?? robot.cpp
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#include <windows.h> // Header File For Windows
#include <gl\gl.h> // Header File For The OpenGL32 Library
#include <gl\glu.h> // Header File For The GLu32 Library
#include <gl\glaux.h> // Header File For The GLaux Library
#include <gl\glut.h>
#include <stdio.h>
#include "resource.h"
#include <tchar.h>
#include <math.h>
//////////////////////////////////////////////////////////////////////////////////////////
HDC hDC=NULL; // Private GDI Device Context
HGLRC hRC=NULL; // Permanent Rendering Context
HWND hWnd=NULL; // Holds Our Window Handle
HINSTANCE hInstance; // Holds The Instance Of The Application
bool keys[256]; // Array Used For The Keyboard Routine
bool active=TRUE; // Window Active Flag Set To TRUE By Default
bool fullscreen=TRUE; // Fullscreen Flag Set To Fullscreen Mode By Default
GLfloat q1,q2,q3,q4,q5,q6;
const float pi=3.1415926;
////////////////////////////////////////////////////////////////////////////////////////////
LRESULT CALLBACK WndProc(HWND, UINT, WPARAM, LPARAM); // Declaration For WndProc
void CalMatrixZ(float Matrix[3][3],GLfloat theta)//繞z軸 cos(treta) -sin(theta) 0
{
Matrix[0][0]=cos(theta); // sin(theta) cos(theta) 0
Matrix[0][1]=-sin(theta); // 0 0 1
Matrix[1][0]=sin(theta);
Matrix[1][1]=cos(theta);
Matrix[0][2]=Matrix[1][2]=Matrix[2][0]=Matrix[2][1]=0.0;
Matrix[2][2]=1.0;
}
void CalMatrixX(float Matrix[3][3],GLfloat theta)//繞x軸 1.0 0.0 0.0
{
Matrix[0][0]=1.0;Matrix[0][1]=0.0;Matrix[0][2]=0.0; // 0.0 cos(theta) -sin(theta)
Matrix[1][0]=0.0;Matrix[1][1]=cos(theta);Matrix[1][2]=-sin(theta);// 0.0 sin(theta) cos(theta)
Matrix[2][0]=0.0;Matrix[2][1]=sin(theta);Matrix[2][2]=cos(theta);
}
void CalMatrixY(float Matrix[3][3],GLfloat theta)//繞y軸 cos(theta) 0.0 -sin(theta)
{
Matrix[0][0]=cos(theta);Matrix[0][1]=0.0;Matrix[0][2]=-sin(theta);// 0.0 1.0 0.0
Matrix[1][0]=0.0;Matrix[1][1]=1.0;Matrix[1][2]=0.0;
Matrix[2][0]=sin(theta);Matrix[2][1]=0.0;Matrix[2][2]=cos(theta); // sin(theta) 0.0 cos(theta)
}
void MatrixMultiply(float M1[3][3],float M2[3][3],float Matrix_Res[3][3])//矩陣相乘
{
int i,j,k;
for(i=0;i<3;i++)
{
for(j=0;j<3;j++)
{
for(k=0;k<3;k++)
Matrix_Res[i][j]+=M1[i][k]*M2[k][j];
}
}
}
///////////////////////////////////////////////////////////////////////////////////////////////////////
GLvoid ReSizeGLScene(GLsizei width, GLsizei height) // Resize And Initialize The GL Window
{
if (height==0) // Prevent A Divide By Zero By
{
height=1; // Making Height Equal One
}
glViewport(0,0,width,height); // Reset The Current Viewport
glMatrixMode(GL_PROJECTION); // Select The Projection Matrix
glLoadIdentity(); // Reset The Projection Matrix
// Calculate The Aspect Ratio Of The Window
gluPerspective(45.0f,(GLfloat)width/(GLfloat)height,0.1f,100.0f);
glMatrixMode(GL_MODELVIEW); // Select The Modelview Matrix
glLoadIdentity(); // Reset The Modelview Matrix
}
int CDECL MessageBoxPrintf(TCHAR * szCaption,TCHAR * szFormat,...)
{
TCHAR szBuffer[1024];
va_list pArgList;
va_start(pArgList,szFormat);
_vsntprintf(szBuffer,sizeof(szBuffer)/sizeof(TCHAR),szFormat,pArgList);
va_end(pArgList);
return MessageBox(NULL,szBuffer,szCaption,0);
}
int InitGL(GLvoid) // All Setup For OpenGL Goes Here
{
glShadeModel(GL_SMOOTH); // Enable Smooth Shading
glClearColor(0.15f, 0.75f, 1.0f, 1.0f); // Black Background
glClearDepth(1.0f); // Depth Buffer Setup
glEnable(GL_DEPTH_TEST); // Enables Depth Testing
glDepthFunc(GL_LEQUAL); // The Type Of Depth Testing To Do
glHint(GL_PERSPECTIVE_CORRECTION_HINT, GL_NICEST); // Really Nice Perspective Calculations
return TRUE; // Initialization Went OK
}
int DrawGLScene(GLvoid) // Here's Where We Do All The Drawing
{
GLUquadricObj *pObj;
pObj = gluNewQuadric();
gluQuadricDrawStyle(pObj,GLU_FILL);
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT); // Clear Screen And Depth Buffer
glLoadIdentity(); // 回到屏幕中心
glPushMatrix();
glTranslatef(-1.0f,-1.2f,-6.0f);//沿x,y,z軸移動
glRotatef(q1,0.0f,1.0f,0.0f);
glRotatef(-90.0f, 1.0f, 0.0f, 0.0f);
glPushMatrix();
glColor3f(0.90f,0.78125f,0.640625f);
gluCylinder(pObj, 0.4f, 0.4f, 0.3f, 26,26);//1.0
glTranslatef(0,0,0.3f);
gluCylinder(pObj, 0.4f, 0.15f, 1.3f, 26,26);
glTranslatef(0,0,1.3f);
glColor3f(1.0f,0.0f,0.0f);
gluCylinder(pObj, 0.15f, 0.2f, 0.05f, 26,26);
glTranslatef(0,0,0.05f);
gluDisk(pObj, 0, 0.2f, 26, 13);
glPopMatrix();
glPushMatrix();
glRotatef(90.0f, 1.0f, 0.0f, 0.0f);
glTranslatef(0,1.85f,0);
glRotatef(q2,0.0f,0.0f,1.0f);
glTranslatef(0.0f,0.0f,-0.3f);
glColor3f(0.0f,1.0f,0.0f);
gluCylinder(pObj, 0.2f, 0.2f, 0.5f, 26,13);
glTranslatef(0.0f,0.0f,0.5f);
gluDisk(pObj, 0, 0.2f, 26, 13);
glTranslatef(0.0f,0.0f,-0.5f);
glColor3f(1.0f,0.0f,0.0f);
gluCylinder(pObj, 0.25f, 0.20f, 0.05f, 26,13);//0.8
gluDisk(pObj, 0, 0.25f, 26, 13);
glPushMatrix();
glColor3f(0.5f,1.0f,0.7f);
glBegin(GL_QUADS);
glVertex3f(-0.3f, -0.3f, 0.0f);
glVertex3f(-0.3f, 0.3f, 0.0f);
glVertex3f( 1.0f,0.3f, 0.0f);
glVertex3f( 1.0f,-0.3f, 0.0f);
glEnd();
glTranslatef(0.0f,0.0f,-0.15f);
glBegin(GL_QUADS);
glVertex3f(-0.3f, -0.3f, 0.0f);
glVertex3f(-0.3f, 0.3f, 0.0f);
glVertex3f( 1.0f,0.3f, 0.0f);
glVertex3f( 1.0f,-0.3f, 0.0f);
glEnd();
glTranslatef(0.0f,0.3f,0.15f);
glBegin(GL_QUADS);
glVertex3f(-0.3f, 0.0, 0.0f);
glVertex3f(-0.3f,0.0f, -0.15f);
glVertex3f(1.0f,0.0f, -0.15f);
glVertex3f(1.0f, 0.0f, 0.0f);
glEnd();
glTranslatef(0.0f,-0.6f,0.0f);
glBegin(GL_QUADS);
glVertex3f(-0.3f, 0.0, 0.0f);
glVertex3f(-0.3f,0.0f, -0.15f);
glVertex3f(1.0f,0.0f, -0.15f);
glVertex3f(1.0f, 0.0f, 0.0f);
glEnd();
glTranslatef(-0.3f,0.0f,0.0f);
glBegin(GL_QUADS);
glVertex3f(0.0f, 0.0, 0.0f);
glVertex3f(0.0f,0.0f, -0.15f);
glVertex3f(0.0f,0.6f, -0.15f);
glVertex3f(0.0f,0.6f, 0.0f);
glEnd();
glTranslatef(1.0f,0.0f,0.0f);
glPushMatrix();
glTranslatef(0.3f,0.3f,-0.15f);
gluCylinder(pObj, 0.3f, 0.3f, 0.15f, 26,13);
gluDisk(pObj, 0, 0.3f, 26, 13);
glTranslatef(0.0f,0.0f,0.15f);
gluDisk(pObj, 0, 0.3f, 26, 13);
glPushMatrix();
glColor3f(0.0f,1.0f,0.0f);
glRotatef(q3,0.0f,0.0f,1.0f);
glBegin(GL_QUADS);
glVertex3f(-0.3f, 0.2f, 0.0f);
glVertex3f(-0.3f, -0.2f, 0.0f);
glVertex3f(0.5f,-0.2f, 0.0f);
glVertex3f(0.5f,0.2f, 0.0f);
glEnd();
glTranslatef(0.0f,0.0f,0.15f);
glBegin(GL_QUADS);
glVertex3f(-0.3f, 0.2f, 0.0f);
glVertex3f(-0.3f, -0.2f, 0.0f);
glVertex3f(0.5f,-0.2f, 0.0f);
glVertex3f(0.5f,0.2f, 0.0f);
glEnd();
glTranslatef(0.0f,0.0f,-0.15f);
glBegin(GL_QUADS);
glVertex3f(-0.3f, 0.2f, 0.0f);
glVertex3f(-0.3f, -0.2f, 0.0f);
glVertex3f(-0.3f,-0.2f, 0.15f);
glVertex3f(-0.3f,0.2f, 0.15f);
glEnd();
glBegin(GL_QUADS);
glVertex3f(-0.3f,0.2f, 0.0f);
glVertex3f(-0.3f,0.2f, 0.15f);
glVertex3f(0.5f,0.2f, 0.15f);
glVertex3f(0.5f,0.2f, 0.0f);
glEnd();
glBegin(GL_QUADS);
glVertex3f(-0.3f,-0.2f, 0.0f);
glVertex3f(-0.3f,-0.2f, 0.15f);
glVertex3f(0.5f,-0.2f, 0.15f);
glVertex3f(0.5f,-0.2f, 0.0f);
glEnd();
glTranslatef(0.5f,-0.20f,0.0f);
glBegin(GL_QUADS);
glColor3f(1.0f,0.8,0.0);
glVertex3f(0.0f,0.0f,0.0f);
glVertex3f(0.0f,0.0f,0.15f);
glVertex3f(0.7f,0.1f, 0.15f);
glVertex3f(0.7f,0.1f, 0.0f);
glEnd();
glBegin(GL_QUADS);
glVertex3f(0.0f,0.4f,0.0f);
glVertex3f(0.7f,0.3f,0.0f);
glVertex3f(0.7f,0.3f,0.15f);
glVertex3f(0.0f,0.4f,0.15f);
glEnd();
glBegin(GL_QUADS);
glVertex3f(0.0f,0.0f,0.0f);
glVertex3f(0.0f,0.4f,0.0f);
glVertex3f(0.7f,0.3f,0.0f);
glVertex3f(0.7f,0.1f,0.0f);
glEnd();
glTranslatef(0.0,0.0f,0.15f);
glBegin(GL_QUADS);
glVertex3f(0.0f,0.0f,0.0f);
glVertex3f(0.0f,0.4f,0.0f);
glVertex3f(0.7f,0.3f,0.0f);
glVertex3f(0.7f,0.1f,0.0f);
glEnd();
glTranslatef(0.7,0.0f,-0.15f);
glBegin(GL_QUADS);
glVertex3f(0.0f,0.1f,0.0f);
glVertex3f(0.0f,0.3f,0.0f);
glVertex3f(0.0f,0.3f,0.15f);
glVertex3f(0.0f,0.1f,0.15f);
glEnd();
glPushMatrix();
glTranslatef(0.0f,0.2,0.075);
glColor3f(1.0f,0.0,0.0);
glRotatef(q4,1.0f,0.0f,0.0f);
glRotatef(q5,0.0f,1.0f,0.0f);
glRotatef(q6,0.0f,0.0f,1.0f);
glRotatef(90,0.0,1.0f,0.0f);
gluCylinder(pObj, 0.075f, 0.075f, 0.15f, 26,13);
gluDisk(pObj, 0, 0.075f, 26, 13);
glTranslatef(0.0,0.0f,0.15f);
gluDisk(pObj, 0, 0.075f, 26, 13);
glPopMatrix();
glPopMatrix();
glPopMatrix();
glPopMatrix();
return TRUE; // Everything Went OK
}
GLvoid KillGLWindow(GLvoid) // Properly Kill The Window
{
if (fullscreen) // Are We In Fullscreen Mode?
{
ChangeDisplaySettings(NULL,0); // If So Switch Back To The Desktop
ShowCursor(TRUE); // Show Mouse Pointer
}
if (hRC) // Do We Have A Rendering Context?
{
if (!wglMakeCurrent(NULL,NULL)) // Are We Able To Release The DC And RC Contexts?
{
MessageBox(NULL,"Release Of DC And RC Failed.","SHUTDOWN ERROR",MB_OK | MB_ICONINFORMATION);
}
if (!wglDeleteContext(hRC)) // Are We Able To Delete The RC?
{
MessageBox(NULL,"Release Rendering Context Failed.","SHUTDOWN ERROR",MB_OK | MB_ICONINFORMATION);
}
hRC=NULL; // Set RC To NULL
}
if (hDC && !ReleaseDC(hWnd,hDC)) // Are We Able To Release The DC
{
MessageBox(NULL,"Release Device Context Failed.","SHUTDOWN ERROR",MB_OK | MB_ICONINFORMATION);
hDC=NULL; // Set DC To NULL
}
if (hWnd && !DestroyWindow(hWnd)) // Are We Able To Destroy The Window?
{
MessageBox(NULL,"Could Not Release hWnd.","SHUTDOWN ERROR",MB_OK | MB_ICONINFORMATION);
hWnd=NULL; // Set hWnd To NULL
}
if (!UnregisterClass("OpenGL",hInstance)) // Are We Able To Unregister Class
{
MessageBox(NULL,"Could Not Unregister Class.","SHUTDOWN ERROR",MB_OK | MB_ICONINFORMATION);
hInstance=NULL; // Set hInstance To NULL
}
}
BOOL CreateGLWindow(char* title, int width, int height, int bits, bool fullscreenflag)
{
GLuint PixelFormat; // Holds The Results After Searching For A Match
WNDCLASS wc; // Windows Class Structure
HMENU hMenu;
DWORD dwExStyle; // Window Extended Style
DWORD dwStyle; // Window Style
RECT WindowRect; // Grabs Rectangle Upper Left / Lower Right Values
WindowRect.left=(long)0; // Set Left Value To 0
WindowRect.right=(long)width; // Set Right Value To Requested Width
WindowRect.top=(long)0; // Set Top Value To 0
WindowRect.bottom=(long)height; // Set Bottom Value To Requested Height
fullscreen=fullscreenflag; // Set The Global Fullscreen Flag
hInstance = GetModuleHandle(NULL); // Grab An Instance For Our Window
wc.style = CS_HREDRAW | CS_VREDRAW | CS_OWNDC; // Redraw On Size, And Own DC For Window.
wc.lpfnWndProc = (WNDPROC) WndProc; // WndProc Handles Messages
wc.cbClsExtra = 0; // No Extra Window Data
wc.cbWndExtra = 0; // No Extra Window Data
wc.hInstance = hInstance; // Set The Instance
wc.hIcon = LoadIcon(NULL, MAKEINTRESOURCE(IDB_BITMAP1)); // Load The Default Icon
wc.hCursor = LoadCursor(NULL, IDC_ARROW); // Load The Arrow Pointer
wc.hbrBackground = NULL; // No Background Required For GL
wc.lpszMenuName = "IDR_MENU";
wc.lpszClassName = "OpenGL"; // Set The Class Name
hMenu = LoadMenu(hInstance,MAKEINTRESOURCE(IDR_MENU));
if (!RegisterClass(&wc)) // Attempt To Register The Window Class
{
MessageBox(NULL,"Failed To Register The Window Class.","ERROR",MB_OK|MB_ICONEXCLAMATION);
return FALSE; // Return FALSE
}
{
dwExStyle=WS_EX_APPWINDOW | WS_EX_WINDOWEDGE; // Window Extended Style
dwStyle=WS_OVERLAPPEDWINDOW; // Windows Style
}
AdjustWindowRectEx(&WindowRect, dwStyle, FALSE, dwExStyle); // Adjust Window To True Requested Size
// Create The Window
if (!(hWnd=CreateWindowEx( dwExStyle, // Extended Style For The Window
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