機器人自己動

#include <stdio.h>
#include <GL/glut.h>
#include <opencv/highgui.h>
#include <opencv/cv.h>
//#include "CMP3_MCI.h"
//CMP3_MCI myMP3;
//float angle0=0, angle1=0, angle2=0, angle3=0, angle4=0, angle5=0, angle6=0, angle7=0;
float angle[8]={0,0,0,0,0,0,0,0};
int angleID=0;
GLuint id[4];//技巧2: 使用陣列, 讓變數 變 簡單 simple
IplImage * img[4];
char filename[4][100]={"imgBody.png", "imgHand0.png", "imgLeg0.png", "imgLeg1.png"};
void myTexture()
{
glEnable(GL_TEXTURE_2D);
for(int i=0; i<4; i++){//技巧3: 迴圈, 可以讓程式碼, 做重覆的事可以很爽 清爽
img[i] = cvLoadImage( filename[i] );
cvCvtColor(img[i], img[i], CV_BGR2RGB);
glGenTextures(1, &id[i]);
glBindTexture(GL_TEXTURE_2D, id[i]);//head
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_LINEAR);
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_LINEAR);
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_S, GL_LINEAR);
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_T, GL_LINEAR);
glTexImage2D(GL_TEXTURE_2D, 0, GL_RGB, img[i]->width, img[i]->height, 0, GL_RGB, GL_UNSIGNED_BYTE, img[i]->imageData);
}
}
void myRect()//技巧1: 重覆的程式碼, 用函式拉出來, 就不用一直copy啦
{//函式就是 黑盒子 幫你做事情!
glPushMatrix();
glScalef(0.2, 0.5, 0.5);
glBegin(GL_POLYGON);
glTexCoord2f(0,0);  glVertex3f(-0.5, 0.5,0);
glTexCoord2f(0,1);  glVertex3f(-0.5,-0.5,0);
glTexCoord2f(1,1);  glVertex3f( 0.5,-0.5,0);
glTexCoord2f(1,0);  glVertex3f( 0.5, 0.5,0);
glEnd();
glPopMatrix();
}
void display()
{
glEnable(GL_DEPTH_TEST);
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
glPushMatrix();
glBindTexture(GL_TEXTURE_2D, id[0]);
myRect();//body//技巧1: 用函式, 哥就是帥!
glPushMatrix();//left hand 今天的技巧1: 大的手
glTranslatef(-0.1, 0.15, 0);
glRotatef(angle[0], 0,0,1);
glTranslatef(0, -0.25, 0);
glBindTexture(GL_TEXTURE_2D, id[1]);
myRect();//技巧1: 用函式, 哥就是帥!
glPushMatrix();// 今天的技巧2: 小的手
glTranslatef(0, -0.25, 0);//(3) T: 掛在該掛的位子
glRotatef(angle[1], 0,0,1);//(2) R:
glTranslatef(0, -0.25, 0);//(1) T: 改變旋轉軸的位置
myRect();
glPopMatrix();
glPopMatrix();
glPushMatrix();//right hand
glTranslatef(0.1, 0.15, 0);
glRotatef(-angle[2], 0,0,1);
glTranslatef(0, -0.25, 0);
glBindTexture(GL_TEXTURE_2D, id[1]);
myRect();//技巧1: 用函式, 哥就是帥!
glPushMatrix();// 今天的技巧2: 小的手
glTranslatef(0, -0.25, 0);//(3) T: 掛在該掛的位子
glRotatef(-angle[3], 0,0,1);//(2) R:
glTranslatef(0, -0.25, 0);//(1) T: 改變旋轉軸的位置
myRect();
glPopMatrix();
glPopMatrix();
glPushMatrix();//left leg
glTranslatef( -0.05, -0.25, 0);
glRotatef(180-angle[4], 0,0,1);
glTranslatef(0, 0.25, 0);
glBindTexture(GL_TEXTURE_2D, id[2]);
myRect();
glPushMatrix();//left foot
glTranslatef( 0, 0.25, 0);
glRotatef(angle[5], 0,0,1);
glTranslatef(0, 0.15, 0);
glBindTexture(GL_TEXTURE_2D, id[3]);
myRect();
glPopMatrix();
glPopMatrix();
glPushMatrix();//right leg
glTranslatef( 0.05, -0.25, 0);
glRotatef(-(180-angle[6]), 0,0,1);
glTranslatef(0, 0.25, 0);
glBindTexture(GL_TEXTURE_2D, id[2]);
myRect();
glPushMatrix();//left foot
glTranslatef( 0, 0.25, 0);
glRotatef(-angle[7], 0,0,1);
glTranslatef(0, 0.15, 0);
glBindTexture(GL_TEXTURE_2D, id[3]);
myRect();
glPopMatrix();  
glPopMatrix();
glPopMatrix();
glutSwapBuffers();
 }

FILE*fout=NULL,*fin=NULL;

void timer (int)
{
glutTimerFunc(1000,timer,0);
if(fin==NULL) fin=fopen("this_is_my_file_to_animation.txt","r");
fscanf(fin,"%f %f %f %f %f %f %f %f\n",&angle[0],&angle[1],&angle[2],&angle[3],&angle[4],&angle[5],&angle[6],&angle[7]);
printf("%f %f %f %f %f %f %f %f\n",angle[0],angle[1],angle[2],angle[3],angle[4],angle[5],angle[6],angle[7]);
glutPostRedisplay();
}

 void keyboard(unsigned char key, int x, int y)
 {
if(key=='0') angleID=0;
if(key=='1') angleID=1;
if(key=='2') angleID=2;
if(key=='3') angleID=3;
if(key=='4') angleID=4;
if(key=='5') angleID=5;
if(key=='6') angleID=6;
if(key=='7') angleID=7;
if(key=='s')
{
if(fout==NULL) fout=fopen("this_is_my_file_to_animation.txt","w+");
fprintf(fout,"%f %f %f %f %f %f %f %f\n",angle[0],angle[1],angle[2],angle[3],angle[4],angle[5],angle[6],angle[7]);
printf("%f %f %f %f %f %f %f %f\n",angle[0],angle[1],angle[2],angle[3],angle[4],angle[5],angle[6],angle[7]);
}
if(key=='r')
{
if(fin==NULL) fin=fopen("this_is_my_file_to_animation.txt","r");
fscanf(fin,"%f %f %f %f %f %f %f %f\n",&angle[0],&angle[1],&angle[2],&angle[3],&angle[4],&angle[5],&angle[6],&angle[7]);
printf("%f %f %f %f %f %f %f %f\n",angle[0],angle[1],angle[2],angle[3],angle[4],angle[5],angle[6],angle[7]);
}
if(key=='p')
{
glutTimerFunc(1000,timer,0);
}
glutPostRedisplay();//請電腦重新畫一次畫面
 }
int oldX=0, oldY=0;
void mouse(int button, int state, int x, int y)
{
oldX=x; oldY=y;
}
void motion(int x, int y)
{
angle[angleID] += x-oldX;  oldX=x;
glutPostRedisplay();
}
int main()
{
//myMP3.Load("song.mp3");
//myMP3.Play();
glutInitDisplayMode(GLUT_DOUBLE | GLUT_DEPTH);
glutCreateWindow("week11");
glutDisplayFunc(display);
glutKeyboardFunc(keyboard);
glutMouseFunc(mouse);
glutMotionFunc(motion);
myTexture();

glutMainLoop();
}