void character (void) {
glPushMatrix();
glDisable(GL_LIGHTING);
glTranslatef(0, -4.5, -14);
glPushMatrix();
// Body
glColor3f(1.0, 0.7, 0.3);
GLUquadricObj *quadratic;
quadratic=gluNewQuadric();
gluSphere(quadratic,2.5f,32,32);
glPopMatrix();
glTranslatef(0, +3.5, 0);
glColor3f(1.0, 0.6, 0.0);
gluSphere(quadratic,1.0f,32,32);
glPushMatrix();
// Arm 1
drawArm(quadratic);
glPopMatrix();
glPushMatrix();
// Arm 2
glRotatef(180, 0.0, 1.0, 0.0);
drawArm(quadratic);
glPopMatrix();
glEnable(GL_LIGHTING);
glPopMatrix();
}
void drawRobot()
{
glPushMatrix();
glTranslatef (0, 0, -BodyH/2);
drawBody();
glPopMatrix();
//Head
glPushMatrix();
glTranslatef (0, 0, BodyH/2);
glRotatef (HeadAngle, 0.0, 0.0, 1.0);
drawHead();
glPopMatrix();
//Arms
glPushMatrix();
glRotatef (ArmVertAngle, 1.0, 0.0, 0.0);
glRotatef (ArmLatAngle, 0.0, 1.0, 0.0);
drawArm();
glPopMatrix();
glPushMatrix();
glRotatef (-ArmVertAngle, 1.0, 0.0, 0.0);
glRotatef (ArmLatAngle, 0.0, 1.0, 0.0);
drawArm();
glPopMatrix();
//Legs
glPushMatrix();
glTranslatef (0, 0, -BodyH/2);
glRotatef (LegRotAngle, 0.0, 0.0, 1.0);
glRotatef (-LegVertAngle, 1.0, 0.0, 0.0);
drawLeg();
glPopMatrix();
glPushMatrix();
glTranslatef (0, 0, -BodyH/2);
glRotatef (LegRotAngle+90, 0.0, 0.0, 1.0);
glRotatef (-LegVertAngle, 1.0, 0.0, 0.0);
drawLeg();
glPopMatrix();
glPushMatrix();
glTranslatef (0, 0, -BodyH/2);
glRotatef (LegRotAngle+180, 0.0, 0.0, 1.0);
glRotatef (-LegVertAngle, 1.0, 0.0, 0.0);
drawLeg();
glPopMatrix();
glPushMatrix();
glTranslatef (0, 0, -BodyH/2);
glRotatef (LegRotAngle+270, 0.0, 0.0, 1.0);
glRotatef (-LegVertAngle, 1.0, 0.0, 0.0);
drawLeg();
glPopMatrix();
}
void Person::drawPerson()
{
/*
Draw torso
Draw head
Draw right arm
Draw left arm
Draw right leg
Draw left leg*/
//////////////////////////////////////////////////////
glPushMatrix();//(0,0)
glPushMatrix();
glTranslatef(-75,0,0);//Move to center of torso bottom: -3", 0"
drawTorso();
glPopMatrix();
glPushMatrix();
glTranslatef(0, 300, 0);//Move to top of torso, 0", 30"
glPushMatrix();
glTranslatef(0, 60, 0);//move to center of head: 0", 36"
drawHead();
glPopMatrix();
glPopMatrix();
glPushMatrix();
//Right arm
glTranslatef(150,10,0);
glRotatef(20,0,0,1);
drawArm();
glPopMatrix();
glPushMatrix();
//left arm
glScalef(-1,1,0);
glTranslatef(150,10,0);
glRotatef(20,0,0,1);
drawArm();
glPopMatrix();
glPushMatrix();
//Draw Right leg
glTranslatef(15, 0, 0);
glTranslatef(0, -300, 0);
drawLeg();
glPopMatrix();
glPushMatrix();
//Draw left leg
glScalef(-1,1,0);
glTranslatef(15, 0, 0);
glTranslatef(0, -300, 0);
drawLeg();
glPopMatrix();
glPopMatrix();
}//end drawPerson
//--------------------------------------------------------------
void LeapVisualizer::drawHand (Hand & hand,ofxLeapMotion & leap){
if (hand.isValid()){
drawFingers (hand,leap);
drawPalm (hand,leap);
drawArm (hand,leap);
}
}
void renderModels()
{
drawAxes();
drawXYGrid(10);
V = computeVfromM();
// TRACE("M = " << M);
// TRACE("V = " << V);
// testComputation();
glEnable(GL_LIGHTING);
drawCabin();
drawJoint(O);
drawArm(O, V);
drawJoint(V);
drawArm(V, M);
drawJoint(M);
glDisable(GL_LIGHTING);
}
void ArmGLWidget::drawArm()
{
if (this->armConfiguration == 'w')
{
drawArm(wristAngles);
}
else if (this->armConfiguration == 'a')
{
drawArm (astroAngles);
}
else if (this->armConfiguration == 's')
{
drawArm(shovelAngles);
}
else
{
// Something interesting...
for (int i = 0; i < 25; i++)
{
this->drawRandomTube(50);
}
}
}
void drawEntireBody(){
// Draw our hinged object
// Push the current transformation matrix on the stack
glPushMatrix();
glPushMatrix();
{
glTranslatef(bodyPositionX, 0.0, 0.0);
// Scale to size of body
glScalef(BODY_WIDTH, BODY_LENGTH, 1.0);
// Set the colour to green
glColor3f(0.0, 1.0, 0.0);
// Draw the body
Point bodyPoints[] = {
// top left, right points
{-NECK_WIDTH/2, 0.5f}, {NECK_WIDTH/2, 0.5f},
// middle right point
{BELLY_WIDTH/2, -0.4f},
// bottom right point
{BOTTOM_WIDTH/2, -0.7f},
// bottom left point
{-BOTTOM_WIDTH/2, -0.7f},
// middle left point
{-BELLY_WIDTH/2, -0.4f}};
drawPolygon(6, bodyPoints);
drawArm();
drawLeg(1.0, leg1Rotation, foot1Rotation);
drawLeg(-1.0, leg2Rotation, foot2Rotation);
drawHead();
}
glPopMatrix();
// Retrieve the previous state of the transformation stack
glPopMatrix();
}
void ofxIndustrialRobotVisualizer::drawArm4(){
ofSetColor(0, 0, 255);
drawArm(4, 250, 250);
}
void ofxIndustrialRobotVisualizer::drawArm3(){
ofSetColor(0, 255, 255);
drawArm(3, 200, 200);
}
void ofxIndustrialRobotVisualizer::drawArm2(){
ofSetColor(0, 255, 0);
drawArm(2, 300, 300);
}
void ofxIndustrialRobotVisualizer::drawArm1(){
ofSetColor(255, 255, 0);
drawArm(1, 300, 300);
}
void ofxIndustrialRobotVisualizer::drawArm0(){
ofSetColor(255, 0, 0);
drawArm(0, 400, 400);
}
/*** シミュレーションループ ***/
void simLoop(int pause)
{
Pcontrol(); // P制御
dWorldStep(world, 0.01); // 動力学計算
drawArm(); // ロボットの描画
}
void ArmGLWidget::paintGL() {
// Render the scene (drawing code goes here!)
glClear (GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
int width = this->width();
int height= this->height();
float h = height/2;
float w = width/2;
if (h==0)
h = 1;
// Whole Screen (cross lines)
glViewport (0, 0, width, height);
glMatrixMode (GL_PROJECTION);
glLoadIdentity ();
glOrtho (-1, 1, -1, 1, -1, 1);
glMatrixMode (GL_MODELVIEW);
glLoadIdentity();
glBegin(GL_LINES);
glVertex2f (-1, 0);
glVertex2f (1, 0);
glVertex2f (0, -1);
glVertex2f (0, 1);
glEnd();
// 3D View
glViewport (w, h, w, h);
glMatrixMode (GL_PROJECTION);
glLoadIdentity ();
gluPerspective (60, (((float)w)/h), 1, 3000);
glMatrixMode (GL_MODELVIEW);
glLoadIdentity();
glTranslatef(translate[0], translate[1], translate[2]);
//glRotatef (tip, 1, 0, 0);
//glRotatef (turn, 0, 1, 0);
//glPushMatrix();
//glTranslatef (distances.x, distances.y, distances.z);
//drawBox(.5, 2, .5);
//drawBox(.5, .5, 2);
//drawBox(2, .5, .5);
//glPopMatrix();
drawArm();
// Width for orthographic viewport
float scale = 75;
// Top View
glViewport (0, h, w, h);
glMatrixMode (GL_PROJECTION);
glLoadIdentity ();
//gluPerspective (60, (((float)w)/h), 1, 3000);
glOrtho(-scale * (((float)w)/h), scale * (((float)w)/h), -scale, scale, -1000, 1000);
glMatrixMode (GL_MODELVIEW);
glLoadIdentity();
glTranslatef(-50, 0, -200);
glRotatef(90, 1, 0, 0);
drawArm();
// Side View
glViewport (0, 0, w, h);
glMatrixMode (GL_PROJECTION);
glLoadIdentity ();
//gluPerspective (60, (((float)w)/h), 1, 3000);
glOrtho(-scale * (((float)w)/h), scale * (((float)w)/h), -scale, scale, -1000, 1000);
glMatrixMode (GL_MODELVIEW);
glLoadIdentity();
glTranslatef(-50, 0, -200);
drawArm();
// Front View
glViewport (w, 0, w, h);
glMatrixMode (GL_PROJECTION);
glLoadIdentity ();
//gluPerspective (60, (((float)w)/h), 1, 3000);
glOrtho(-scale * (((float)w)/h), scale * (((float)w)/h), -scale, scale, -1000, 1000);
glMatrixMode (GL_MODELVIEW);
glLoadIdentity();
glTranslatef(0, 0, -200);
glRotatef(-90, 0, 1, 0);
drawArm();
}
void Robot::draw() const {
// Retrieve the current (interpolated) pose of the robot.
Pose pose = getPose();
// You can set the robot to be whatever color you like.
// By default it is white.
glPushMatrix();
glMatrixMode(GL_MODELVIEW);
//BODY
glColor4d(1, 1, 1, 1);
glTranslatef(pose.x_, pose.y_,pose.z_);
glRotatef(pose.angles_[BODY_ANGLE], 0, 0, 1);
drawCuboid(BODY_X,BODY_LEN,BODY_Z);
//HEAD
glPushMatrix();
glTranslatef(0,BODY_LEN/2,0);
glRotatef(pose.angles_[HEAD_ANGLE], 0, 0, 1);
glTranslatef(0,.3,0);
drawCuboid(.6,.6,.6);
glPopMatrix();
// ARMS!!
//Right
glPushMatrix();
glTranslatef(0, BODY_LEN/2.0, BODY_Z/2.0 + UARM_WIDTH/2.0); //Move to shoulder joint from center of body
drawArm(pose, RIGHT_SHOULDER, RIGHT_ELBOW);
glPopMatrix();
//Left
glPushMatrix();
glTranslatef(0, BODY_LEN/2.0, - (BODY_Z/2.0 + UARM_WIDTH/2.0)); //Move to shoulder joint from center of body
drawArm(pose, LEFT_SHOULDER, LEFT_ELBOW);
glPopMatrix();
//LEGS
//RIGHT
glPushMatrix();
glTranslatef(0, -1, .25);
drawLeg(pose, RIGHT_HIP, RIGHT_KNEE, RIGHT_ANKLE);
glPopMatrix();
//LEFT
glPushMatrix();
glTranslatef(0, -1, -.25);
drawLeg(pose, LEFT_HIP, LEFT_KNEE, LEFT_ANKLE);
glPopMatrix();
//WINGS
//RIGHT
glPushMatrix();
glTranslatef(-BODY_X/2.0,BODY_LEN/2.0 -.2,BODY_Z/2.0 - .2);
drawWing(pose, RIGHT_WING_MID_Y, RIGHT_WING_Y, RIGHT_WING_Z);
glPopMatrix();
//LEFT
glPushMatrix();
glTranslatef(-BODY_X/2.0,BODY_LEN/2.0 -.2, -BODY_Z/2.0 + .2);
drawWing(pose, LEFT_WING_MID_Y, LEFT_WING_Y, LEFT_WING_Z);
glPopMatrix();
//Body matrix
glPopMatrix();
}
