只带一根手指的机器人手臂

最新推荐文章于 2025-08-18 22:15:47 发布

tiger1334

最新推荐文章于 2025-08-18 22:15:47 发布

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CC 4.0 BY-SA版权

本文链接：https://blog.youkuaiyun.com/tiger1334/article/details/39081223

本文介绍了一个使用OpenGL和GLUT库实现的手臂动画绘制程序。通过键盘输入可以控制肩部、肘部和手指关节的角度变化，展示基本的人手运动。代码中详细展示了如何设置OpenGL上下文、响应键盘输入并更新动画状态。


#include "stdafx.h"
#include <GL/glut.h>
#include <stdlib.h>

static int shoulder = 0, elbow = 0, finger = 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();

   glTranslatef (1.0, 0.0, 0.0);
   glRotatef ((GLfloat) finger, 0.0, 0.0, 1.0);
   glTranslatef (0.3, 0.0, 0.0);

   glPushMatrix();
   glScalef(0.6,0.2,0.2);
   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 'f':
         finger = (finger + 5) % 360;
         glutPostRedisplay();
         break;
      case 'F':
         finger = (finger - 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;
}

本人较懒，不想写多个手指的情况，有兴趣的朋友请自行完成