第十三週課堂作業

做出機器人的手腳和關節

關節分開控制

大手 1(上) 2(下)

小手 3(上) 4(下)

大腳 5(外) 6(內) 

小腿 7(外) 8(內)

用滑鼠控制

#include <GL/glut.h>
#include <opencv/highgui.h>
#include <opencv/cv.h>
#include <stdio.h>

IplImage * img[40];//技巧1: 可以把重覆的東西, 用陣列來簡化
GLuint id[40];//技巧1: 可以把重覆的東西, 用陣列來簡化
//float angle1=0,angle2=0,angle3=0,angle4=0;
float angle[10]={0,0,0,0,0,0,0,0,0,0};
int angleID=1;

void keyboard(unsigned char key, int x, int y)
{
if(key=='1') angleID=1;
if(key=='2') angleID=2;
if(key=='3') angleID=3;
if(key=='4') angleID=4;
if(key=='5') angleID=5;
if(key=='6') angleID=6;
if(key=='7') angleID=7;
if(key=='8') angleID=8;
glutPostRedisplay();
}

int oldX=0,oldY=0;
void mouse(int button,int state, int x, int y)
{
oldX=x;
oldY=y;
}

void motion(int x, int y)
{
angle[angleID]+=(x-oldX);
oldX=x;
glutPostRedisplay();
}
void myPrepareTexture(int i)//用參數來配, 找對應正確的變數
{//技巧3: 可以把重覆的東西, 用函式來簡化
cvCvtColor(img[i], img[i], CV_BGR2RGB);
glEnable(GL_TEXTURE_2D);
glGenTextures(1, &id[i]);
glBindTexture(GL_TEXTURE_2D, id[i]);
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_LINEAR);
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_LINEAR);
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_S, GL_LINEAR);
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_T, GL_LINEAR);
glTexImage2D(GL_TEXTURE_2D, 0, GL_RGB, img[i]->width, img[i]->height, 0, GL_RGB, GL_UNSIGNED_BYTE, img[i]->imageData);
}

void myTexture()
{
img[0]=cvLoadImage("imgbody.png");
img[1]=cvLoadImage("imghand.png");
img[2]=cvLoadImage("imgleg.png");
for(int i=0;i<3;i++){//技巧2: 可以把重覆的東西, 用迴圈來簡化
myPrepareTexture(i);
  }
}

void myPolygon(int num){//技巧3: 可以把重覆的東西, 用函式來簡化
glPushMatrix();
glScalef(0.3, 0.8, 0.8);
glBindTexture(GL_TEXTURE_2D, id[num]);
glBegin(GL_POLYGON);
glTexCoord2f(0, 0);   glVertex3f( -0.5,  0.5, 0);
glTexCoord2f(1, 0);   glVertex3f(  0.5,  0.5, 0);  
glTexCoord2f(1, 1);   glVertex3f(  0.5, -0.5, 0);  
glTexCoord2f(0, 1);   glVertex3f( -0.5, -0.5, 0);  
glEnd();
glPopMatrix();
}
void myBody(){
myPolygon(0);
}
void myLeg(){
glPushMatrix();
glScalef(0.5,0.5,0.5);
myPolygon(1);
glPopMatrix();
}
void myHand(){
glPushMatrix();
glScalef(0.5,0.5,0.5);
myPolygon(2);
glPopMatrix();

}
void display()
{
glEnable(GL_DEPTH_TEST);
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
glPushMatrix();
glScalef(0.5,0.5,0.5);//縮小
myBody();
glPushMatrix();
glTranslatef(0.2,0,0);//右手
glRotatef(angle[1], 0,0,1);
glTranslatef(0, -0.2, 0);
myHand();
glPushMatrix();
glTranslatef(0,-0.2,0);//小右手
glRotatef(angle[2], 0,0,1);
glTranslatef(0, -0.2, 0);
myHand();
glPopMatrix();
glPopMatrix();
glPushMatrix();
glTranslatef(-0.2,0,0);//左手
glRotatef(-angle[3], 0,0,1);
glTranslatef(0, -0.2, 0);
myHand();
glPushMatrix();
glTranslatef(0,-0.2,0);//小左手
glRotatef(-angle[4], 0,0,1);
glTranslatef(0, -0.2, 0);
myHand();
glPopMatrix();
glPopMatrix();
glPushMatrix();
glTranslatef(0.2,-0.3,0);//右腿
glRotatef(angle[5], 0,0,1);
glTranslatef(0, -0.2, 0);
myLeg();
glPushMatrix();
glTranslatef(0,-0.2,0);//小右腿
glRotatef(angle[6], 0,0,1);
glTranslatef(0, -0.2, 0);
myLeg();
glPopMatrix();
glPopMatrix();
glPushMatrix();
glTranslatef(-0.2,-0.3,0);//左腿
glRotatef(-angle[7], 0,0,1);
glTranslatef(0, -0.2, 0);
myLeg();
glPushMatrix();
glTranslatef(0,-0.2,0);//小左腿
glRotatef(-angle[8], 0,0,1);
glTranslatef(0, -0.2, 0);
myLeg();
glPopMatrix();
glPopMatrix();
glPopMatrix();
glutSwapBuffers();
}

int main()
{
glutInitDisplayMode(GLUT_DOUBLE |GLUT_DEPTH);
glutCreateWindow("week13");
glutDisplayFunc(display);
glutKeyboardFunc(keyboard);
glutMouseFunc(mouse);
glutMotionFunc(motion);
myTexture();//不要忘了加哦!
glutMainLoop();
}