/* figure.c /*

/* E. Angel, Interactive Computer Graphics */
/* A Top-Down Approach with OpenGL, Third Edition */
/* Addison-Wesley Longman, 2003 */
/* Interactive Figure Program from Chapter 8 using cylinders (quadrics) *//* Style similar to robot program but here we must traverse tree to display *//* Cylinders are displayed as filled and light/material properties *//* are set as in sphere approximation program */#include <GL/glut.h>#define TORSO_HEIGHT 5.0#define UPPER_ARM_HEIGHT 3.0#define LOWER_ARM_HEIGHT 2.0#define UPPER_LEG_RADIUS  0.5#define LOWER_LEG_RADIUS  0.5#define LOWER_LEG_HEIGHT 2.0#define UPPER_LEG_HEIGHT 3.0#define UPPER_LEG_RADIUS  0.5#define TORSO_RADIUS 1.0#define UPPER_ARM_RADIUS  0.5#define LOWER_ARM_RADIUS  0.5#define HEAD_HEIGHT 1.5#define HEAD_RADIUS 1.0typedef float point[3];static GLfloat theta[11] = {0.0,0.0,0.0,0.0,0.0,0.0,0.0,            180.0,0.0,180.0,0.0}; /* initial joint angles */static GLint angle = 2;GLUquadricObj *t, *h, *lua, *lla, *rua, *rla, *lll, *rll, *rul, *lul;double size=1.0;void torso(){   glPushMatrix();   glRotatef(-90.0, 1.0, 0.0, 0.0);   gluCylinder(t,TORSO_RADIUS, TORSO_RADIUS, TORSO_HEIGHT,10,10);   glPopMatrix();}void head(){   glPushMatrix();   glTranslatef(0.0, 0.5*HEAD_HEIGHT,0.0);   glScalef(HEAD_RADIUS, HEAD_HEIGHT, HEAD_RADIUS);   gluSphere(h,1.0,10,10);   glPopMatrix();}void left_upper_arm(){   glPushMatrix();   glRotatef(-90.0, 1.0, 0.0, 0.0);   gluCylinder(lua,UPPER_ARM_RADIUS, UPPER_ARM_RADIUS, UPPER_ARM_HEIGHT,10,10);   glPopMatrix();}void left_lower_arm(){   glPushMatrix();   glRotatef(-90.0, 1.0, 0.0, 0.0);   gluCylinder(lla,LOWER_ARM_RADIUS, LOWER_ARM_RADIUS, LOWER_ARM_HEIGHT,10,10);   glPopMatrix();}void right_upper_arm(){   glPushMatrix();   glRotatef(-90.0, 1.0, 0.0, 0.0);   gluCylinder(rua,UPPER_ARM_RADIUS, UPPER_ARM_RADIUS, UPPER_ARM_HEIGHT,10,10);   glPopMatrix();}void right_lower_arm(){   glPushMatrix();   glRotatef(-90.0, 1.0, 0.0, 0.0);   gluCylinder(rla,LOWER_ARM_RADIUS, LOWER_ARM_RADIUS, LOWER_ARM_HEIGHT,10,10);   glPopMatrix();}void left_upper_leg(){   glPushMatrix();   glRotatef(-90.0, 1.0, 0.0, 0.0);   gluCylinder(lul,UPPER_LEG_RADIUS, UPPER_LEG_RADIUS, UPPER_LEG_HEIGHT,10,10);   glPopMatrix();}void left_lower_leg(){   glPushMatrix();   glRotatef(-90.0, 1.0, 0.0, 0.0);   gluCylinder(lll,LOWER_LEG_RADIUS, LOWER_LEG_RADIUS, LOWER_LEG_HEIGHT,10,10);   glPopMatrix();}void right_upper_leg(){   glPushMatrix();   glRotatef(-90.0, 1.0, 0.0, 0.0);   gluCylinder(rul,UPPER_LEG_RADIUS, UPPER_LEG_RADIUS, UPPER_LEG_HEIGHT,10,10);   glPopMatrix();}void right_lower_leg(){   glPushMatrix();   glRotatef(-90.0, 1.0, 0.0, 0.0);   gluCylinder(rll,LOWER_LEG_RADIUS, LOWER_LEG_RADIUS, LOWER_LEG_HEIGHT,10,10);   glPopMatrix();}void display(void){    glClear(GL_COLOR_BUFFER_BIT|GL_DEPTH_BUFFER_BIT);    glLoadIdentity();    glColor3f(0.0, 0.0, 0.0);    glRotatef(theta[0], 0.0, 1.0, 0.0);    torso();    glPushMatrix();    glTranslatef(0.0, TORSO_HEIGHT+0.5*HEAD_HEIGHT, 0.0);    glRotatef(theta[1], 1.0, 0.0, 0.0);    glRotatef(theta[2], 0.0, 1.0, 0.0);    glTranslatef(0.0, -0.5*HEAD_HEIGHT, 0.0);    head();    glPopMatrix();    glPushMatrix();    glTranslatef(-(TORSO_RADIUS+UPPER_ARM_RADIUS), 0.9*TORSO_HEIGHT, 0.0);    glRotatef(theta[3], 1.0, 0.0, 0.0);    left_upper_arm();    glTranslatef(0.0, UPPER_ARM_HEIGHT, 0.0);    glRotatef(theta[4], 1.0, 0.0, 0.0);    left_lower_arm();    glPopMatrix();    glPushMatrix();    glTranslatef(TORSO_RADIUS+UPPER_ARM_RADIUS, 0.9*TORSO_HEIGHT, 0.0);    glRotatef(theta[5], 1.0, 0.0, 0.0);    right_upper_arm();    glTranslatef(0.0, UPPER_ARM_HEIGHT, 0.0);    glRotatef(theta[6], 1.0, 0.0, 0.0);    right_lower_arm();    glPopMatrix();    glPushMatrix();    glTranslatef(-(TORSO_RADIUS+UPPER_LEG_RADIUS), 0.1*UPPER_LEG_HEIGHT, 0.0);    glRotatef(theta[7], 1.0, 0.0, 0.0);    left_upper_leg();    glTranslatef(0.0, UPPER_LEG_HEIGHT, 0.0);    glRotatef(theta[8], 1.0, 0.0, 0.0);    left_lower_leg();    glPopMatrix();    glPushMatrix();    glTranslatef(TORSO_RADIUS+UPPER_LEG_RADIUS, 0.1*UPPER_LEG_HEIGHT, 0.0);    glRotatef(theta[9], 1.0, 0.0, 0.0);    right_upper_leg();    glTranslatef(0.0, UPPER_LEG_HEIGHT, 0.0);    glRotatef(theta[10], 1.0, 0.0, 0.0);    right_lower_leg();    glPopMatrix();    glFlush();    glutSwapBuffers();}void mouse(int btn, int state, int x, int y){	if(btn==GLUT_LEFT_BUTTON && state == GLUT_DOWN)         {        theta[angle] += 5.0;        if( theta[angle] > 360.0 ) theta[angle] -= 360.0;        }	if(btn==GLUT_RIGHT_BUTTON && state == GLUT_DOWN)         {        theta[angle] -= 5.0;        if( theta[angle] < 360.0 ) theta[angle] += 360.0;        }        display();}void menu(int id){   if(id <11 ) angle=id;   if(id ==11 ) exit();}void myReshape(int w, int h){    glViewport(0, 0, w, h);    glMatrixMode(GL_PROJECTION);    glLoadIdentity();    if (w <= h)        glOrtho(-10.0, 10.0, -10.0 * (GLfloat) h / (GLfloat) w,            10.0 * (GLfloat) h / (GLfloat) w, -10.0, 10.0);    else        glOrtho(-10.0 * (GLfloat) w / (GLfloat) h,            10.0 * (GLfloat) w / (GLfloat) h, 0.0, 10.0, -10.0, 10.0);    glMatrixMode(GL_MODELVIEW);    glLoadIdentity();}void myinit(){        GLfloat mat_specular[]={1.0, 1.0, 1.0, 1.0};        GLfloat mat_diffuse[]={1.0, 1.0, 1.0, 1.0};        GLfloat mat_ambient[]={1.0, 1.0, 1.0, 1.0};        GLfloat mat_shininess={100.0};        GLfloat light_ambient[]={0.0, 0.0, 0.0, 1.0};        GLfloat light_diffuse[]={1.0, 1.0, 1.0, 1.0};        GLfloat light_specular[]={1.0, 1.0, 1.0, 1.0};        GLfloat light_position[]={10.0, 10.0, 10.0, 0.0};        glLightfv(GL_LIGHT0, GL_POSITION, light_position);        glLightfv(GL_LIGHT0, GL_AMBIENT, light_ambient);        glLightfv(GL_LIGHT0, GL_DIFFUSE, light_diffuse);        glLightfv(GL_LIGHT0, GL_SPECULAR, light_specular);        glMaterialfv(GL_FRONT, GL_SPECULAR, mat_specular);        glMaterialfv(GL_FRONT, GL_AMBIENT, mat_ambient);        glMaterialfv(GL_FRONT, GL_DIFFUSE, mat_diffuse);        glMaterialf(GL_FRONT, GL_SHININESS, mat_shininess);        glShadeModel(GL_SMOOTH);        glEnable(GL_LIGHTING);         glEnable(GL_LIGHT0);        glDepthFunc(GL_LEQUAL);        glEnable(GL_DEPTH_TEST);         glClearColor(1.0, 1.0, 1.0, 1.0);        glColor3f(0.0, 0.0, 0.0);/* allocate quadrics with filled drawing style */        h=gluNewQuadric();        gluQuadricDrawStyle(h, GLU_FILL);        t=gluNewQuadric();        gluQuadricDrawStyle(t, GLU_FILL);        lua=gluNewQuadric();        gluQuadricDrawStyle(lua, GLU_FILL);        lla=gluNewQuadric();        gluQuadricDrawStyle(lla, GLU_FILL);        rua=gluNewQuadric();        gluQuadricDrawStyle(rua, GLU_FILL);        rla=gluNewQuadric();        gluQuadricDrawStyle(rla, GLU_FILL);        lul=gluNewQuadric();        gluQuadricDrawStyle(lul, GLU_FILL);        lll=gluNewQuadric();        gluQuadricDrawStyle(lll, GLU_FILL);        rul=gluNewQuadric();        gluQuadricDrawStyle(rul, GLU_FILL);        rll=gluNewQuadric();        gluQuadricDrawStyle(rll, GLU_FILL);}void main(int argc, char **argv){    glutInit(&argc, argv);    glutInitDisplayMode(GLUT_DOUBLE | GLUT_RGB | GLUT_DEPTH);    glutInitWindowSize(500, 500);    glutCreateWindow("robot");    myinit();    glutReshapeFunc(myReshape);    glutDisplayFunc(display);    glutMouseFunc(mouse);    glutCreateMenu(menu);    glutAddMenuEntry("torso", 0);    glutAddMenuEntry("head1", 1);    glutAddMenuEntry("head2", 2);    glutAddMenuEntry("right_upper_arm", 3);    glutAddMenuEntry("right_lower_arm", 4);    glutAddMenuEntry("left_upper_arm", 5);    glutAddMenuEntry("left_lower_arm", 6);    glutAddMenuEntry("right_upper_leg", 7);    glutAddMenuEntry("right_lower_leg", 8);    glutAddMenuEntry("left_upper_leg", 9);    glutAddMenuEntry("left_lower_leg", 10);    glutAddMenuEntry("quit", 11);    glutAttachMenu(GLUT_MIDDLE_BUTTON);    glutMainLoop();}