void Robot::render(float xPos, float yPos, float zPos)
{
glPushMatrix();
glTranslatef(xPos, yPos, zPos); // move to (0, 0, -30)
// draw head and torso parts
renderHead(0.0f, 3.5f, 0.0f);
renderTorso(0.0f, 0.0f, 0.0f);
// move the left arm away from the torso and rotate it to give "walking" effect
glPushMatrix();
glTranslatef(0.0f, -0.5f, 0.0f);
glRotatef(m_armAngles[LEFT], 1.0f, 0.0f, 0.0f);
renderArm(2.0f, 0.0f, -0.0f);
glPopMatrix();
// move the right arm away from the torso and rotate it to give "walking" effect
glPushMatrix();
glTranslatef(0.0f, -0.5f, 0.0f);
glRotatef(m_armAngles[RIGHT], 1.0f, 0.0f, 0.0f);
renderArm(-2.0f, 0.0f, -0.0f);
glPopMatrix();
// move the left leg away from the torso and rotate it to give "walking" effect
glPushMatrix();
glTranslatef(0.0f, -0.5f, 0.0f);
glRotatef(m_legAngles[LEFT], 1.0f, 0.0f, 0.0f);
renderLeg(-1.0f, -5.0f, -0.5f);
glPopMatrix();
// move the right leg away from the torso and rotate it to give "walking" effect
glPushMatrix();
glTranslatef(0.0f, -0.5f, 0.0f);
glRotatef(m_legAngles[RIGHT], 1.0f, 0.0f, 0.0f);
renderLeg(1.0f, -5.0f, -0.5f);
glPopMatrix();
glPopMatrix();
}
/*
화면그림
*/
void display(void)
{
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
glMatrixMode(GL_MODELVIEW);
drawCage();
for (int i = 0; i < 5; i++) {
drawObject(stObj[i]);
}
//여기서부터 팔 그림
drawArmBand();
glTranslatef(armData.x, (LARGE_CUBE_SIZE /2)+0.5, armData.z);
renderArm(&band);
glRotatef(45,0,1,0);
renderArm(&hand);
glPushMatrix();
renderArm(&claw1);
renderArm(&claw5);
glPopMatrix();
glPushMatrix();
renderArm(&claw2);
renderArm(&claw6);
glPopMatrix();
glPushMatrix();
renderArm(&claw3);
renderArm(&claw7);
glPopMatrix();
glPushMatrix();
renderArm(&claw4);
renderArm(&claw8);
glPopMatrix();
if (armData.visible == VISIBLE) {
glTranslatef(0,-0.5,0);
glRotatef(-45,0,1,0);
renderArm(&hanggedObject);
}
//glutPostRedisplay();
glutSwapBuffers();
}
void display(void)
{
glViewport(0,0,(GLsizei)WINDOW_WIDTH,(GLsizei)WINDOW_HEIGHT);
glMatrixMode(GL_PROJECTION);
glLoadIdentity();
gluPerspective(40,(GLfloat)WINDOW_WIDTH/(GLfloat)WINDOW_HEIGHT, 1, 100);
gluLookAt(0,15, 20, 0, 0, 0, 0, 1, 0);
int i;
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
glMatrixMode(GL_MODELVIEW);
init_light();
drawCage();
for (i = 0; i < 5; i++) {
drawObject(stObj[i]);
}
drawArmBand();
glLoadIdentity();
glTranslatef(armData.x, (LARGE_CUBE_SIZE /2)+0.5, armData.z);
renderArm(&band);
glRotatef(45,0,1,0);
renderArm(&hand);
glPushMatrix();
renderArm(&claw1);
renderArm(&claw5);
glPopMatrix();
glPushMatrix();
renderArm(&claw2);
renderArm(&claw6);
glPopMatrix();
glPushMatrix();
renderArm(&claw3);
renderArm(&claw7);
glPopMatrix();
glPushMatrix();
renderArm(&claw4);
renderArm(&claw8);
glPopMatrix();
if (armData.visible == VISIBLE) {
glTranslatef(0,-0.5,0);
glRotatef(-45,0,1,0);
renderArm(&hanggedObject);
}
glPushAttrib(GL_TRANSFORM_BIT // to backup & restore "current matrix mode"
| GL_ENABLE_BIT); // to backup & restore "depth test" and "lighting" status
glDisable(GL_DEPTH_TEST);
glDisable(GL_LIGHTING);
glMatrixMode(GL_PROJECTION);
glPushMatrix(); // not to mess up the projection matrix...
glLoadIdentity();
glOrtho(0, WINDOW_WIDTH, 0, WINDOW_HEIGHT, -1, 1);
glMatrixMode(GL_MODELVIEW);
glPushMatrix(); // not to mess up the modelview matrix...
glLoadIdentity();
{
char buf[128];
int i;
sprintf(buf, "claw position: (%f, %f, %f)", armData.x, armData.y ,armData.z);
glColor3f(1,1,1);
glRasterPos3f(10, 10, 0);
for(i = 0 ; i < strlen(buf) ; i++)
{
glutBitmapCharacter(GLUT_BITMAP_9_BY_15, buf[i]);
}
}
glPopMatrix();
glMatrixMode(GL_PROJECTION);
glPopMatrix();
glPopAttrib();
glViewport(638,0,150,150);
glMatrixMode(GL_PROJECTION);
glLoadIdentity();
gluPerspective(40,150/150,1, 100);
//glOrtho(, 2.0, -2, 2, 1, 10);
gluLookAt(armData.x,armData.y,armData.z, armData.x,-6,armData.z, 0, 0, -1);
glMatrixMode(GL_MODELVIEW);
init_light();
drawCage();
for (i = 0; i < 5; i++) {
drawObject(stObj[i]);
}
drawArmBand();
glLoadIdentity();
glTranslatef(armData.x, (LARGE_CUBE_SIZE /2)+0.5, armData.z);
renderArm(&band);
glRotatef(45,0,1,0);
renderArm(&hand);
glPushMatrix();
renderArm(&claw1);
renderArm(&claw5);
glPopMatrix();
glPushMatrix();
renderArm(&claw2);
renderArm(&claw6);
glPopMatrix();
glPushMatrix();
renderArm(&claw3);
renderArm(&claw7);
glPopMatrix();
glPushMatrix();
renderArm(&claw4);
renderArm(&claw8);
glPopMatrix();
if (armData.visible == VISIBLE) {
glTranslatef(0,-0.5,0);
glRotatef(-45,0,1,0);
renderArm(&hanggedObject);
}
glutSwapBuffers();
}
