Week 15

本周老師教的是內插
可以讓我的機器人轉來轉去
最後一節還有教到可以讓它自己撥放
就省去了用手一直按鍵盤的麻煩!!


==============程式碼==========================


#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 a=0;
float angle[20]={0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0};
float angleOld[20]={0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0};
float angleNew[20]={0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0};
int angleID=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("imgbody.png");
img[1]=cvLoadImage("imgHand1.png");
img[2]=cvLoadImage("imgLeg1.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);
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);
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();//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);
glTranslatef(0, -0.2, 0);
myHand();
glPopMatrix();  
glPopMatrix();
glPushMatrix();
glTranslatef(0.1,-0.3,0);//右腿
glRotatef(angle[5], 0,0,1);
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);
glTranslatef(0, -0.2, 0);
myLeg();  
glPopMatrix();
glPopMatrix();
glPushMatrix();
glTranslatef(-0.1,-0.3,0);//左腿
glRotatef(-angle[7], 0,0,1);
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);
glTranslatef(0, -0.2, 0);
myLeg();  
glPopMatrix();  
glPopMatrix();
glPopMatrix();
glutSwapBuffers();
}
FILE *fout=NULL, *fin=NULL;
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;

else if(key=='s'){
if(fout==NULL) fout=fopen("saved angles.txt","w+");
for(int i=0;i<20;i++) fprintf(fout, "%f ",angle[i]);
fprintf(fout, "\n");
}
else if(key=='r'){
if(fin==NULL)fin=fopen("saved angles.txt","r");
a+=0.1;
angle[0]=angleOld[0]*(1-a)+angleNew[0]*a;
if(a>=1){
a=0;
for(int i=0;i<20;i++){
angleOld[i]=angleNew[i];
fscanf(fin , "%f",&angleNew[i]);
}
}
glutPostRedisplay();
}


}

float 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();
}

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();
}