef ANIMATION
  case 1:
    glutIdleFunc(animation);
    break;
#endif
  case 2:
    glutIdleFunc(NULL);
    break;
  case 3:
    Toggle();
    glutPostRedisplay();
    break;
  case 4:
    exit(EXIT_SUCCESS);
  }
}

/* ARGSUSED */
void
null_select(int mode)
{
}

void
glutMenu(void)
{

  int glut_menu[13];

  glut_menu[5] = glutCreateMenu(null_select);
  glutAddMenuEntry("forward       : q,w", 0);
  glutAddMenuEntry("backwards     : a,s", 0);
  glutAddMenuEntry("outwards      : z,x", 0);
  glutAddMenuEntry("inwards       : Z,X", 0);

  glut_menu[6] = glutCreateMenu(null_select);
  glutAddMenuEntry("upwards       : Q,W", 0);
  glutAddMenuEntry("downwards     : A,S", 0);
  glutAddMenuEntry("outwards      : 1,2", 0);
  glutAddMenuEntry("inwards       : 3,4", 0);

  glut_menu[1] = glutCreateMenu(null_select);
  glutAddMenuEntry(" : Page_up", 0);

  glut_menu[8] = glutCreateMenu(null_select);
  glutAddMenuEntry("forward       : y,u", 0);
  glutAddMenuEntry("backwards     : h.j", 0);
  glutAddMenuEntry("outwards      : Y,U", 0);
  glutAddMenuEntry("inwards       : H,J", 0);

  glut_menu[9] = glutCreateMenu(null_select);
  glutAddMenuEntry("forward       : n,m", 0);
  glutAddMenuEntry("backwards     : N,M", 0);

  glut_menu[9] = glutCreateMenu(null_select);
  glutAddMenuEntry("forward       : n,m", 0);
  glutAddMenuEntry("backwards     : N,M", 0);

  glut_menu[10] = glutCreateMenu(null_select);
  glutAddMenuEntry("toes up       : K,L", 0);
  glutAddMenuEntry("toes down     : k,l", 0);

  glut_menu[11] = glutCreateMenu(null_select);
  glutAddMenuEntry("right         : right arrow", 0);
  glutAddMenuEntry("left          : left arrow", 0);
  glutAddMenuEntry("down          : up arrow", 0);
  glutAddMenuEntry("up            : down arrow", 0);

  glut_menu[12] = glutCreateMenu(null_select);
  glutAddMenuEntry("right         : p", 0);
  glutAddMenuEntry("left          : i", 0);
  glutAddMenuEntry("up            : 9", 0);
  glutAddMenuEntry("down          : o", 0);

  glut_menu[4] = glutCreateMenu(NULL);
  glutAddSubMenu("at the shoulders? ", glut_menu[5]);
  glutAddSubMenu("at the elbows?", glut_menu[6]);

  glut_menu[7] = glutCreateMenu(NULL);
  glutAddSubMenu("at the hip? ", glut_menu[8]);
  glutAddSubMenu("at the knees?", glut_menu[9]);
  glutAddSubMenu("at the ankles? ", glut_menu[10]);

  glut_menu[2] = glutCreateMenu(null_select);
  glutAddMenuEntry("turn left    : d", 0);
  glutAddMenuEntry("turn right    : g", 0);

  glut_menu[3] = glutCreateMenu(null_select);
  glutAddMenuEntry("tilt backwards : f", 0);
  glutAddMenuEntry("tilt forwards  : r", 0);

  glut_menu[0] = glutCreateMenu(NULL);
  glutAddSubMenu("move the arms.. ", glut_menu[4]);
  glutAddSubMenu("fire the vulcan guns?", glut_menu[1]);
  glutAddSubMenu("move the legs.. ", glut_menu[7]);
  glutAddSubMenu("move the torso?", glut_menu[2]);
  glutAddSubMenu("move the hip?", glut_menu[3]);
  glutAddSubMenu("rotate the scene..", glut_menu[11]);
#ifdef MOVE_LIGHT
  glutAddSubMenu("rotate the light source..", glut_menu[12]);
#endif

  glutCreateMenu(menu_select);
#ifdef ANIMATION
  glutAddMenuEntry("Start Walk", 1);
  glutAddMenuEntry("Stop Walk", 2);
#endif
  glutAddMenuEntry("Toggle Wireframe", 3);
  glutAddSubMenu("How do I ..", glut_menu[0]);
  glutAddMenuEntry("Quit", 4);
  glutAttachMenu(GLUT_LEFT_BUTTON);
  glutAttachMenu(GLUT_RIGHT_BUTTON);
}

int
main(int argc, char **argv)
{
#ifdef GLUT
  /* start of glut windowing and control functions */
  glutInit(&argc, argv);
  glutInitDisplayMode(GLUT_DOUBLE | GLUT_RGBA | GLUT_DEPTH);
  glutInitWindowSize(800, 600);
  glutCreateWindow("glutmech: Vulcan Gunner");
  myinit();
  glutDisplayFunc(display);
  glutReshapeFunc(myReshape);
#ifdef GLUT_KEY
  glutKeyboardFunc(keyboard);
#endif
#ifdef GLUT_SPEC
  glutSpecialFunc(special);
#endif
  glutMenu();
  glutMainLoop();
  /* end of glut windowing and control functions */
#endif
  return 0;             /* ANSI C requires main to return int. */
}