brasrobot.cpp

This program shows how to make a robot arm using OPEN GL

/******************************************************************/
/*                     brasRobot.cpp                              */
/******************************************************************/
/* un Bras Robot en action                                        */
/******************************************************************/
/* Preparer par:           Dr. Charbel Fares                      */
/* date:                   01/10/2001                             */
/* date de modification:   pas de modification                    */
/******************************************************************/

#include <windows.h>
#include <GL/gl.h>
#include <GL/glu.h>
#include <GL/glut.h>
#include <stdio.h>
#include <stdlib.h>

#include "ModuleCouleurs.h"
#include "ModuleManipulateur.h"
#include "ModuleMenus.h"
#include "ModuleReshape.h"

static int epaule = 0, bras = 0; 
  
void display(void) { 
  glClear(GL_COLOR_BUFFER_BIT);
  glColor4fv(couleurNoir());
  glPushMatrix(); 
  manipulateurSouris();
  manipulateurClavier();
  glPushMatrix(); 
  glTranslatef(-1.0,0.0,0.0); 
  glRotatef((GLfloat) epaule,0.0,0.0,1.0); 
  glTranslatef(1.0,0.0,0.0); 
  glPushMatrix();
  glScalef(2.0F,0.4F,1.0F);
  glutWireCube(1.0); 
  glPopMatrix(); 
  glTranslatef(1.0,0.0,0.0); 
  glRotatef((GLfloat) bras,0.0,0.0,1.0); 
  glTranslatef(1.0,0.0,0.0); 
  glPushMatrix();
  glScalef(2.0F,0.4F,1.0F);
  glutWireCube(1.0); 
  glPopMatrix(); 
  glPopMatrix(); 
  glPopMatrix(); 
  glFlush();
  glutSwapBuffers();
} 
  
void myinit(void) { 
  glClearColor(1.0,1.0,1.0,1.0);
} 
  
void special(int k, int x, int y) {
  switch (k) {
    case GLUT_KEY_UP    : bras = (bras + 5) % 360;
                          glutPostRedisplay();
                          break;
    case GLUT_KEY_DOWN  : bras = (bras - 5) % 360;
                          glutPostRedisplay();
                          break;
    case GLUT_KEY_LEFT  : epaule = (epaule + 5) % 360;
                          glutPostRedisplay();
                          break;
    case GLUT_KEY_RIGHT : epaule = (epaule - 5) % 360;
                          glutPostRedisplay();
                          break; }
}

int main(int argc,char **argv) {
  glutInit(&argc,argv);
  glutInitDisplayMode(GLUT_RGBA|GLUT_DOUBLE);
  glutInitWindowSize(500,500); 
  glutInitWindowPosition(50,50); 
  glutCreateWindow("Bras robot.