// We are going to override (is that the right word?) the draw()
// method of ModelerView to draw out RobotArm
void RobotArm::draw()
{
/* pick up the slider values */
float theta = VAL( BASE_ROTATION );
float phi = VAL( LOWER_TILT );
float psi = VAL( UPPER_TILT );
float cr = VAL( CLAW_ROTATION );
float h1 = VAL( BASE_LENGTH );
float h2 = VAL( LOWER_LENGTH );
float h3 = VAL( UPPER_LENGTH );
float pc = VAL( PARTICLE_COUNT );
// This call takes care of a lot of the nasty projection
// matrix stuff
ModelerView::draw();
static GLfloat lmodel_ambient[] = { 0.4, 0.4, 0.4, 1.0 };
Mat4f temp = getModelViewMatrix();
// define the model
ground(-0.2);
if (true) {
Ariou();
} else {
base(0.8);
glTranslatef( 0.0, 0.8, 0.0 ); // move to the top of the base
glRotatef( theta, 0.0, 1.0, 0.0 ); // turn the whole assembly around the y-axis.
rotation_base(h1); // draw the rotation base
glTranslatef( 0.0, h1, 0.0 ); // move to the top of the base
glRotatef( phi, 0.0, 0.0, 1.0 ); // rotate around the z-axis for the lower arm
glTranslatef( -0.1, 0.0, 0.4 );
lower_arm(h2); // draw the lower arm
glTranslatef( 0.0, h2, 0.0 ); // move to the top of the lower arm
glRotatef( psi, 0.0, 0.0, 1.0 ); // rotate around z-axis for the upper arm
upper_arm(h3); // draw the upper arm
glTranslatef( 0.0, h3, 0.0 );
glRotatef(cr, 0.0, 0.0, 1.0);
claw(1.0);
SpawnParticles(temp);
}
//*** DON'T FORGET TO PUT THIS IN YOUR OWN CODE **/
endDraw();
}
// N tamaño del nodo de mayor grado (estrella)
vector<nodo> ninja(int n) {
vector<nodo> estrella = claw(n);
vector<nodo> clique = k((n+1)/2);
int nodosFronteraPorVertice = n-((n+1)/2);
for (unsigned i = 0; i < (unsigned) (n+1)/2; ++i) {
for (int j = 0; j < nodosFronteraPorVertice; ++j) {
nodo nuevo;
clique.push_back(nuevo);
clique[clique.size() - 1].indice = clique.size() - 1;
clique[clique.size() - 1].adyacentes.insert(i);
clique[i].adyacentes.insert((indice_nodo) clique.size() - 1);
}
}
vector<nodo> Gunion = graph_union(estrella, clique);
// Tomo el clique un nodo de la "frontera" y lo uno con un nodo "frontera" de la estrella
Gunion[1].adyacentes.insert((indice_nodo) Gunion.size() - 1);
Gunion[Gunion.size() - 1].adyacentes.insert(1);
return Gunion;
}
// We are going to override (is that the right word?) the draw()
// method of ModelerView to draw out RobotArm
void RobotArm::draw()
{
/* pick up the slider values */
float theta = baseRotation.getValue();
float phi = lowerTilt.getValue();
float psi = upperTilt.getValue();
float cr = clawRotation.getValue();
float h1 = baseLength.getValue();
float h2 = lowerLength.getValue();
float h3 = upperLength.getValue();
static GLfloat lmodel_ambient[] = {0.4,0.4,0.4,1.0};
// define the model
ground(-0.2);
base(0.8);
glTranslatef( 0.0, 0.8, 0.0 ); // move to the top of the base
glRotatef( theta, 0.0, 1.0, 0.0 ); // turn the whole assembly around the y-axis.
rotation_base(h1); // draw the rotation base
glTranslatef( 0.0, h1, 0.0 ); // move to the top of the base
glRotatef( phi, 0.0, 0.0, 1.0 ); // rotate around the z-axis for the lower arm
glTranslatef( -0.1, 0.0, 0.4 );
lower_arm(h2); // draw the lower arm
glTranslatef( 0.0, h2, 0.0 ); // move to the top of the lower arm
glRotatef( psi, 0.0, 0.0, 1.0 ); // rotate around z-axis for the upper arm
upper_arm(h3); // draw the upper arm
glTranslatef( 0.0, h3, 0.0 );
glRotatef( cr, 0.0, 0.0, 1.0 );
claw(1.0);
}
// Ver http://www.graphclasses.org/smallgraphs.html#K2Uclaw
vector<nodo> kn_union_claw_m_complemento(int n, int m) {
vector<nodo> kn = k(n);
vector<nodo> k1_n = claw(m);
vector<nodo> Gunion = graph_union(kn, k1_n);
return complemento(Gunion);
}
