/*
* License Applicability. Except to the extent portions of this file are
* made subject to an alternative license as permitted in the SGI Free
* Software License B, Version 1.1 (the "License"), the contents of this
* file are subject only to the provisions of the License. You may not use
* this file except in compliance with the License. You may obtain a copy
* of the License at Silicon Graphics, Inc., attn: Legal Services, 1600
* Amphitheatre Parkway, Mountain View, CA 94043-1351, or at:
*
* http://oss.sgi.com/projects/FreeB
*
* Note that, as provided in the License, the Software is distributed on an
* "AS IS" basis, with ALL EXPRESS AND IMPLIED WARRANTIES AND CONDITIONS
* DISCLAIMED, INCLUDING, WITHOUT LIMITATION, ANY IMPLIED WARRANTIES AND
* CONDITIONS OF MERCHANTABILITY, SATISFACTORY QUALITY, FITNESS FOR A
* PARTICULAR PURPOSE, AND NON-INFRINGEMENT.
*
* Original Code. The Original Code is: OpenGL Sample Implementation,
* Version 1.2.1, released January 26, 2000, developed by Silicon Graphics,
* Inc. The Original Code is Copyright (c) 1991-2000 Silicon Graphics, Inc.
* Copyright in any portions created by third parties is as indicated
* elsewhere herein. All Rights Reserved.
*
* Additional Notice Provisions: The application programming interfaces
* established by SGI in conjunction with the Original Code are The
* OpenGL(R) Graphics System: A Specification (Version 1.2.1), released
* April 1, 1999; The OpenGL(R) Graphics System Utility Library (Version
* 1.3), released November 4, 1998; and OpenGL(R) Graphics with the X
* Window System(R) (Version 1.3), released October 19, 1998. This software
* was created using the OpenGL(R) version 1.2.1 Sample Implementation
* published by SGI, but has not been independently verified as being
* compliant with the OpenGL(R) version 1.2.1 Specification.
*
*/
/*
* robot.c
* This program shows how to composite modeling transformations
* to draw translated and rotated hierarchical models.
* Interaction: pressing the s and e keys (shoulder and elbow)
* alters the rotation of the robot arm.
*/
#include <GL/glut.h>
#include <stdlib.h>
static int shoulder = 0, elbow = 0;
void init(void)
{
glClearColor (0.0, 0.0, 0.0, 0.0);
glShadeModel (GL_FLAT);
}
void display(void)
{
glClear (GL_COLOR_BUFFER_BIT);
glPushMatrix();
glTranslatef (-1.0, 0.0, 0.0);
glRotatef ((GLfloat) shoulder, 0.0, 0.0, 1.0);
glTranslatef (1.0, 0.0, 0.0);
glPushMatrix();
glScalef (2.0, 0.4, 1.0);
glutWireCube (1.0);
glPopMatrix();
glTranslatef (1.0, 0.0, 0.0);
glRotatef ((GLfloat) elbow, 0.0, 0.0, 1.0);
glTranslatef (1.0, 0.0, 0.0);
glPushMatrix();
glScalef (2.0, 0.4, 1.0);
glutWireCube (1.0);
glPopMatrix();
glPopMatrix();
glutSwapBuffers();
}
void reshape (int w, int h)
{
glViewport (0, 0, (GLsizei) w, (GLsizei) h);
glMatrixMode (GL_PROJECTION);
glLoadIdentity ();
gluPerspective(65.0, (GLfloat) w/(GLfloat) h, 1.0, 20.0);
glMatrixMode(GL_MODELVIEW);
glLoadIdentity();
glTranslatef (0.0, 0.0, -5.0);
}
void keyboard (unsigned char key, int x, int y)
{
switch (key) {
case 's':
shoulder = (shoulder + 5) % 360;
glutPostRedisplay();
break;
case 'S':
shoulder = (shoulder - 5) % 360;
glutPostRedisplay();
break;
case 'e':
elbow = (elbow + 5) % 360;
glutPostRedisplay();
break;
case 'E':
elbow = (elbow - 5) % 360;
glutPostRedisplay();
break;
case 27:
exit(0);
break;
default:
break;
}
}
int main(int argc, char** argv)
{
glutInit(&argc, argv);
glutInitDisplayMode (GLUT_DOUBLE | GLUT_RGB);
glutInitWindowSize (500, 500);
glutInitWindowPosition (100, 100);
glutCreateWindow (argv[0]);
init ();
glutDisplayFunc(display);
glutReshapeFunc(reshape);
glutKeyboardFunc(keyboard);
glutMainLoop();
return 0;
}