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我刚刚绘制了一个3自由度机器人与3个关节是revoloute，我画了一个shere作为一个障碍，应该是恒定的，没有任何移动，但随着机器人的抓手开始移动我的障碍移动，这不应该，第二个问题是：我想arond把我的机器人我用箭头键世界上没有错误这样做，但它dosent work.here是我的代码：如何在其他零件旋转时停止旋转物体？
#include <GL/glut.h>
#include <stdio.h>
#include <stdlib.h>
#define VIEW_TURN_RATE 10
#define GLUT
#define GLUT_KEY
#define GLUT_SPEC
float t1=30;
float t2=45;
float t3=45;
float t4=0;
float t5=0;
float l=1.5;
float h=0.2*l;
double m=0.2;
double n=0.2;
double p=0.2;
float eyex,eyey=0;
float eyez=6;
float lx,ly,lz=0;
int turn = 0, turn1 = 0;
void TurnRight(void)
{
turn = (turn - VIEW_TURN_RATE) % 360;
}
void TurnLeft(void)
{
turn = (turn + VIEW_TURN_RATE) % 360;
}
void TurnForwards(void)
{
turn1 = (turn1 - VIEW_TURN_RATE) % 360;
}
void TurnBackwards(void)
{
turn1 = (turn1 + VIEW_TURN_RATE) % 360;
}
void myidlefunc()
{
if(t1<100)
t1+=2;
else
{
if(t2<150)
t2+=2;
else
{
if(t3<150)
t3+=2;
else
{
if(t4<150)
t4+=2;
else
{
if(t5<120)
t5+=2;
else
{
glutIdleFunc(0);
}
}
}
}
}
glutPostRedisplay();
}
#ifdef GLUT
#ifdef GLUT_SPEC
void
special(int key, int x, int y)
{
int i = 0;
printf("this is special keyboard: %d \n",key);
switch (key) {
/* start of view position functions */
case 'r':{
TurnRight();
i++;
}
break;
case GLUT_KEY_LEFT:{
TurnLeft();
i++;
}
break;
case GLUT_KEY_DOWN:{
TurnForwards();
i++;
}
break;
case GLUT_KEY_UP:{
TurnBackwards();
i++;
}
break;
/* end of view postions functions */
}
if (i)
glutPostRedisplay();
}
#endif
#ifdef GLUT_KEY
void keyboard(unsigned char c,int x,int y)
{
switch(c)
{
case 27:
exit(0);
break;
case 's':
if (t1 < 50) {
t1++;}
break;
case 'S':
//if (t1 < 80) {
t1--;
//}
break;
case 'q':
glutIdleFunc(myidlefunc);
break;
case 'f':
if (t2 < 160) {
t2++;}
break;
case 'F':
t2--;
break;
case 'g':
t3++;
break;
case 'h':
t4++;
break;
case 'k':
t5++;
break;
}
glutPostRedisplay();
}
#endif
#endif
void drawFloor(void)
{
glPushMatrix();
glBegin(GL_QUADS);
glColor3f(0.0,0.8,0.8);
glVertex3f(-20.0, 0.0, 100.0);
glVertex3f(20.0, 0.0, 100.0);
glVertex3f(20.0, 0.0, -100.0);
glVertex3f(-20.0, 0.0, -100.0);
glEnd();
glPopMatrix();
glEnable(GL_LIGHTING);
}
void Base(float l)
{
glPushMatrix();
//glColor3f(0.4,0.6,0.5);
glScaled(1.0*l,0.2*l,1.0*l);
glutSolidCube(1);
glPopMatrix();
}
void obst(float radius, int slices, int stacks)
{
glTranslated (0,-0.5,0.0);
glPushMatrix();
glutSolidSphere (radius,slices,stacks);
glPopMatrix();
}
void arm(float l,float r,int slices,int stacks,float rotat)
{
float d;
d=0.2*l;
glTranslated (0,l/2+d/2,0);
glPushMatrix();
glScaled (d/l,1,d/l);
glutSolidCube (l);
glPopMatrix();
glTranslated (0,l/2,0);
glRotated (rotat,0,0,1);
glPushMatrix();
glutSolidSphere (r,slices,stacks);
glPopMatrix();
}
void Base2(float l,float r,int slices,int stacks,float rotat)
{
float d;
d=0.2*l;
glTranslated (d/2,d/2,d/2);
glPushMatrix();
glScaled (d,d/2,d);
glutSolidCube (2);
glPopMatrix();
}
void hand(float d,float x)
{
glColor3f(0.0,0.4,0.3);
glRotated(t5,0,1,0);
glPushMatrix();
glTranslated(0,-d/2+x/2,0);
glScaled(1,x/d,1);
glutSolidCube (d);
glPopMatrix();
glPushMatrix();
glTranslated(-d/2+x/2,x/2,0);
glScaled (x/(d-x),1,d/(d-x));
glutSolidCube(d-x);
glPopMatrix();
glPushMatrix();
glTranslated (d/2-x/2,x/2,0);
glScaled (x/(d-x),1,d/(d-x));
glutSolidCube(d-x);
glPopMatrix();
}
void display()
{
float l,T,r,x,d;
double radius,height;
int slices, stacks;
l=1.5;
T=30;
d=0.2*l;
x=0.2*d;
r=d/2;
radius=1.0;
height=3;
slices=1000;
stacks=202;
glClearColor(1.0,1.0,1.0,1.0);
glClear(GL_DEPTH_BUFFER_BIT | GL_COLOR_BUFFER_BIT);
glPushMatrix();
//lightning start here
glEnable(GL_LIGHT0);
GLfloat light0_pos []={lx,ly+1,lz+1,1};
GLfloat light0_diffuse []={1,0,0,0};
glLightfv(GL_LIGHT0,GL_DIFFUSE,light0_diffuse);
GLfloat light0_Ambient []={0,1,1,0};
glLightfv(GL_LIGHT0,GL_DIFFUSE,light0_Ambient);
gluLookAt(0.2,0.8,0.0,5.0,3.0,5.0,0.0,0.1,0.0);
glLightfv(GL_LIGHT0,GL_POSITION,light0_pos);
glScaled(0.2,0.2,0.2);
glRotated(90,0.0,1.0,0.0);
/* Draw "bottom" of floor in blue. */
glColor3f(0.0, 0.8, 0.8);
drawFloor();
//base
glColor3f(0.0,0.0,0.0);
Base(2);
//base2
glColor3f(1.0,0.0,0.0);
Base2(l,r,60,60,t1);
//arm1
glColor3f(1.0,0.0,0.8);
arm(l,r,60,60,t1);
glColor3f(0.0,1.0,0.0);
arm(l,r,60,60,t2);
glColor3f(1.0,0.8,0.5);
arm(l,r,60,60,t3);
//hand
glTranslated (0,d/2+r,0);
hand(d,x);
//obst
glTranslated (-1,3,0);
glColor3f(0.0,0.0,1.0);
obst(radius,slices,stacks);
//glRotated(0.0,0.0,1.0,0.0);
glPopMatrix();
glFlush();
glutSwapBuffers();
}
void reshape(int width,int height)
{
float aspect=(float)width/(float)height;
glMatrixMode(GL_PROJECTION);
glLoadIdentity();
glViewport(0,0,width,height);
//glOrtho(-aspect,aspect,-1,+1,-1,+1);
gluPerspective(60.0,0.0,0.0,8);
glMatrixMode (GL_MODELVIEW);
glLoadIdentity();
//glTranslatef(0.0, 0.0, 0.0); /* viewing transform */
}
int main(int argc,char** argv)
{
glutInit(&argc,argv);
glutInitDisplayMode(GLUT_RGBA|GLUT_DOUBLE);
glutInitWindowPosition(0,0);
glutInitWindowSize(500,500);
static int window=glutCreateWindow("OPenGL!");
glutDisplayFunc(display);
glutReshapeFunc(reshape);
glutKeyboardFunc(keyboard);
#ifdef GLUT_SPEC
glutSpecialFunc(special);
#endif
glShadeModel(GL_FLAT);
glEnable(GL_LIGHTING);
glEnable(GL_DEPTH_TEST);
glEnable(GL_COLOR_MATERIAL);
glutMainLoop();
exit(0);
}
只需对编码风格进行评论，就可以用更易读的格式表示嵌套的if-else语句（原谅缺少注释中的换行符），如下所示：'if（t1 <100） \t t1 + = 2 ;如果（t2 <150） \t t2 + = 2; else if（t3 <150） \t t3 + = 2; else if（t4 <150） \t t4 + = 2; else if（t5 <120） \t t5 + = 2; else \t glutIdleFunc（0）;' – 2011-05-10 02:51:35