void GLElbowFlexWidget::drawMovingArm() {
upperArm();
elbow();
rotateForeArm();
foreArm();
hand();
}
int main() {
// Create the main window
sf::RenderWindow window(sf::VideoMode(800, 700, 32), "So Robot, Much Arm | Emmett Daly | C00001839");
int windowWidth = 800;
int windowHeight = 700;
const int limbLines = 6;
const int handLines = 7;
const int armLength = 150;
const int armWidth = 15;
// Load a font
sf::Font font;
font.loadFromFile("C:\\Windows\\Fonts\\ARIAL.TTF");
// Create a formatted text string - The title
// Add some instructions for the user
sf::Text instructions[8];
int yPosition = 10;
for (int i = 0; i < 8; i++) {
yPosition += 14;
instructions[i].setFont(font);
instructions[i].setStyle(sf::Text::Bold);
instructions[i].setCharacterSize(14);
instructions[i].setPosition(10, yPosition);
}
instructions[0].setString(" Emmett Daly | C00001839 | November 2015");
instructions[1].setString(" Instructions:");
instructions[2].setString(" Q : Move Upper Arm Up");
instructions[3].setString(" A : Move Upper Arm Down");
instructions[4].setString(" W : Move Fore Arm Up");
instructions[5].setString(" S : Move Fore Arm Down");
instructions[6].setString(" X : Expand Hand");
instructions[7].setString(" C : Contract Hand");
// Define the aul type of the arm parts we'll be using
sf::VertexArray upperArm(sf::Triangles, limbLines);
sf::VertexArray foreArm(sf::Triangles, limbLines);
sf::VertexArray leftHand(sf::LinesStrip, handLines);
sf::VertexArray rightHand(sf::LinesStrip, handLines);
// Give them a couple of point definitions so we can place them
sf::Vector2f limbPoints[limbLines];
sf::Vector2f leftHandPoints[handLines];
sf::Vector2f rightHandPoints[handLines];
// Lets make limbs
limbPoints[0] = sf::Vector2f(0, 0 - armWidth / 2);
limbPoints[1] = sf::Vector2f(armLength, 0 - armWidth / 2);
limbPoints[2] = sf::Vector2f(0, armWidth / 2);
limbPoints[3] = sf::Vector2f(0, armWidth / 2);
limbPoints[4] = sf::Vector2f(armLength, armWidth / 2);
limbPoints[5] = sf::Vector2f(armLength, 0 - armWidth / 2);
leftHandPoints[0] = sf::Vector2f(0, 0);
leftHandPoints[1] = sf::Vector2f(20, 0);
leftHandPoints[2] = sf::Vector2f(50, -40);
leftHandPoints[3] = sf::Vector2f(80, 0);
leftHandPoints[4] = sf::Vector2f(90, 0);
leftHandPoints[5] = sf::Vector2f(50, -50);
leftHandPoints[6] = leftHandPoints[0];
rightHandPoints[0] = leftHandPoints[0];
rightHandPoints[1] = leftHandPoints[1];
rightHandPoints[2] = sf::Vector2f(50, 40);
rightHandPoints[3] = leftHandPoints[3];
rightHandPoints[4] = leftHandPoints[4];
rightHandPoints[5] = sf::Vector2f(50, 50);
rightHandPoints[6] = rightHandPoints[0];
// Create a few 'joints' so we can rotate them, just a bit though, because it's not realistic otherwise :D
float rotationUpperArm = 0.0;
float rotationForeArm = 0.0;
float rotationLeftHand = 0.0;
float rotationRightHand = 0.0;
// Let's play countdown
while (window.isOpen())
{
// Sure we may as well process the events too
sf::Event Event;
while (window.pollEvent(Event))
{
// Right down to business,
// Define some basic transformations
sf::Transform upperArmTransform;
sf::Transform foreArmTransform;
sf::Transform leftHandTranslation;
sf::Transform upperArmRotation;
sf::Transform foreArmRotation;
sf::Transform leftHandRotation;
sf::Transform rightHandTranslation;
sf::Transform rightHandRotation;
// Assign values to these transformations
upperArmTransform.translate(100, 500);
upperArmRotation.rotate(rotationUpperArm);
foreArmTransform.translate(armLength, 0);
foreArmRotation.rotate(rotationForeArm);
leftHandTranslation.translate(armLength, 0);
leftHandRotation.rotate(rotationLeftHand);
rightHandTranslation.translate(armLength, 0);
rightHandRotation.rotate(rotationRightHand);
// Now, throw the limbs in, using transformations
sf::Transform upperArmPart = upperArmTransform * upperArmRotation;
sf::Transform foreArmPart = upperArmPart * foreArmTransform * foreArmRotation;
sf::Transform leftHandPart = foreArmPart * leftHandTranslation * leftHandRotation;
sf::Transform rightHandPart = foreArmPart * rightHandTranslation * rightHandRotation;
// Drawing the limb lines AND adding color, 'cause I'm clever like that
for (int i = 0; i < limbLines; i++) {
upperArm[i].position = upperArmPart.transformPoint(limbPoints[i]);
foreArm[i].position = foreArmPart.transformPoint(limbPoints[i]);
upperArm[i].color = sf::Color::White;
foreArm[i].color = sf::Color::Cyan;
}
// Ditto, but for the hands
for (int i = 0; i < handLines; i++) {
leftHand[i].position = leftHandPart.transformPoint(leftHandPoints[i]);
rightHand[i].position = rightHandPart.transformPoint(rightHandPoints[i]);
leftHand[i].color = sf::Color::Green;
rightHand[i].color = sf::Color::Green;
}
// Close window : exit
if (Event.type == sf::Event::Closed)
window.close();
// Escape key : exit
if ((Event.type == sf::Event::KeyPressed) && (Event.key.code == sf::Keyboard::Escape))
window.close();
// Move the upperArm & other connected limbs down
// The upperarm movement will ave the most translations applied to it, as all parts are affected by it
// The rotation limit is set to 65 degrees for the upperArm,
// While rotating, we increment this until it hits 65 degrees,
// firstly applying...
if ((Event.type == sf::Event::KeyPressed) && (Event.key.code == sf::Keyboard::A)) {
if (rotationUpperArm < 65) {
rotationUpperArm += 1;
// ...a rotation,based on what rotationUpperArm's value is, as it gets incremented each time...
upperArmRotation.rotate(rotationUpperArm);
// ... then, applying the correct matrix transformation to the upperArm ...
upperArmPart = upperArmTransform * upperArmRotation;
// ... rotating the forearm as its obviously attached to the upperArm ...
foreArmRotation.rotate(rotationForeArm);
// ... then, applying the correct matrix transformation to the foreArm ....
foreArmPart = upperArmPart * foreArmTransform * foreArmRotation;
// ... and updating the limbPoints.
for (int i = 0; i < limbLines; i++) {
upperArm[i].position = upperArmPart.transformPoint(limbPoints[i]);
foreArm[i].position = foreArmPart.transformPoint(limbPoints[i]);
}
}
}
// Move the upperArm & other connected limbs Up
if ((Event.type == sf::Event::KeyPressed) && (Event.key.code == sf::Keyboard::Q)) {
if (rotationUpperArm > -65) {
rotationUpperArm -= 1;
upperArmRotation.rotate(rotationUpperArm);
upperArmPart = upperArmTransform * upperArmRotation;
foreArmRotation.rotate(rotationForeArm);
foreArmPart = upperArmPart * foreArmTransform * foreArmRotation;
for (int i = 0; i < limbLines; i++) {
foreArm[i].position = foreArmPart.transformPoint(limbPoints[i]);
}
}
}
// Same applies as the upperArm, only the forearm is affect here, with a rotation
// limit of 125 degrees, to offer more movement options
if ((Event.type == sf::Event::KeyPressed) && (Event.key.code == sf::Keyboard::W)) {
if (rotationForeArm > -125) {
rotationForeArm -= 1;
foreArmRotation.rotate(rotationForeArm);
foreArmPart = upperArmPart * foreArmTransform * foreArmRotation;
for (int i = 0; i < limbLines; i++) {
foreArm[i].position = foreArmPart.transformPoint(limbPoints[i]);
}
}
}
// Move the foreArm & hand down
if ((Event.type == sf::Event::KeyPressed) && (Event.key.code == sf::Keyboard::S)) {
if (rotationForeArm < 125) {
rotationForeArm += 1;
foreArmRotation.rotate(rotationForeArm);
foreArmPart = upperArmPart * foreArmTransform * foreArmRotation;
for (int i = 0; i < limbLines; i++) {
foreArm[i].position = foreArmPart.transformPoint(limbPoints[i]);
}
}
}
// The hand.
// The only thing that should be moving here when X is pressed, is the hand, thus we
// only move the hand, expanding it as far as 55 degrees
// The same logic applies as te other limbs, excpet, we need to
// expand both parts as opposed to only one.
if ((Event.type == sf::Event::KeyPressed) && (Event.key.code == sf::Keyboard::X)) {
if (rotationLeftHand > -55) {
rotationLeftHand -= 1;
rotationRightHand += 1;
leftHandRotation.rotate(rotationLeftHand);
rightHandRotation.rotate(rotationRightHand);
leftHandPart = leftHandPart * leftHandRotation;
rightHandPart = rightHandPart * rightHandRotation;
for (int i = 0; i < handLines; i++) {
leftHand[i].position = leftHandPart.transformPoint(limbPoints[i]);
rightHand[i].position = rightHandPart.transformPoint(limbPoints[i]);
}
}
}
if ((Event.type == sf::Event::KeyPressed) && (Event.key.code == sf::Keyboard::C)) {
if (rotationLeftHand < 0 ) {
rotationLeftHand += 1;
rotationRightHand -= 1;
leftHandRotation.rotate(rotationLeftHand);
rightHandRotation.rotate(rotationRightHand);
leftHandPart = leftHandPart * leftHandRotation;
rightHandPart = rightHandPart * rightHandRotation;
for (int i = 0; i < handLines; i++) {
leftHand[i].position = leftHandPart.transformPoint(limbPoints[i]);
rightHand[i].position = rightHandPart.transformPoint(limbPoints[i]);
}
}
}
}
window.clear();
// Draw frame items
for (int i = 0; i < 8; i++) {
window.draw(instructions[i]);
}
window.draw(upperArm);
window.draw(foreArm);
window.draw(leftHand);
window.draw(rightHand);
// Finally, display rendered frame on screen
window.display();
} //loop back for next frame
return EXIT_SUCCESS;
}
