Walking_Robot.zip_robot_robot opengl_robot walking

//======================================================== // Project Name : Walking_Robot.dsw // C++ files : Walking_Robot.cpp // Written By : xyz Date : 24/02/04 // Modified By : xyz Date : 24/02/06 // Run By : Visual C++ 6 with Open GL // Note : //======================================================== /* * * Funtional features * ------------------ * * online menu system avaliable by pressing left mouse button * * online cascading help system avaliable, providing information on * the several key strokes and what they do. * * animation sequence coded which makes the mech walk through an * environment. Shadows will soon be added to make it look * more realistic. * * menu control to view mech in wireframe or sold mode. * * various key strokes avaliable to control idependently the mechs * many joints. * * various key strokes avaliable to view mech and environment from * different angles * * various key strokes avaliable to alter positioning of the single * light source. * * * Program features * ---------------- * * uses double buffering * * uses display lists * * uses glut to manage windows, callbacks, and online menu. * * uses glpolygonfill() to maintain colors in wireframe and solid * mode. * **/ /* start of compilation conditions */ #define SPHERE #define COLOR #define LIGHT #define TORSO #define HIP #define SHOULDER #define UPPER_ARM #define LOWER_ARM #define ROCKET_POD #define UPPER_LEG #define LOWER_LEG #define NO_NORM #define ANIMATION #define DRAW_MECH #define DRAW_ENVIRO #define MOVE_LIGHT /* end of compilation conditions */ /* start various header files needed */ #include <stdlib.h> #include <math.h> #define GLUT #define GLUT_KEY #define GLUT_SPEC #include <GL/glut.h> /* end of header files */ /* start of display list definitions */ #define SOLID_MECH_TORSO 1 #define SOLID_MECH_HIP 2 #define SOLID_MECH_SHOULDER 3 #define SOLID_MECH_UPPER_ARM 4 #define SOLID_MECH_FOREARM 5 #define SOLID_MECH_UPPER_LEG 6 #define SOLID_MECH_FOOT 7 #define SOLID_MECH_ROCKET 8 #define SOLID_MECH_VULCAN 9 #define SOLID_ENVIRO 10 /* end of display list definitions */ /* start of motion rate variables */ #define ANKLE_RATE 3 #define HEEL_RATE 3 #define ROTATE_RATE 10 #define TILT_RATE 10 #define ELBOW_RATE 2 #define SHOULDER_RATE 5 #define LAT_RATE 5 #define CANNON_RATE 40 #define UPPER_LEG_RATE 3 #define UPPER_LEG_RATE_GROIN 10 #define LIGHT_TURN_RATE 10 #define VIEW_TURN_RATE 10 /* end of motion rate variables */ /* start of motion variables */ #ifndef M_PI #define M_PI 3.141592654 #endif GLUquadricObj *qobj; char leg = 0; int shoulder1 = 0, shoulder2 = 0, shoulder3 = 0, shoulder4 = 0, lat1 = 20, lat2 = 20, elbow1 = 0, elbow2 = 0, pivot = 0, tilt = 10, ankle1 = 0, ankle2 = 0, heel1 = 0, heel2 = 0, hip11 = 0, hip12 = 10, hip21 = 0, hip22 = 10, fire = 0, solid_part = 0, anim = 0, turn = 0, turn1 = 0, lightturn = 0, lightturn1 = 0; float elevation = 0.0, distance = 0.0, frame = 3.0 /* foot1v[] = {} foot2v[] = {} */ ; /* end of motion variables */ /* start of material definitions */ #ifdef LIGHT GLfloat mat_specular[] = {0.628281, 0.555802, 0.366065, 1.0}; GLfloat mat_ambient[] = {0.24725, 0.1995, 0.0745, 1.0}; GLfloat mat_diffuse[] = {0.75164, 0.60648, 0.22648, 1.0}; GLfloat mat_shininess[] = {128.0 * 0.4}; GLfloat mat_specular2[] = {0.508273, 0.508273, 0.508373}; GLfloat mat_ambient2[] = {0.19225, 0.19225, 0.19225}; GLfloat mat_diffuse2[] = {0.50754, 0.50754, 0.50754}; GLfloat mat_shininess2[] = {128.0 * 0.6}; GLfloat mat_specular3[] = {0.296648, 0.296648, 0.296648}; GLfloat mat_ambient3[] = {0.25, 0.20725, 0.20725}; GLfloat mat_diffuse3[] = {1, 0.829, 0.829}; GLfloat mat_shininess3[] = {128.0 * 0.088}; GLfloat mat_specular4[] = {0.633, 0.727811, 0.633}; GLfloat mat_ambient4[] = {0.0215, 0.1745, 0.0215}; GLfloat mat_diffuse4[] = {0.07568, 0.61424, 0.07568}; GLfloat mat_shininess4[] = {128 * 0.6}; GLfloat mat_specular5[] = {0.60, 0.60, 0.50}; GLfloat mat_ambient5[] = {0.0, 0.0, 0.0}; GLfloat mat_diffuse5[] = {0.5, 0.5, 0.0}; GLfloat mat_shininess5[] = {128.0 * 0.25}; #endif /* end of material definitions */ /* start of the body motion functions */ void Heel1Add(void) { heel1 = (heel1 + HEEL_RATE) % 360; } void Heel1Subtract(void) { heel1 = (heel1 - HEEL_RATE) % 360; } void Heel2Add(void) { heel2 = (heel2 + HEEL_RATE) % 360; } void Heel2Subtract(void) { heel2 = (heel2 - HEEL_RATE) % 360; } void Ankle1Add(void) { ankle1 = (ankle1 + ANKLE_RATE) % 360; } void Ankle1Subtract(void) { ankle1 = (ankle1 - ANKLE_RATE) % 360; } void Ankle2Add(void) { ankle2 = (ankle2 + ANKLE_RATE) % 360; } void Ankle2Subtract(void) { ankle2 = (ankle2 - ANKLE_RATE) % 360; } void RotateAdd(void) { pivot = (pivot + ROTATE_RATE) % 360; } void RotateSubtract(void) { pivot = (pivot - ROTATE_RATE) % 360; } void MechTiltSubtract(void) { tilt = (tilt - TILT_RATE) % 360; } void MechTiltAdd(void) { tilt = (tilt + TILT_RATE) % 360; } void elbow1Add(void) { elbow1 = (elbow1 + ELBOW_RATE) % 360; } void elbow1Subtract(void) { elbow1 = (elbow1 - ELBOW_RATE) % 360; } void elbow2Add(void) { elbow2 = (elbow2 + ELBOW_RATE) % 360; } void elbow2Subtract(void) { elbow2 = (elbow2 - ELBOW_RATE) % 360; } void shoulder1Add(void) { shoulder1 = (shoulder1 + SHOULDER_RATE) % 360; } void shoulder1Subtract(void) { shoulder1 = (shoulder1 - SHOULDER_RATE) % 360; } void shoulder2Add(void) { shoulder2 = (shoulder2 + SHOULDER_RATE) % 360; } void shoulder2Subtract(void) { shoulder2 = (shoulder2 - SHOULDER_RATE) % 360; } void shoulder3Add(void) { shoulder3 = (shoulder3 + SHOULDER_RATE) % 360; } void shoulder3Subtract(void) { shoulder3 = (shoulder3 - SHOULDER_RATE) % 360; } void shoulder4Add(void) { shoulder4 = (shoulder4 + SHOULDER_RATE) % 360; } void shoulder4Subtract(void) { shoulder4 = (shoulder4 - SHOULDER_RATE) % 360; } void lat1Raise(void) { lat1 = (lat1 + LAT_RATE) % 360; } void lat1Lower(void) { lat1 = (lat1 - LAT_RATE) % 360; } void lat2Raise(void) { lat2 = (lat2 + LAT_RATE) % 360; } void lat2Lower(void) { lat2 = (lat2 - LAT_RATE) % 360; } void FireCannon(void) { fire = (fire + CANNON_RATE) % 360; } void RaiseLeg1Forward(void) { hip11 = (hip11 + UPPER_LEG_RATE) % 360; } void LowerLeg1Backwards(void) { hip11 = (hip11 - UPPER_LEG_RATE) % 360; } void RaiseLeg1Outwards(void) { hip12 = (hip12 + UPPER_LEG_RATE_GROIN) % 360; } void LowerLeg1Inwards(void) { hip12 = (hip12 - UPPER_LEG_RATE_GROIN) % 360; } void RaiseLeg2Forward(void) { hip21 = (hip21 + UPPER_LEG_RATE) % 360; } void LowerLeg2Backwards(void) { hip21 = (hip21 - UPPER_LEG_RATE) % 360; } void RaiseLeg2Outwards(void) { hip22 = (hip22 + UPPER_LEG_RATE_GROIN) % 360; } void LowerLeg2Inwards(void) { hip22 = (hip22 - UPPER_LEG_RATE_GROIN) % 360; } /* end of body motion functions */ /* start of light source position functions */ void TurnRight(void) { turn = (turn - VIEW_TURN_RATE) % 360; } void TurnLeft(void) { turn = (turn + VIEW_TURN_RATE) % 360; } void TurnForwards(void) { turn1 = (turn1 - VIEW_TURN_RATE) % 360; } void TurnBackwards(void) { turn1 = (turn1 + VIEW_TURN_RATE) % 360; } void LightTurnRight(void) { lightturn = (lightturn + LIGHT_TURN_RATE) % 360; } void LightTurnLeft(void) { lightturn = (lightturn - LIGHT_TURN_RATE) % 360; } void LightForwards(void) { lightturn1 = (lightturn1 + LIGHT_TURN_RATE) % 360; } void LightBackwards(void) { lightturn1 = (lightturn