?? oglarm2.c
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//----------------------------------------------------------------------------// Contains positioning UIR callbacks for each of the joystick controls.//----------------------------------------------------------------------------//----------------------------------------------------------------------------// Includes//----------------------------------------------------------------------------#include <windows.h>#include <GL\gl.h>#include <GL\glu.h>#include <ansi_c.h>#include <userint.h>#include "oglarm.h"#include "cviogl.h"//----------------------------------------------------------------------------// Extern Variables//----------------------------------------------------------------------------// Define other useful constants#define ANGLE_INCREMENT 4.0#define CLAW_OPEN 0#define CLAW_CLOSED 1// Define panel reference varsextern int mainPanel, OGLControlPanel;// Define vars used for rotating arm object and viewextern double shoulderRotation,elbowRotation,baseRotation,clawAngle,wristRotation, viewLongitude,viewLatitude,viewDistance,viewPointX,viewPointY,viewPointZ;extern double clawState;//----------------------------------------------------------------------------// OpenCloseClaw(): This function controls the opening and closing of the// arm's claw//----------------------------------------------------------------------------int CVICALLBACK OpenCloseClaw (int panel, int control, int event, void *callbackData, int eventData1, int eventData2){ int width, height, color, holdButtonDown, xJoyCoord, yJoyCoord; switch (event) { case EVENT_LEFT_CLICK: holdButtonDown = TRUE; GetCtrlAttribute( panel, control, ATTR_WIDTH, &width); GetCtrlAttribute( panel, control, ATTR_HEIGHT, &height); // Invert backgroud color of picture control GetPanelAttribute (panel, ATTR_BACKCOLOR, &color); SetCtrlAttribute (panel, control, ATTR_PICT_BGCOLOR, ((~color) & 0x00FFFFFF)); ProcessDrawEvents(); // Loop until the mouse button is released or leaves the joystick while (holdButtonDown) { GetRelativeMouseState (panel, control, &xJoyCoord, &yJoyCoord, &holdButtonDown, NULL, NULL); if ((!holdButtonDown) || (xJoyCoord>width) || (xJoyCoord<0) || (yJoyCoord>height) || (yJoyCoord<0)) break; // Check mouse location for appropriate action switch (control) { case MAINPNL_CLAW_CLOSE: clawState += 0.2; break; case MAINPNL_CLAW_OPEN: clawState -= 0.2; break; } // Check for bounds if (clawState<CLAW_OPEN) { clawState = CLAW_OPEN; holdButtonDown = FALSE; } else if (clawState>CLAW_CLOSED) { clawState = CLAW_CLOSED; holdButtonDown = FALSE; } // Re-render the image on the OGL graph control OGLRefreshGraph (mainPanel, OGLControlPanel); } // Set picture control background color back SetCtrlAttribute (panel, control, ATTR_PICT_BGCOLOR, color); break; } return 0;}//----------------------------------------------------------------------------// AdjustShoulderPosition(): Adjusts the arm's shoulder joint//----------------------------------------------------------------------------int CVICALLBACK AdjustShoulderPosition (int panel, int control, int event, void *callbackData, int eventData1, int eventData2){ int width, height, color, holdButtonDown, xJoyCoord, yJoyCoord; switch (event) { case EVENT_LEFT_CLICK: holdButtonDown = TRUE; GetCtrlAttribute( panel, control, ATTR_WIDTH, &width); GetCtrlAttribute( panel, control, ATTR_HEIGHT, &height); // Invert backgroud color of picture control GetPanelAttribute (panel, ATTR_BACKCOLOR, &color); SetCtrlAttribute (panel, control, ATTR_PICT_BGCOLOR, ((~color) & 0x00FFFFFF)); ProcessDrawEvents(); // Loop until the mouse button is released or leaves the joystick while (holdButtonDown) { GetRelativeMouseState (panel, control, &xJoyCoord, &yJoyCoord, &holdButtonDown, NULL, NULL); if ((!holdButtonDown) || (xJoyCoord>width) || (xJoyCoord<0) || (yJoyCoord>height) || (yJoyCoord<0)) break; // Check mouse location for appropriate action switch (control) { case MAINPNL_BASE_JOYSTICK_LEFT: baseRotation += ANGLE_INCREMENT; break; case MAINPNL_BASE_JOYSTICK_RIGHT: baseRotation -= ANGLE_INCREMENT; break; case MAINPNL_BASE_JOYSTICK_UP: shoulderRotation += ANGLE_INCREMENT; break; case MAINPNL_BASE_JOYSTICK_DOWN: shoulderRotation -= ANGLE_INCREMENT; break; } // Make sure the angle values are in range if (abs(baseRotation) >= 360) baseRotation -= 360; if (shoulderRotation >= 75) shoulderRotation -= ANGLE_INCREMENT; if (shoulderRotation <= -75) shoulderRotation += ANGLE_INCREMENT; // Re-render the image to the OGL control OGLRefreshGraph (mainPanel, OGLControlPanel); } // Set picture control background color back SetCtrlAttribute (panel, control, ATTR_PICT_BGCOLOR, color); break; } return 0;}//----------------------------------------------------------------------------// AdjustElbowPosition(): Adjusts the position of the elbow joint//----------------------------------------------------------------------------int CVICALLBACK AdjustElbowPosition (int panel, int control, int event, void *callbackData, int eventData1, int eventData2){ int width, height, color, holdButtonDown, xJoyCoord, yJoyCoord; switch (event) { case EVENT_LEFT_CLICK: GetCtrlAttribute( panel, control, ATTR_WIDTH, &width); GetCtrlAttribute( panel, control, ATTR_HEIGHT, &height); // Invert backgroud color of picture control GetPanelAttribute (panel, ATTR_BACKCOLOR, &color); SetCtrlAttribute (panel, control, ATTR_PICT_BGCOLOR, ((~color) & 0x00FFFFFF)); ProcessDrawEvents(); // Loop until the mouse button is released or leaves the joystick holdButtonDown = TRUE; while (holdButtonDown) { GetRelativeMouseState (panel, control, &xJoyCoord, &yJoyCoord, &holdButtonDown, NULL, NULL); if ((!holdButtonDown) || (xJoyCoord>width) || (xJoyCoord<0) || (yJoyCoord>height) || (yJoyCoord<0)) break; // Check mouse location for appropriate action switch (control) { case MAINPNL_ELBOW_JOYSTICK_UP: elbowRotation -= ANGLE_INCREMENT; break; case MAINPNL_ELBOW_JOYSTICK_DOWN: elbowRotation += ANGLE_INCREMENT; break; } // Check for bounds if (elbowRotation >= 120) elbowRotation = 120; if (elbowRotation <= -120) elbowRotation = -120; // Re-render the image on the OGL control OGLRefreshGraph (mainPanel, OGLControlPanel); } // Set picture control background color back SetCtrlAttribute (panel, control, ATTR_PICT_BGCOLOR, color); break; } return 0;}//----------------------------------------------------------------------------// AdjustCameraPosition(): Adjusts the viewing (camera) position//----------------------------------------------------------------------------int CVICALLBACK AdjustCameraPosition (int panel, int control, int event, void *callbackData, int eventData1, int eventData2){ int width, height, color, holdButtonDown, xJoyCoord, yJoyCoord; switch (event) { case EVENT_LEFT_CLICK: GetCtrlAttribute( panel, control, ATTR_WIDTH, &width); GetCtrlAttribute( panel, control, ATTR_HEIGHT, &height); // Invert backgroud color of picture control GetPanelAttribute (panel, ATTR_BACKCOLOR, &color); SetCtrlAttribute (panel, control, ATTR_PICT_BGCOLOR, ((~color) & 0x00FFFFFF)); ProcessDrawEvents(); // Loop until the mouse button is released or leaves the joystick holdButtonDown = TRUE; while (holdButtonDown) { GetRelativeMouseState (panel, control, &xJoyCoord, &yJoyCoord, &holdButtonDown, NULL, NULL); if ((!holdButtonDown) || (xJoyCoord>width) || (xJoyCoord<0) || (yJoyCoord>height) || (yJoyCoord<0)) break; // Check mouse location for appropriate action switch (control) { case MAINPNL_CAMERA_JOYSTICK_LEFT: viewLongitude -= ANGLE_INCREMENT; break; case MAINPNL_CAMERA_JOYSTICK_RIGHT: viewLongitude += ANGLE_INCREMENT; break; case MAINPNL_CAMERA_JOYSTICK_UP: viewLatitude -= ANGLE_INCREMENT; break; case MAINPNL_CAMERA_JOYSTICK_DOWN: viewLatitude += ANGLE_INCREMENT; break; } // Make sure the angle values are in range if (abs(viewLatitude) >= 360) viewLatitude = 0; if (abs(viewLongitude) >= 360) viewLongitude = 0; // Re-render the image to the OGL control with adjusted viewing OGLSetCtrlAttribute (mainPanel, OGLControlPanel,OGLATTR_VIEW_LATITUDE,viewLatitude); OGLSetCtrlAttribute (mainPanel, OGLControlPanel,OGLATTR_VIEW_LONGITUDE,viewLongitude); OGLRefreshGraph (mainPanel, OGLControlPanel); } // Set picture control background color back SetCtrlAttribute (panel, control, ATTR_PICT_BGCOLOR, color); break; } return 0;}//----------------------------------------------------------------------------// AdjustWristPosition(): Adjusts the position of the wrist joint//----------------------------------------------------------------------------int CVICALLBACK AdjustWristPosition (int panel, int control, int event, void *callbackData, int eventData1, int eventData2){ int width, height, color, holdButtonDown, xJoyCoord, yJoyCoord; switch (event) { case EVENT_LEFT_CLICK: holdButtonDown = TRUE; GetCtrlAttribute( panel, control, ATTR_WIDTH, &width); GetCtrlAttribute( panel, control, ATTR_HEIGHT, &height); // Invert backgroud color of picture control GetPanelAttribute (panel, ATTR_BACKCOLOR, &color); SetCtrlAttribute (panel, control, ATTR_PICT_BGCOLOR, ((~color) & 0x00FFFFFF)); ProcessDrawEvents(); // Loop until the mouse button is released or leaves the joystick while (holdButtonDown) { GetRelativeMouseState (panel, control, &xJoyCoord, &yJoyCoord, &holdButtonDown, NULL, NULL); if ((!holdButtonDown) || (xJoyCoord>width) || (xJoyCoord<0) || (yJoyCoord>height) || (yJoyCoord<0)) break; // Check mouse location for appropriate action switch (control) { case MAINPNL_WRIST_JOYSTICK_LEFT: wristRotation -= ANGLE_INCREMENT; break; case MAINPNL_WRIST_JOYSTICK_RIGHT: wristRotation += ANGLE_INCREMENT; break; } // Check for bounds if (abs(wristRotation) >= 360) wristRotation -= 360; // Re-render the image on the OGL graph control OGLRefreshGraph (mainPanel, OGLControlPanel); } // Set picture control background color back SetCtrlAttribute (panel, control, ATTR_PICT_BGCOLOR, color); break; } return 0;}?? 快捷鍵說明
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