void right_thigh(){
glPushMatrix();
glColor3f(1.0, 1.0, 1.0);
glTranslatef(0.33, -1.33, 0.0);
glScalef(0.33, 1.0, 0.0);
glRotatef(theta[0], 1.0, 0.0, 0.0);
drawCube();
right_leg();
glPopMatrix();
}
void robot(){
matrixPush(ModelView);
matrixRotate(ModelView, torso_angle, 0, 0, 1);
torso();
matrixPush(ModelView);
matrixTranslate(ModelView, 0, 10.2, 0);
matrixRotate(ModelView, head_angle, 0, 0, 1);
head();
matrixPush(ModelView);
matrixTranslate(ModelView, .5, 2.5, 0);
eye();
matrixPop(ModelView);
matrixPop(ModelView);
matrixPush(ModelView);
matrixTranslate(ModelView, -4.5, 7, 0);
matrixRotate(ModelView, -45, 0, 0, 1);
arm(left_upper_arm_angle, left_lower_arm_angle, left_wrist_angle);
matrixPop(ModelView);
matrixPush(ModelView);
matrixTranslate(ModelView, 4.5, 7, 0);
matrixRotate(ModelView, 45, 0, 0, 1);
arm(right_upper_arm_angle, right_lower_arm_angle, right_wrist_angle);
matrixPop(ModelView);
matrixPush(ModelView);
lower_torso();
matrixPop(ModelView);
matrixPush(ModelView);
matrixTranslate(ModelView, -2, -1.5, 0);
matrixRotate(ModelView, -30, 0, 0, 1);
leg(left_upper_leg_angle, left_lower_leg_angle, left_foot_angle);
matrixPop(ModelView);
matrixPush(ModelView);
matrixTranslate(ModelView, 2, -1.5, 0);
matrixRotate(ModelView, 30, 0, 0, 1);
right_leg(right_upper_leg_angle, right_lower_leg_angle, right_foot_angle);
matrixPop(ModelView);
matrixPop(ModelView);
}
int main()
{
std::cout << "Robot with semaphore" << std::endl;
robot_semaphore i_am_robot;
std::thread right_leg(step_func<robot_semaphore>, std::ref(i_am_robot), right);
std::thread left_leg(step_func<robot_semaphore>, std::ref(i_am_robot), left);
right_leg.join();
left_leg.join();
std::cout << "Robot with cv" << std::endl;
robot_cv i_am_robot_too;
right_leg = std::thread(step_func<robot_cv>, std::ref(i_am_robot_too), right);
left_leg = std::thread(step_func<robot_cv>, std::ref(i_am_robot_too), left);
right_leg.join();
left_leg.join();
return 0;
}
Body::Body() {
Leg left_leg( p21, p22, p23, LEFT );
Leg right_leg( p24, p25, p26, RIGHT );
}
