OpenGL绘制机器人手臂出现的问题~~~~~~~~~
我用OpenGL绘制机器人手臂时,,,,,,总是出现问题,,,我画了两个手臂,,下面那个转的正常,,上面那个转得就出现问题了,,似乎是坐标问题,,总是乱转,,请问哪位能给我个示例代码,,只要能实现模拟机器人手臂的运动就好(最好绘制出关节的),,,,,非常着急,,,,谢谢各位了!!!!
[解决办法]
其实就是PushMatrix,和popMatrix的应用。前段手臂其实是个局部坐标系累积过程，下面是code：
#include <GL/glut.h>
static int shoulder = 0, elbow = 0;
void init(void)
{
glClearColor (0.0, 0.0, 0.0, 0.0);
glShadeModel (GL_FLAT);
}
void display(void)
{
glClear (GL_COLOR_BUFFER_BIT);
glPushMatrix();
glTranslatef (-1.0, 0.0, 0.0);
glRotatef ((GLfloat) shoulder, 0.0, 0.0, 1.0);
glTranslatef (1.0, 0.0, 0.0);
glPushMatrix();
glScalef (2.0, 0.4, 1.0);
glutWireCube (1.0);
glPopMatrix();
glTranslatef (1.0, 0.0, 0.0);
glRotatef ((GLfloat) elbow, 0.0, 0.0, 1.0);
glTranslatef (1.0, 0.0, 0.0);
glPushMatrix();
glScalef (2.0, 0.4, 1.0);
glutWireCube (1.0);
glPopMatrix();
glPopMatrix();
glutSwapBuffers();
}
void reshape (int w, int h)
{
glViewport (0, 0, (GLsizei) w, (GLsizei) h);
glMatrixMode (GL_PROJECTION);
glLoadIdentity ();
gluPerspective(65.0, (GLfloat) w/(GLfloat) h, 1.0, 20.0);
glMatrixMode(GL_MODELVIEW);
glLoadIdentity();
glTranslatef (0.0, 0.0, -5.0);
}
void keyboard (unsigned char key, int x, int y)
{
switch (key) {
case `s ': /* s key rotates at shoulder */
shoulder = (shoulder + 5) % 360;
glutPostRedisplay();
break;
case `S ':
shoulder = (shoulder - 5) % 360;
glutPostRedisplay();
break;
case `e ': /* e key rotates at elbow */
elbow = (elbow + 5) % 360;
glutPostRedisplay();
break;
case `E ':
elbow = (elbow - 5) % 360;
glutPostRedisplay();
break;
default:
break;
}
}
int main(int argc, char** argv)
{
glutInit(&argc, argv);
glutInitDisplayMode (GLUT_DOUBLE | GLUT_RGB);
glutInitWindowSize (500, 500);
glutInitWindowPosition (100, 100);
glutCreateWindow (argv[0]);
init ();
glutDisplayFunc(display);
glutReshapeFunc(reshape);
glutKeyboardFunc(keyboard);
glutMainLoop();
return 0;
}
