void DrawLowerArm(MatrixStack &modelToCameraStack)
{
modelToCameraStack.Push();
modelToCameraStack.Translate(posLowerArm);
modelToCameraStack.RotateX(angLowerArm);
modelToCameraStack.Push();
modelToCameraStack.Translate(glm::vec3(0.0f, 0.0f, lenLowerArm / 2.0f));
modelToCameraStack.Scale(glm::vec3(widthLowerArm / 2.0f, widthLowerArm / 2.0f, lenLowerArm / 2.0f));
glUniformMatrix4fv(modelToCameraMatrixUnif, 1, GL_FALSE, glm::value_ptr(modelToCameraStack.Top()));
glDrawElements(GL_TRIANGLES, ARRAY_COUNT(indexData), GL_UNSIGNED_SHORT, 0);
modelToCameraStack.Pop();
DrawWrist(modelToCameraStack);
modelToCameraStack.Pop();
}
void DrawRobotArm(int NumSegs)
{
glMatrixMode(GL_MODELVIEW);
glPushMatrix();
/** Base of Arm **/
glTranslatef(0,0,0);
glRotatef(BaseSpin,0.0,1.0,0.0);
DrawBase(NumSegs);
/** Arm Segment #1 **/
glTranslatef(0,0.4f,0);
glRotatef(ShoulderAng,0.0,0.0,1.0);
DrawArmSegment(NumSegs);
/** Arm Segment #2 **/
glTranslatef(0,0.5f,0);
glRotatef(ElbowAng,0.0,0.0,1.0);
DrawArmSegment(NumSegs);
/** Wrist **/
glTranslatef(0,0.5f,0);
glRotatef(WristAng,0.0,0.0,1.0);
DrawWrist(NumSegs);
glTranslatef(0,0.2f,0);
glRotatef(FingerAng1,0.0,0.0,1.0);
DrawFingerBase(NumSegs);
glTranslatef(0, 0.3f, 0);
glRotatef(-90, 0, 0, 1);
DrawFingerTip(NumSegs);
glRotatef(90, 0, 0, 1);
glTranslatef(0, -0.3f, 0);
glRotatef(FingerAng2*2,0.0,0.0,1.0);
DrawFingerBase(NumSegs);
glTranslatef(0, 0.3f, 0);
glRotatef(90, 0, 0, 1);
DrawFingerTip(NumSegs);
glPopMatrix(); // Pop Base of Arm
}
