void fist(float wristangle){
matrixPush(ModelView);
matrixRotate(ModelView, wristangle, 0, 0, 1);
matrixPush(ModelView);
matrixScale(ModelView, .5, .5, 1);
joint();
matrixPop(ModelView);
hand();
matrixPop(ModelView);
}
void feet(float footangle){
matrixPush(ModelView);
matrixRotate(ModelView, footangle, 0, 0, 1);
matrixPush(ModelView);
matrixScale(ModelView, .9, .9, 1);
joint();
matrixPop(ModelView);
matrixPush(ModelView);
matrixScale(ModelView, -1, 1, 1);
foot();
matrixPop(ModelView);
matrixPop(ModelView);
}
void leg(float upperlegangle, float lowerlegangle, float footangle){
matrixPush(ModelView);
matrixRotate(ModelView, upperlegangle, 0, 0, 1);
joint();
matrixPush(ModelView);
matrixScale(ModelView, 2, 1, 1);
arm_segment();
matrixPop(ModelView);
matrixTranslate(ModelView, 0, -6, 0);
lower_leg(lowerlegangle, footangle);
matrixPop(ModelView);
}
void lower_leg(float lowerlegangle, float footangle){
matrixPush(ModelView);
matrixRotate(ModelView, lowerlegangle, 0, 0, 1);
matrixPush(ModelView);
matrixScale(ModelView, .9, .9, 1);
joint();
matrixPop(ModelView);
matrixPush(ModelView);
matrixScale(ModelView, 1.8, .8 , 1);
arm_segment();
matrixPop(ModelView);
matrixTranslate(ModelView, 0, -4.8, 0);
feet(footangle);
matrixPop(ModelView);
}
void arm(float upperarmangle, float lowerarmangle, float wristangle){
matrixPush(ModelView);
matrixRotate(ModelView, upperarmangle, 0, 0, 1);
matrixPush(ModelView);
matrixScale(ModelView, .625, .625, 1);
joint();
matrixPop(ModelView);
matrixPush(ModelView);
matrixScale(ModelView, 1.25, 1, 1);
arm_segment();
matrixPop(ModelView);
matrixTranslate(ModelView, 0, -6, 0);
forearm(lowerarmangle, wristangle);
matrixPop(ModelView);
}
void forearm(float lowerarmangle, float wristangle){
matrixPush(ModelView);
matrixRotate(ModelView, lowerarmangle, 0, 0, 1);
matrixPush(ModelView);
matrixScale(ModelView, .5, .5, 1);
joint();
matrixPop(ModelView);
arm_segment();
matrixPush(ModelView);
matrixTranslate(ModelView, 0, -6, 0);
fist(wristangle);
matrixPop(ModelView);
matrixPop(ModelView);
}
void display(void) {
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
glEnable(GL_DEPTH_TEST);
// glPolygonMode(GL_FRONT_AND_BACK, GL_LINE);
glPolygonMode(GL_FRONT_AND_BACK, GL_FILL);
matrixPush(ModelView);
generateTerrain();
matrixPop(ModelView);
glutSwapBuffers();
}
void display(void) {
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
glEnable(GL_CULL_FACE);
glCullFace(GL_BACK);
glEnable(GL_DEPTH_TEST);
glDisable(GL_POLYGON_OFFSET_FILL);
glLineWidth(1.0);
glPolygonMode(GL_FRONT, GL_LINE);
matrixPush(ModelView);
matrixRotate(ModelView,center,0,0,1);
ellipsoidWireFrame();
matrixPop(ModelView);
glutSwapBuffers();
}
void robot(){
matrixPush(ModelView);
matrixRotate(ModelView, torso_angle, 0, 0, 1);
torso();
matrixPush(ModelView);
matrixTranslate(ModelView, 0, 10.2, 0);
matrixRotate(ModelView, head_angle, 0, 0, 1);
head();
matrixPush(ModelView);
matrixTranslate(ModelView, .5, 2.5, 0);
eye();
matrixPop(ModelView);
matrixPop(ModelView);
matrixPush(ModelView);
matrixTranslate(ModelView, -4.5, 7, 0);
matrixRotate(ModelView, -45, 0, 0, 1);
arm(left_upper_arm_angle, left_lower_arm_angle, left_wrist_angle);
matrixPop(ModelView);
matrixPush(ModelView);
matrixTranslate(ModelView, 4.5, 7, 0);
matrixRotate(ModelView, 45, 0, 0, 1);
arm(right_upper_arm_angle, right_lower_arm_angle, right_wrist_angle);
matrixPop(ModelView);
matrixPush(ModelView);
lower_torso();
matrixPop(ModelView);
matrixPush(ModelView);
matrixTranslate(ModelView, -2, -1.5, 0);
matrixRotate(ModelView, -30, 0, 0, 1);
leg(left_upper_leg_angle, left_lower_leg_angle, left_foot_angle);
matrixPop(ModelView);
matrixPush(ModelView);
matrixTranslate(ModelView, 2, -1.5, 0);
matrixRotate(ModelView, 30, 0, 0, 1);
right_leg(right_upper_leg_angle, right_lower_leg_angle, right_foot_angle);
matrixPop(ModelView);
matrixPop(ModelView);
}
void right_leg(float upperlegangle, float lowerlegangle, float footangle){
matrixPush(ModelView);
matrixScale(ModelView, -1, 1, 1);
leg(upperlegangle, lowerlegangle, footangle);
matrixPop(ModelView);
}