WEEK13 ~~~~機器人轉~~~

#include <GL/glut.h>

#include <opencv/highgui.h>

#include <opencv/cv.h>

#include <stdio.h>

//IplImage *img1, *img2, *img3, *img4;

//GLuint id1, id2, id3, id4;

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 angleX=0;

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("PP.png");

 img[1]=cvLoadImage("CC.png");

 img[2]=cvLoadImage("BB.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);//skill 2

  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);//skill 1

  myBody();

  glPushMatrix();

   glTranslatef(0.2,0,0);//右手

   glRotatef(angleX, 0,0,1);

   glTranslatef(0, -0.2, 0);

   myHand();

   glPushMatrix();//skill 3

    glTranslatef(0,-0.2,0);//small right hand

    glRotatef(angleX,0,0,1);

    glTranslatef(0,-0.2,0);

    myHand();

   glPopMatrix();

  glPopMatrix();

  glPushMatrix();

   glTranslatef(-0.2,0,0);//左手

   glRotatef(-angleX, 0,0,1);

   glTranslatef(0, -0.2, 0);

   myHand();

   glPushMatrix();//skill 3

    glTranslatef(0,-0.2,0);//small left hand

    glRotatef(-angleX,0,0,1);

    glTranslatef(0,-0.2,0);

    myHand();

   glPopMatrix();

  glPopMatrix();

  glPushMatrix();

   glTranslatef(-0.1,-0.3,0);//左腿

   glRotatef(-angleX, 0,0,1);

   glTranslatef(0, -0.2, 0);

   myLeg();

   glPushMatrix();//skill 3

    glTranslatef(0,-0.2,0);//small left leg

    glRotatef(-angleX,0,0,1);

    glTranslatef(0,-0.2,0);

    myLeg();

   glPopMatrix();

  glPopMatrix();

   glPushMatrix();

   glTranslatef(0.1,-0.3,0);//右腿

   glRotatef(angleX, 0,0,1);

   glTranslatef(0, -0.2, 0);

   myLeg();

   glPushMatrix();//skill 3

    glTranslatef(0,-0.2,0);//small right leg

    glRotatef(angleX,0,0,1);

    glTranslatef(0,-0.2,0);

    myLeg();

   glPopMatrix();

  glPopMatrix();

 glPopMatrix();

 glutSwapBuffers();

}

void keyboard(unsigned char key, int x, int y)

{

 if(key=='a') angleX+=3;

 if(key=='b') angleX-=3;

 glutPostRedisplay();

}

int main()

{

 glutInitDisplayMode(GLUT_DOUBLE |GLUT_DEPTH);

 glutCreateWindow("week12");

 glutDisplayFunc(display);

 glutKeyboardFunc(keyboard);

 myTexture();//不要忘了加哦!

 glutMainLoop();

}

#include <GL/glut.h>
#include <opencv/highgui.h>
#include <opencv/cv.h>
#include <stdio.h>
//IplImage *img1, *img2, *img3, *img4;
//GLuint id1, id2, id3, id4;
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 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();
}
//float angle1=0, angle2=0, angle3=0, angle4=0, angle5=0, angle6=0, angle7=0, angle8=0;
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("CC.png");
 img[1]=cvLoadImage("BB.png");
 img[2]=cvLoadImage("PP.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();// 今天的技巧2: 可以利用 scale把後面的東西都變小
  //T R S: Translate, Rotate, Scale, 要放在 glPushMatrix()/glPopMatrix()
  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);//今天的技巧1: 可以利用 scale把後面的東西都變小
  myBody();
  glPushMatrix();//今天的技巧3: 大的在外面
   glTranslatef(0.2,0,0);//右手
   glRotatef(angle[1], 0,0,1);
   glutWireSphere(0.1,30,30);
   glTranslatef(0, -0.2, 0);
   myHand();
   glPushMatrix();//今天的技巧3: 小的在裡面
    glTranslatef(0,-0.2,0);//小右手
    glRotatef(angle[2], 0,0,1);
    glutWireSphere(0.1,30,30);
    glTranslatef(0, -0.2, 0);
    myHand();
   glPopMatrix();
  glPopMatrix();
  glPushMatrix();
   glTranslatef(-0.2,0,0);//左手
   glRotatef(-angle[3], 0,0,1);
   glutWireSphere(0.1,30,30);
   glTranslatef(0, -0.2, 0);
   myHand();
   glPushMatrix();//今天的技巧3: 小的在裡面
    glTranslatef(0,-0.2,0);//小右手
    glRotatef(-angle[4], 0,0,1);
    glutWireSphere(0.1,30,30);
    glTranslatef(0, -0.2, 0);
    myHand();
   glPopMatrix();  
  glPopMatrix();
  glPushMatrix();
   glTranslatef(0.1,-0.3,0);//右腿
   glRotatef(angle[5], 0,0,1);
   glutWireSphere(0.1,30,30);
   glTranslatef(0, -0.2, 0);
   myLeg();
   //請把小腿及腳掌做出來
   glPushMatrix();
    glTranslatef(0,-0.2,0);//右腿
    glRotatef(angle[6], 0,0,1);
    glutWireSphere(0.1,30,30);
    glTranslatef(0, -0.2, 0);
    myLeg();  
   glPopMatrix();
  glPopMatrix();
  glPushMatrix();
   glTranslatef(-0.1,-0.3,0);//左腿
   glRotatef(-angle[7], 0,0,1);
   glutWireSphere(0.1,30,30);
   glTranslatef(0, -0.2, 0);
   myLeg();
   //請把小腿及腳掌做出來
   glPushMatrix();
    glTranslatef(0,-0.2,0);//右腿
    glRotatef(-angle[8], 0,0,1);
    glutWireSphere(0.1,30,30);
    glTranslatef(0, -0.2, 0);
    myLeg();  
   glPopMatrix();  
  glPopMatrix();
 glPopMatrix();
 glutSwapBuffers();
}

int main()
{
 glutInitDisplayMode(GLUT_DOUBLE |GLUT_DEPTH);
 glutCreateWindow("week12");
 glutDisplayFunc(display);
 glutKeyboardFunc(keyboard);
 glutMouseFunc(mouse);
 glutMotionFunc(motion);
 myTexture();//不要忘了加哦!
 glutMainLoop();
}