/*
* Draw the stool
* Stool's base height is 0 (on the floor)
* Dimensions:
* Seat diameter: 11 3/4 "
* Width: 14 5/8 "
* Depth: 19 5/8 "
* Min. seat height: 24 3/4 "
* Max. seat height: 29 1/8 "
*/
void Stool::draw(MatrixStack &mViewStack) {
mViewStack.push();
// position stool with feet on the floor
mViewStack.active = glm::translate(mViewStack.active, glm::vec3(0.0f, STOOL_HEIGHT, 0.0f));
// seat and stem rendering
mViewStack.push();
// used in height adjustment controls
mViewStack.active = glm::translate(mViewStack.active, glm::vec3(0.0f, heightAdjust, 0.0f));
drawSeatAndStem(mViewStack);
mViewStack.pop();
// leg rendering
drawLeg(mViewStack, 0);
drawLeg(mViewStack, 90);
drawLeg(mViewStack, 180);
drawLeg(mViewStack, 270);
// draw lower ring
drawRing(mViewStack);
// draw upper disks
drawDisk(mViewStack, TOP_DISK_RAD, 23.75f);
drawDisk(mViewStack, BOT_DISK_RAD, 21.25f);
mViewStack.pop();
}
void drawRobot()
{
glPushMatrix();
glTranslatef (0, 0, -BodyH/2);
drawBody();
glPopMatrix();
//Head
glPushMatrix();
glTranslatef (0, 0, BodyH/2);
glRotatef (HeadAngle, 0.0, 0.0, 1.0);
drawHead();
glPopMatrix();
//Arms
glPushMatrix();
glRotatef (ArmVertAngle, 1.0, 0.0, 0.0);
glRotatef (ArmLatAngle, 0.0, 1.0, 0.0);
drawArm();
glPopMatrix();
glPushMatrix();
glRotatef (-ArmVertAngle, 1.0, 0.0, 0.0);
glRotatef (ArmLatAngle, 0.0, 1.0, 0.0);
drawArm();
glPopMatrix();
//Legs
glPushMatrix();
glTranslatef (0, 0, -BodyH/2);
glRotatef (LegRotAngle, 0.0, 0.0, 1.0);
glRotatef (-LegVertAngle, 1.0, 0.0, 0.0);
drawLeg();
glPopMatrix();
glPushMatrix();
glTranslatef (0, 0, -BodyH/2);
glRotatef (LegRotAngle+90, 0.0, 0.0, 1.0);
glRotatef (-LegVertAngle, 1.0, 0.0, 0.0);
drawLeg();
glPopMatrix();
glPushMatrix();
glTranslatef (0, 0, -BodyH/2);
glRotatef (LegRotAngle+180, 0.0, 0.0, 1.0);
glRotatef (-LegVertAngle, 1.0, 0.0, 0.0);
drawLeg();
glPopMatrix();
glPushMatrix();
glTranslatef (0, 0, -BodyH/2);
glRotatef (LegRotAngle+270, 0.0, 0.0, 1.0);
glRotatef (-LegVertAngle, 1.0, 0.0, 0.0);
drawLeg();
glPopMatrix();
}
void Person::drawPerson()
{
/*
Draw torso
Draw head
Draw right arm
Draw left arm
Draw right leg
Draw left leg*/
//////////////////////////////////////////////////////
glPushMatrix();//(0,0)
glPushMatrix();
glTranslatef(-75,0,0);//Move to center of torso bottom: -3", 0"
drawTorso();
glPopMatrix();
glPushMatrix();
glTranslatef(0, 300, 0);//Move to top of torso, 0", 30"
glPushMatrix();
glTranslatef(0, 60, 0);//move to center of head: 0", 36"
drawHead();
glPopMatrix();
glPopMatrix();
glPushMatrix();
//Right arm
glTranslatef(150,10,0);
glRotatef(20,0,0,1);
drawArm();
glPopMatrix();
glPushMatrix();
//left arm
glScalef(-1,1,0);
glTranslatef(150,10,0);
glRotatef(20,0,0,1);
drawArm();
glPopMatrix();
glPushMatrix();
//Draw Right leg
glTranslatef(15, 0, 0);
glTranslatef(0, -300, 0);
drawLeg();
glPopMatrix();
glPushMatrix();
//Draw left leg
glScalef(-1,1,0);
glTranslatef(15, 0, 0);
glTranslatef(0, -300, 0);
drawLeg();
glPopMatrix();
glPopMatrix();
}//end drawPerson
void chair::init(){
Texture=image_tex->loadBMP_custom("./textures/top.bmp");
Texture2=image_tex->loadBMP_custom("./textures/Chairtop.bmp");
support->setTexture(Texture2);
drawLegSupport();
drawSupport();
drawLeg();
drawTop();
}
void drawEntireBody(){
// Draw our hinged object
// Push the current transformation matrix on the stack
glPushMatrix();
glPushMatrix();
{
glTranslatef(bodyPositionX, 0.0, 0.0);
// Scale to size of body
glScalef(BODY_WIDTH, BODY_LENGTH, 1.0);
// Set the colour to green
glColor3f(0.0, 1.0, 0.0);
// Draw the body
Point bodyPoints[] = {
// top left, right points
{-NECK_WIDTH/2, 0.5f}, {NECK_WIDTH/2, 0.5f},
// middle right point
{BELLY_WIDTH/2, -0.4f},
// bottom right point
{BOTTOM_WIDTH/2, -0.7f},
// bottom left point
{-BOTTOM_WIDTH/2, -0.7f},
// middle left point
{-BELLY_WIDTH/2, -0.4f}};
drawPolygon(6, bodyPoints);
drawArm();
drawLeg(1.0, leg1Rotation, foot1Rotation);
drawLeg(-1.0, leg2Rotation, foot2Rotation);
drawHead();
}
glPopMatrix();
// Retrieve the previous state of the transformation stack
glPopMatrix();
}
void drawLegz() {
//draw left legs
mvstack.push(model_view);
drawLeg(0);
model_view *= Translate(-.5, 0, 0);
drawLeg(0);
model_view *= Translate(1, 0, 0);
drawLeg(0);
model_view = mvstack.pop();
//draw right legs
mvstack.push(model_view);
drawLeg(1);
model_view *= Translate(-.5, 0, 0);
drawLeg(1);
model_view *= Translate(1, 0, 0);
drawLeg(1);
model_view = mvstack.pop();
}
void Table::drawTable() {
glPushMatrix();
glColor3f(1.0, 1.0, 1.0);
Image* image = loadBMP("res/wood.bmp");
GLuint _textureId = Texture::loadTexture(image);
delete image;
glEnable(GL_TEXTURE_2D);
glBindTexture(GL_TEXTURE_2D, _textureId);
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_LINEAR);
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_LINEAR);
glBegin(GL_QUADS);
glDisable(GL_COLOR_MATERIAL);
GLfloat param[4] = { 0.992157, 0.941176, 0.807843, 1.0 };
glMaterialfv(GL_FRONT_AND_BACK, GL_SPECULAR, param);
glMaterialf(GL_FRONT, GL_SHININESS, 0);
//Front
glNormal3f(0.0f, 0.0f, 1.0f);
glTexCoord2f(0.0f, -0.2f);
glVertex3f(-6.0f, -0.5f, 9.0f);
glTexCoord2f(1.0f, -0.2f);
glVertex3f(6.0f, -0.5f, 9.0f);
glTexCoord2f(1.0f, 0.0f);
glVertex3f(6.0f, 0.0f, 9.0f);
glTexCoord2f(0.0f, 0.0f);
glVertex3f(-6.0f, 0.0f, 9.0f);
//Right
glNormal3f(1.0f, 0.0f, 0.0f);
glTexCoord2f(1.2f, 1.0f);
glVertex3f(6.0f, -0.5f, -9.0f);
glTexCoord2f(1.0f, 1.0f);
glVertex3f(6.0f, 0.0f, -9.0f);
glTexCoord2f(1.0f, 0.0f);
glVertex3f(6.0f, 0.0f, 9.0f);
glTexCoord2f(1.2f, 0.0f);
glVertex3f(6.0f, -0.5f, 9.0f);
//Back
glNormal3f(0.0f, 0.0f, -1.0f);
glTexCoord2f(0.0f, 1.2f);
glVertex3f(-6.0f, -0.5f, -9.0f);
glTexCoord2f(1.0f, 1.2f);
glVertex3f(6.0f, -0.5f, -9.0f);
glTexCoord2f(1.0f, 1.0f);
glVertex3f(6.0f, 0.0f, -9.0f);
glTexCoord2f(0.0f, 1.0f);
glVertex3f(-6.0f, 0.0f, -9.0f);
//Left
glNormal3f(-1.0f, 0.0f, 0.0f);
glTexCoord2f(2.2f, 2.2f);
glVertex3f(-6.0f, -0.5f, -9.0f);
glTexCoord2f(0.0f, 1.0f);
glVertex3f(-6.0f, 0.0f, -9.0f);
glTexCoord2f(1.0f, 0.0f);
glVertex3f(-6.0f, 0.0f, 9.0f);
glTexCoord2f(0.0f, 2.2f);
glVertex3f(-6.0f, -0.5f, 9.0f);
//Top
glNormal3f(0.0f, 1.0f, 0.0f);
glTexCoord2f(1.0f, 0.0f);
glVertex3f(6.0f, 0.0f, 9.0f);
glTexCoord2f(0.0f, 0.0f);
glVertex3f(-6.0f, 0.0f, 9.0f);
glTexCoord2f(0.0f, 1.0f);
glVertex3f(-6.0f, 0.0f, -9.0f);
glTexCoord2f(1.0f, 1.0f);
glVertex3f(6.0f, 0.0f, -9.0f);
//Bottom
glNormal3f(0.0f, -1.0f, 0.0f);
glTexCoord2f(1.2f, 0.0f);
glVertex3f(6.0f, -0.5f, 9.0f);
glTexCoord2f(2.2f, 0.0f);
glVertex3f(-6.0f, -0.5f, 9.0f);
glTexCoord2f(2.2f, 1.0f);
glVertex3f(-6.0f, -0.5f, -9.0f);
glTexCoord2f(1.2f, 1.0f);
glVertex3f(6.0f, -0.5f, -9.0f);
param[0] = 0;
param[1] = 0;
param[2] = 0;
param[3] = 0;
glMaterialfv(GL_FRONT_AND_BACK, GL_SPECULAR, param);
glEnable(GL_COLOR_MATERIAL);
glEnd();
glDisable(GL_TEXTURE_2D);
glPopMatrix();
//front right leg
drawLeg(3.0f, 7.0f);
//front left leg
drawLeg(-4.0f, 7.0f);
//back right leg
drawLeg(3.0f, -6.0f);
//back left leg
drawLeg(-4.0f, -6.0f);
}
void drawBee(void)
{
//Draw head
mvstack.push(model_view); //glPushMatrix();
set_colour(0,0,1);
model_view *= Scale(0.5f, 0.5f, 0.5f); //glScalef(0.5,0.5,0.5);
model_view *= Translate(-3.0f, 0.0f, 0.0f); //glTranslatef(-3,0,0);
drawSphere();
model_view = mvstack.pop(); //glPopMatrix();
//Draw body
mvstack.push(model_view); //glPushMatrix();
set_colour(0,0,0);
model_view *= Scale(2.0f, 1.0f, 1.0f); //glScalef(2,1,1);
drawCube();
model_view = mvstack.pop(); //glPopMatrix();
//Draw left wing
mvstack.push(model_view); //glPushMatrix();
set_colour(0.25,0.25,0.25);
model_view *= Translate(0.0f, 0.5f, 0.5f); //glTranslatef(0,0.5,0.5);
model_view *= RotateX(-pathWings); //glRotatef(-pathWings,1,0,0);
model_view *= Translate(0.0f, 0.0f, 1.25f); //glTranslatef(0,0,1.25);
model_view *= Scale(1.0f, 0.125f, 2.5f); //glScalef(1,0.125,2.5);
drawCube();
model_view = mvstack.pop(); //glPopMatrix();
//Draw right wing
mvstack.push(model_view); //glPushMatrix();
set_colour(0.25,0.25,0.25);
model_view *= Translate(0.0f, 0.5f, -0.5f); //glTranslatef(0,0.5,-0.5);
model_view *= RotateX(pathWings); //glRotatef(pathWings,1,0,0);
model_view *= Translate(0.0f, 0.0f, -1.25f); //glTranslatef(0,0,-1.25);
model_view *= Scale(1.0f, 0.125f, 2.5f); //glScalef(1,0.125,2.5);
drawCube();
model_view = mvstack.pop(); //glPopMatrix();
//Draw legs
mvstack.push(model_view); //glPushMatrix();
model_view *= Translate(-1.0f, -0.65f, -0.85f); //glTranslatef(-1,-0.65,-0.85);
for(int legs = 0; legs < 3; legs++)
{
model_view *= Translate(0.5f, 0.0f, 0.0f); //glTranslatef(0.5,0,0);
drawLeg();
}
model_view *= RotateY(180); //glRotatef(180,0,1,0);
model_view *= Translate(-0.5f, 0.0f, -1.7f); //glTranslatef(-0.5,0,-1.7);
for(int legs = 0; legs < 3; legs++)
{
model_view *= Translate(0.5f, 0.0f, 0.0f); //glTranslatef(0.5,0,0);
drawLeg();
}
model_view = mvstack.pop(); //glPopMatrix();
//Draw butt
mvstack.push(model_view); //glPushMatrix();
set_colour(1,1,0);
model_view *= Translate(2.5f, 0.0f, 0.0f); //glTranslatef(2.5,0,0);
model_view *= Scale(1.5f, 0.75f, 0.75f); //glScalef(1.5,0.75,0.75);
drawSphere();
model_view = mvstack.pop(); //glPopMatrix();
}
void Robot::draw() const {
// Retrieve the current (interpolated) pose of the robot.
Pose pose = getPose();
// You can set the robot to be whatever color you like.
// By default it is white.
glPushMatrix();
glMatrixMode(GL_MODELVIEW);
//BODY
glColor4d(1, 1, 1, 1);
glTranslatef(pose.x_, pose.y_,pose.z_);
glRotatef(pose.angles_[BODY_ANGLE], 0, 0, 1);
drawCuboid(BODY_X,BODY_LEN,BODY_Z);
//HEAD
glPushMatrix();
glTranslatef(0,BODY_LEN/2,0);
glRotatef(pose.angles_[HEAD_ANGLE], 0, 0, 1);
glTranslatef(0,.3,0);
drawCuboid(.6,.6,.6);
glPopMatrix();
// ARMS!!
//Right
glPushMatrix();
glTranslatef(0, BODY_LEN/2.0, BODY_Z/2.0 + UARM_WIDTH/2.0); //Move to shoulder joint from center of body
drawArm(pose, RIGHT_SHOULDER, RIGHT_ELBOW);
glPopMatrix();
//Left
glPushMatrix();
glTranslatef(0, BODY_LEN/2.0, - (BODY_Z/2.0 + UARM_WIDTH/2.0)); //Move to shoulder joint from center of body
drawArm(pose, LEFT_SHOULDER, LEFT_ELBOW);
glPopMatrix();
//LEGS
//RIGHT
glPushMatrix();
glTranslatef(0, -1, .25);
drawLeg(pose, RIGHT_HIP, RIGHT_KNEE, RIGHT_ANKLE);
glPopMatrix();
//LEFT
glPushMatrix();
glTranslatef(0, -1, -.25);
drawLeg(pose, LEFT_HIP, LEFT_KNEE, LEFT_ANKLE);
glPopMatrix();
//WINGS
//RIGHT
glPushMatrix();
glTranslatef(-BODY_X/2.0,BODY_LEN/2.0 -.2,BODY_Z/2.0 - .2);
drawWing(pose, RIGHT_WING_MID_Y, RIGHT_WING_Y, RIGHT_WING_Z);
glPopMatrix();
//LEFT
glPushMatrix();
glTranslatef(-BODY_X/2.0,BODY_LEN/2.0 -.2, -BODY_Z/2.0 + .2);
drawWing(pose, LEFT_WING_MID_Y, LEFT_WING_Y, LEFT_WING_Z);
glPopMatrix();
//Body matrix
glPopMatrix();
}