//----------------------------------------------------------------------------// 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 varsint mainPanel, OGLControlPanel;// Define bitmap handles for joystick button displaysint fourWayButtonUp, fourWayButtonDown, verticalButtonUp, verticalButtonDown,    horizontalButtonUp, horizontalButtonDown, clawButtonOpen, clawButtonClose;// Define vars used for rotating arm object and viewdouble 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 varsint 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;}