void Model_Robot::draw(Model::DrawMode mode)
{
float lua = theta[LUA];
float lla = theta[LLA];
float rua = theta[RUA];
float rla = theta[RLA];
float lul = theta[LUL];
float lll = theta[LLL];
float rul = theta[RUL];
float rll = theta[RLL];
torso();
glPushMatrix();
glTranslatef(0, head_height / 2, 0);
head();
glPopMatrix();
glPushMatrix();
glTranslatef(torso_radius, 0, 0);
glRotatef(lua, 0, 0, 1);
left_upper_arm();
glTranslatef(upper_arm_height, 0, 0);
glRotatef(lla, 0, 0, 1);
left_lower_arm();
glPopMatrix();
glPushMatrix();
glTranslatef(-torso_radius, 0, 0);
glRotatef(rua, 0, 0, 1);
right_upper_arm();
glTranslatef(-upper_arm_height, 0, 0);
glRotatef(rla, 0, 0, 1);
right_lower_arm();
glPopMatrix();
glPushMatrix();
glTranslatef(torso_radius, -torso_height, 0);
glRotatef(lul, 1, 0, 0);
left_upper_leg();
glTranslatef(0, -upper_leg_height, 0);
glRotatef(lll, 1, 0, 0);
left_lower_leg();
glPopMatrix();
glPushMatrix();
glTranslatef(-torso_radius, -torso_height, 0);
glRotatef(rul, 1, 0, 0);
right_upper_leg();
glTranslatef(0, -upper_leg_height, 0);
glRotatef(rll, 1, 0, 0);
right_lower_leg();
glPopMatrix();
}
void OddishModel::drawCyborg(GLuint texture1,GLuint texture2,GLuint texture3){
glOrtho(-1.0, 1.0, -1.0, 1.0, -1.0, 1.0);
glRotatef(thetaO[0], 0.0, 1.0, 0.0);
glPushMatrix();
glTranslatef(0,TORSO_HEIGHT_ODDISH-1.0, 0.0);
torso(texture2);
glPopMatrix();
glPushMatrix();
glTranslatef(0,TORSO_HEIGHT_ODDISH, 0.0);
glTranslatef(0.0, NECK_HEIGHT_ODDISH+0.5*HEAD_HEIGHT_ODDISH-0.3, 0.0);
head(texture1);
glTranslatef(-0.70, NECK_HEIGHT_ODDISH+0.5*HEAD_HEIGHT_ODDISH+0.5, 0.0);
glTranslatef(1.30, -0.6+NECK_HEIGHT_ODDISH+0.5*HEAD_HEIGHT_ODDISH, 0.0);
glTranslatef(-0.5, -0.6+NECK_HEIGHT_ODDISH+0.5*HEAD_HEIGHT_ODDISH-4, 0.0);
glPopMatrix();//add JOINT_POINT_
glPushMatrix();//add JOINT_POINT_
glTranslatef(-0.85*(TORSO_RADIUS_ODDISH+JOINT_POINT_RADIUS_ODDISH),
0.9*TORSO_HEIGHT_ODDISH, 0.0);
joint_point();
glTranslatef(0.0, -0.5, 0.0);
//glRotatef(thetaO[3], 1.0, 0.0, 0.0);
glRotatef(thetaO[3], 1.0, 0.0, 0.0);
glRotatef(thetaO[11], 0.0, 0.0, 1.0);
left_upper_arm(texture3);
glTranslatef(0.0, 0.0,UPPER_ARM_HEIGHT_ODDISH);
joint_point();
/*
glTranslatef(0.0, 0.1*JOINT_POINT_HEIGHT_ODDISH, 0.0);
glRotatef(thetaO[4], 1.0, 0.0, 0.0);
left_lower_arm();
*/
glTranslatef(0.0, 0.0, LOWER_ARM_HEIGHT_ODDISH);
//left_hand();
glPopMatrix();
glPushMatrix();
glTranslatef(0.85*(TORSO_RADIUS_ODDISH+JOINT_POINT_RADIUS_ODDISH),
0.9*TORSO_HEIGHT_ODDISH, 0.0);
joint_point();
glTranslatef(0.4, -0.5, 0.0);
glRotatef(thetaO[5], 1.0, 0.0, 0.0);
glRotatef(thetaO[12], 0.0, 0.0, 1.0);
right_upper_arm(texture3);
glTranslatef(0.0, 0.0, UPPER_ARM_HEIGHT_ODDISH);
joint_point();
//glBindTexture(GL_TEXTURE_2D, texture4);
glTranslatef(0.0, 0.1*JOINT_POINT_HEIGHT_ODDISH, 0.0);
glRotatef(thetaO[6], 1.0, 0.0, 0.0);
right_lower_arm();
glTranslatef(0.0, 0.0, LOWER_ARM_HEIGHT_ODDISH);
//right_hand(texture3);
glPopMatrix();
glPushMatrix();
glTranslatef(-(TORSO_RADIUS_ODDISH-JOINT_POINT_RADIUS_ODDISH),
-0.15*JOINT_POINT_HEIGHT_ODDISH, 0.0);
//joint_point();
glTranslatef(0, 0.1*JOINT_POINT_HEIGHT_ODDISH, 0.0);
glRotatef(thetaO[7], 1.0, 0.0, 0.0);
glRotatef(thetaO[13], 0.0, 0.0, 1.0);
//left_upper_leg();
glTranslatef(0.0, UPPER_LEG_HEIGHT_ODDISH, 0.0);
//joint_point();
glTranslatef(0.0, 0.1*JOINT_POINT_HEIGHT_ODDISH, 0.0);
glRotatef(thetaO[8], 1.0, 0.0, 0.0);
//left_lower_leg();
glTranslatef(0.7, 0.1*JOINT_POINT_HEIGHT_ODDISH, 0.0);
//glTranslatef(0.0, LOWER_LEG_HEIGHT_ODDISH_ODDISH, -0.5*FOOT_HEIGHT_ODDISH);
glRotatef(thetaO[15], 1.0, 0.0, 0.0);
left_foot(texture3);
glPopMatrix();
glPushMatrix();
glTranslatef(TORSO_RADIUS_ODDISH-JOINT_POINT_RADIUS_ODDISH,
-0.15*JOINT_POINT_HEIGHT_ODDISH, 0.0);
//joint_point();
glTranslatef(0, 0.1*JOINT_POINT_HEIGHT_ODDISH, 0.0);
glRotatef(thetaO[9], 1.0, 0.0, 0.0);
glRotatef(thetaO[14], 0.0, 0.0, 1.0);
//right_upper_leg();
glTranslatef(0.0, UPPER_LEG_HEIGHT_ODDISH, 0.0);
//joint_point();
glTranslatef(0.0, 0.1*JOINT_POINT_HEIGHT_ODDISH, 0.0);
glRotatef(thetaO[10], 1.0, 0.0, 0.0);
//right_lower_leg();
glTranslatef(-0.3, 0.1*JOINT_POINT_HEIGHT_ODDISH-0.2, 0.0);
//glTranslatef(0.0, LOWER_LEG_HEIGHT_ODDISH_ODDISH, -0.5*FOOT_HEIGHT_ODDISH);
glRotatef(thetaO[11], 1.0, 0.0, 0.0);
right_foot(texture3);
glPopMatrix();
}
void
display()
{
glClear( GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT );
mvstack.push( model_view );
model_view = RotateY( theta[Torso] );
torso();
model_view *= ( Translate( 0.0, TORSO_HEIGHT + 0.5 * HEAD_HEIGHT, 0.0 ) *
RotateX( theta[Head1] ) *
RotateY( theta[Head2] ) *
Translate( 0.0, -0.5 * HEAD_HEIGHT, 0.0 ) );
head();
model_view = mvstack.pop();
mvstack.push( model_view );
model_view *= ( Translate( -( TORSO_WIDTH + UPPER_ARM_WIDTH ),
0.9 * TORSO_HEIGHT, 0.0 ) *
RotateX( theta[LeftUpperArm] ) );
left_upper_arm();
model_view *= ( Translate( 0.0, UPPER_ARM_HEIGHT, 0.0 ) *
RotateX( theta[LeftLowerArm] ) );
left_lower_arm();
model_view = mvstack.pop();
mvstack.push( model_view );
model_view *= ( Translate( TORSO_WIDTH + UPPER_ARM_WIDTH,
0.9 * TORSO_HEIGHT, 0.0 ) *
RotateX( theta[RightUpperArm] ) );
right_upper_arm();
model_view *= ( Translate( 0.0, UPPER_ARM_HEIGHT, 0.0 ) *
RotateX( theta[RightLowerArm] ) );
right_lower_arm();
model_view = mvstack.pop();
mvstack.push( model_view );
model_view *= ( Translate( -( TORSO_WIDTH + UPPER_LEG_WIDTH ),
0.1 * UPPER_LEG_HEIGHT, 0.0 ) *
RotateX( theta[LeftUpperLeg] ) );
left_upper_leg();
model_view *= ( Translate( 0.0, UPPER_LEG_HEIGHT, 0.0 ) *
RotateX( theta[LeftLowerLeg] ) );
left_lower_leg();
model_view = mvstack.pop();
mvstack.push( model_view );
model_view *= ( Translate( TORSO_WIDTH + UPPER_LEG_WIDTH,
0.1 * UPPER_LEG_HEIGHT, 0.0 ) *
RotateX( theta[RightUpperLeg] ) );
right_upper_leg();
model_view *= ( Translate( 0.0, UPPER_LEG_HEIGHT, 0.0 ) *
RotateX( theta[RightLowerLeg] ) );
right_lower_leg();
model_view = mvstack.pop();
glutSwapBuffers();
}
void MarillModel::drawCyborg(GLuint texture1,GLuint texture2,GLuint texture3,GLuint texture4){
glOrtho(-1.0, 1.0, -1.0, 1.0, -1.0, 1.0);
glRotatef(thetaM[0], 0.0, 1.0, 0.0);
glPushMatrix();
glTranslatef(0,TORSO_HEIGHT_MARILL-1.0, 0.0);
torso(texture3);
glPopMatrix();
glPushMatrix();
glTranslatef(0,TORSO_HEIGHT_MARILL, 0.0);
neck();
glTranslatef(0.0, NECK_HEIGHT_MARILL+0.5*HEAD_HEIGHT_MARILL-0.3, 0.0);
//glRotatef(theta[1], 1.0, 0.0, 0.0);
//glRotatef(theta[2], 0.0, 1.0, 0.0);
head(texture2);
glTranslatef(-0.70, NECK_HEIGHT_MARILL+0.5*HEAD_HEIGHT_MARILL+0.5, 0.0);
right_ear(texture1);
glTranslatef(1.30, -0.6+NECK_HEIGHT_MARILL+0.5*HEAD_HEIGHT_MARILL, 0.0);
left_ear(texture1);
glTranslatef(-0.5, -0.6+NECK_HEIGHT_MARILL+0.5*HEAD_HEIGHT_MARILL-4, 0.0);
tail(texture4);
glPopMatrix();//add JOINT_POINT_
glPushMatrix();//add JOINT_POINT_
glTranslatef(-0.85*(TORSO_RADIUS_MARILL+JOINT_POINT_RADIUS_MARILL),
0.9*TORSO_HEIGHT_MARILL, 0.0);
joint_point();
glTranslatef(0.0, 0.0, 0.0);
glRotatef(thetaM[3], 1.0, 0.0, 0.0);
glRotatef(thetaM[11], 0.0, 0.0, 1.0);
left_upper_arm(texture4);
glTranslatef(0.0, 0.0,UPPER_ARM_HEIGHT_MARILL);
joint_point();
/*
glTranslatef(0.0, 0.1*JOINT_POINT_HEIGHT_MARILL, 0.0);
glRotatef(thetaM[4], 1.0, 0.0, 0.0);
left_lower_arm();
*/
glTranslatef(0.0, 0.0, LOWER_ARM_HEIGHT_MARILL);
//left_hand();
glPopMatrix();
glPushMatrix();
glTranslatef(0.85*(TORSO_RADIUS_MARILL+JOINT_POINT_RADIUS_MARILL),
0.9*TORSO_HEIGHT_MARILL, 0.0);
joint_point();
glTranslatef(0.0, 0.0, 0.0);
glRotatef(thetaM[5], 1.0, 0.0, 0.0);
glRotatef(thetaM[12], 0.0, 0.0, 1.0);
right_upper_arm(texture4);
glTranslatef(0.0, 0.0, UPPER_ARM_HEIGHT_MARILL);
joint_point();
//glBindTexture(GL_TEXTURE_2D, texture4);
glTranslatef(0.0, 0.1*JOINT_POINT_HEIGHT_MARILL, 0.0);
glRotatef(thetaM[6], 1.0, 0.0, 0.0);
right_lower_arm();
glTranslatef(0.0, 0.0, LOWER_ARM_HEIGHT_MARILL);
//right_hand(texture3);
glPopMatrix();
glPushMatrix();
glTranslatef(-(TORSO_RADIUS_MARILL-JOINT_POINT_RADIUS_MARILL),
-0.15*JOINT_POINT_HEIGHT_MARILL, 0.0);
//joint_point();
glTranslatef(0, 0.1*JOINT_POINT_HEIGHT_MARILL, 0.0);
glRotatef(thetaM[7], 1.0, 0.0, 0.0);
glRotatef(thetaM[13], 0.0, 0.0, 1.0);
//left_upper_leg();
glTranslatef(0.0, UPPER_LEG_HEIGHT_MARILL, 0.0);
//joint_point();
glTranslatef(0.0, 0.1*JOINT_POINT_HEIGHT_MARILL, 0.0);
glRotatef(thetaM[8], 1.0, 0.0, 0.0);
//left_lower_leg();
glTranslatef(0.7, 0.1*JOINT_POINT_HEIGHT_MARILL, 0.0);
//glTranslatef(0.0, LOWER_LEG_HEIGHT_MARILL_MARILL, -0.5*FOOT_HEIGHT_MARILL);
glRotatef(thetaM[15], 1.0, 0.0, 0.0);
left_foot(texture4);
glPopMatrix();
glPushMatrix();
glTranslatef(TORSO_RADIUS_MARILL-JOINT_POINT_RADIUS_MARILL,
-0.15*JOINT_POINT_HEIGHT_MARILL, 0.0);
//joint_point();
glTranslatef(0, 0.1*JOINT_POINT_HEIGHT_MARILL, 0.0);
glRotatef(thetaM[9], 1.0, 0.0, 0.0);
glRotatef(thetaM[14], 0.0, 0.0, 1.0);
//right_upper_leg();
glTranslatef(0.0, UPPER_LEG_HEIGHT_MARILL, 0.0);
//joint_point();
glTranslatef(0.0, 0.1*JOINT_POINT_HEIGHT_MARILL, 0.0);
glRotatef(thetaM[10], 1.0, 0.0, 0.0);
//right_lower_leg();
glTranslatef(-0.3, 0.1*JOINT_POINT_HEIGHT_MARILL-0.2, 0.0);
//glTranslatef(0.0, LOWER_LEG_HEIGHT_MARILL_MARILL, -0.5*FOOT_HEIGHT_MARILL);
glRotatef(thetaM[11], 1.0, 0.0, 0.0);
right_foot(texture4);
glPopMatrix();
}
