[VC(Visual C++) ]- OpenGL 簡單機器手臂4
[VC(Visual C++) ]- OpenGL 簡單機器手臂4
本篇分享OpenGL 簡單機器手臂4程式，有興趣的(C/P)同好，歡迎來http://filemarkets.com/file/jashliao/92db1ba3/索取，因為我不會上傳檔案分享哈哈 ^ ^。
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主要程式碼 |
// GLbaseView.cpp : implementation of the CGLbaseView class
//
#include "stdafx.h" #include "GLbase.h" #include <gl/glut.h>//第十三步 #include "glmfc.h"//第三步 #include "GLbaseDoc.h" #include "GLbaseView.h" #include "OpenGLFun.h"//第六步 #include "OpenGLPara.h" #include "Dlg1.h" #ifdef _DEBUG #definenew DEBUG_NEW #undef THIS_FILE staticchar THIS_FILE[] = __FILE__; #endif
float view_x,view_y,view_z; float trans_x,trans_y; float Rotat1,Rotat2,Rotat3,Rotat4,Rotat5; float Trans1; /////////////////////////////////////////////////////////////////////////////
// CGLbaseView
IMPLEMENT_DYNCREATE(CGLbaseView, CView)
BEGIN_MESSAGE_MAP(CGLbaseView, CView)
//{{AFX_MSG_MAP(CGLbaseView) ON_WM_CREATE()
ON_WM_SIZE()
ON_WM_ERASEBKGND()
ON_WM_KEYDOWN()
ON_COMMAND(ID_set, Onset)
ON_BN_CLICKED(IDC_BUTTON1, OnButton1)
ON_BN_CLICKED(IDC_A, OnA)
ON_BN_CLICKED(IDC_C, OnC)
ON_BN_CLICKED(IDC_D, OnD)
ON_BN_CLICKED(IDC_E, OnE)
ON_BN_CLICKED(IDC_Q, OnQ)
ON_BN_CLICKED(IDC_S, OnS)
ON_BN_CLICKED(IDC_W, OnW)
ON_BN_CLICKED(IDC_X, OnX)
ON_BN_CLICKED(IDC_Z, OnZ)
ON_BN_CLICKED(IDC_UP1, OnUp1)
ON_BN_CLICKED(IDC_UP2, OnUp2)
ON_BN_CLICKED(IDC_UP3, OnUp3)
ON_BN_CLICKED(IDC_UP4, OnUp4)
ON_BN_CLICKED(IDC_UP5, OnUp5)
ON_BN_CLICKED(IDC_UP6, OnUp6)
ON_BN_CLICKED(IDC_Down1, OnDown1)
ON_BN_CLICKED(IDC_Down2, OnDown2)
ON_BN_CLICKED(IDC_Down3, OnDown3)
ON_BN_CLICKED(IDC_Down4, OnDown4)
ON_BN_CLICKED(IDC_Down5, OnDown5)
ON_BN_CLICKED(IDC_Down6, OnDown6)
//}}AFX_MSG_MAP END_MESSAGE_MAP()
/////////////////////////////////////////////////////////////////////////////
// CGLbaseView construction/destruction
CGLbaseView::CGLbaseView()
{
// TODO: add construction code here
}
CGLbaseView::~CGLbaseView()
{
}
BOOL CGLbaseView::PreCreateWindow(CREATESTRUCT& cs)
{
// TODO: Modify the Window class or styles here by modifying // the CREATESTRUCT cs
return CView::PreCreateWindow(cs); }
/////////////////////////////////////////////////////////////////////////////
// CGLbaseView drawing
void CGLbaseView::OnDraw(CDC* pDC) {
m_pPal = NULL;//第十步 CGLbaseDoc* pDoc = GetDocument();
ASSERT_VALID(pDoc);
////////////////////////////////////////第七步 CPalette * ppalOld = NULL;
if (m_pPal) { ppalOld = pDC->SelectPalette(m_pPal, 0);
pDC->RealizePalette();
}
BOOL bResult = wglMakeCurrent(pDC->m_hDC, m_hrc);
if (FALSE == bResult) TRACE(_T("wglMakeCurrent() failed %x.\r\n"), ::GetLastError());
opengl_Initial();
static GLfloat ambientLight[] = { 1.0f, 1.0f, 1.0f, 1.0f }; static GLfloat diffuseLight[] = { 0.7f, 0.7f, 0.7f, 1.0f }; static GLfloat specular[] = { 0.7f, 0.7f, 0.7f, 1.0f }; //燈光性質 static GLfloat specref [] = { 0.5f, 0.5f, 0.2f, 1.0f }; //反射性質 staticfloat normal[3];//設定法向量
// Clear the window with current clearing color glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);//清除畫面的動作 if(Line_Flag) glPolygonMode(GL_FRONT_AND_BACK, GL_LINE);//會產生多邊形的外圍輪廓 else glPolygonMode(GL_FRONT_AND_BACK, GL_FILL);//會產生填滿的多邊形 ///////////////////////////////////////////
glPushMatrix();///區塊start {
glTranslatef(0.0f,0.0f,0.0f);
glRotatef(view_x, 1.0f, 0.0f, 0.0f);//視角旋轉角度 glRotatef(view_y, 0.0f, 1.0f, 0.0f);//視角旋轉角度 glRotatef(view_z, 0.0f, 0.0f, 1.0f);//視角旋轉角度 glColor3ub(0.0f,0.0f,130.0f);//設顏色 drawRetc(1024.0f,768.0f,10.0f);//底板 glPushMatrix();///區塊start {
glColor3ub(0.0f,130.0f,130.0f);
glTranslatef((1024.0f/2.0f-100.0f/2.0f),(768.0f/2.0f-100.0/2.0f),(10.0f/2.0f+200.0f/2.0f));
glTranslatef(trans_x,0.0,0.0);
glTranslatef(0.0,trans_y,0.0);
drawRetc(100.0f,100.0f,200.0f);//主幹1 glRotatef(Rotat1,0.0f,0.0f,1.0f);
glPushMatrix();///區塊start {
glColor3ub(0.0f,130.0f,30.0f);
glTranslatef(0.0f,0.0f,(200.0f/2.0f)+(200.0f/2.0f));
drawRetc(100.0f,100.0f,200.0f);//主幹2 glPushMatrix();///區塊start {
glColor3ub(130.0f,30.0f,130.0f);
glTranslatef(100.0f/2.0f-300.0f/2.0f,(100.0f/2.0f+100.0f/2.0f),(200.0f/2.0f)-(100.0f/2.0f));
glTranslatef(300.0f/2.0f-100.0f/2.0f,0.0f,0.0f);
glRotatef(Rotat2,0.0f,1.0f,0.0f);
glTranslatef(-300.0f/2+100.0f/2.0f,0.0f,0.0f);
drawRetc(300.0f,100.0f,100.0f);//手臂1 glPushMatrix();///區塊start {
glColor3ub(130.0f,30.0f,30.0f);
glTranslatef(-100.0f,0.0f,0.0f);
glRotatef(Rotat3,0.0f,1.0f,0.0f);
glTranslatef(100.0f,0.0f,0.0f);
glTranslatef(-300.0f/2-250.0f/2.0f+100.0f,-100.0f/2.0f-100.0f/2.0f,0.0f);
drawRetc(250.0f,100.0f,100.0f);//手臂2 glPushMatrix();///區塊start {
glColor3ub(30.0f,130.0f,130.0f);
glTranslatef(-300.0f/2.0f+50.0f/2.0,0.0f,0.0f);
drawCir(50.0f,100.0f,16);//手臂2的半圓 glRotatef(Rotat4,1.0f,0.0f,0.0f);
glPushMatrix();///區塊start {
glColor3ub(130.0f,130.0f,130.0f);
glRotatef(90.0f,1.0f,0.0f,0.0f);
glTranslatef(-50.0f,0.0f,(150.0f+Trans1)/2.0f);
drawCir(10.0f,150.0f+Trans1,16);//手臂3 glPushMatrix();///區塊start {
glTranslatef(0.0f,0.0f,(150.0f+Trans1)/2.0f);
glRotatef(Rotat5,0.0f,0.0f,1.0f);
drawRetc(40.0f,30.0f,3.0f);//手掌 }
glPopMatrix();///區塊end }
glPopMatrix();///區塊end }
glPopMatrix();///區塊end }
glPopMatrix();///區塊end }
glPopMatrix();///區塊end }
glPopMatrix();///區塊end }
glPopMatrix();///區塊end }
glPopMatrix();///區塊end //////////////////////////////////////////
////////////////////////第十一步 glFlush();
SwapBuffers(pDC->m_hDC);
if (ppalOld) pDC->SelectPalette(ppalOld, 0);
wglMakeCurrent(NULL, NULL);
}
/////////////////////////////////////////////////////////////////////////////
// CGLbaseView diagnostics
#ifdef _DEBUG void CGLbaseView::AssertValid() const {
CView::AssertValid();
}
void CGLbaseView::Dump(CDumpContext& dc) const {
CView::Dump(dc);
}
CGLbaseDoc* CGLbaseView::GetDocument() // non-debug version is inline {
ASSERT(m_pDocument->IsKindOf(RUNTIME_CLASS(CGLbaseDoc)));
return (CGLbaseDoc*)m_pDocument; }
#endif//_DEBUG
/////////////////////////////////////////////////////////////////////////////
// CGLbaseView message handlers
int CGLbaseView::OnCreate(LPCREATESTRUCT lpCreateStruct) {
if (CView::OnCreate(lpCreateStruct) == -1) return -1;
///////////////////////////////////////////第四步 dc = new CClientDC (this); PIXELFORMATDESCRIPTOR pfd;
memset(&pfd, 0, sizeof(PIXELFORMATDESCRIPTOR)); pfd.cColorBits = 24;
pfd.cDepthBits = 32;
pfd.dwFlags = PFD_DOUBLEBUFFER | PFD_DRAW_TO_WINDOW | PFD_SUPPORT_OPENGL;
pfd.iLayerType = PFD_MAIN_PLANE;
pfd.iPixelType = PFD_TYPE_RGBA;
pfd.nSize = sizeof(PIXELFORMATDESCRIPTOR); pfd.nVersion = 1;
int nPixelFormat = ChoosePixelFormat(dc->m_hDC, &pfd); if (0 == nPixelFormat) { TRACE(_T("ChoosePixelFormat() failed %d.\r\n"), GetLastError());
return -1; }
TRACE(_T("pixel format %d.\r\n"), nPixelFormat);
BOOL bResult = SetPixelFormat(dc->m_hDC, nPixelFormat, &pfd);
if (FALSE == bResult) { TRACE(_T("SetPixelFormat() failed %d.\r\n"),GetLastError());
return -1; }
// // create a rendering context // m_hrc = wglCreateContext(dc->m_hDC);
if (NULL == m_hrc) { TRACE(_T("wglCreateContext() failed %x.\r\n"), GetLastError());
return -1; }
// // create the palette // CreateRGBPalette(dc->m_hDC, m_pPal);
return 0; }
void CGLbaseView::OnSize(UINT nType, int cx, int cy) {
CView::OnSize(nType, cx, cy);
///////////////////////////////////////////第五步 if ((cx <= 0) || (cy <= 0)) return;
BOOL bResult = wglMakeCurrent(dc->m_hDC, m_hrc);
if (FALSE == bResult) { TRACE(_T("wglMakeCurrent() failed %x.\r\n"), GetLastError());
return; }
int w = cx; int h = cy; // Prevent a divide by zero if(h == 0) h = 1;
// Set Viewport to window dimensions glViewport(0, 0, w, h);//設定視窗中可以讓Open GL繪圖的部分
// Reset coordinate system glMatrixMode(GL_PROJECTION);
glLoadIdentity();
// Establish clipping volume (left, right, bottom, top, near, far) if (w <= h) glOrtho (-nRange, nRange, -nRange*h/w, nRange*h/w, -nRange*2, nRange*2);
else glOrtho (-nRange*w/h, nRange*w/h, -nRange, nRange, -nRange*2, nRange*2);
glMatrixMode(GL_MODELVIEW);
glLoadIdentity();
glLightfv(GL_LIGHT0, GL_POSITION, lightPos);
wglMakeCurrent(NULL, NULL);
}
void CGLbaseView::opengl_Initial()//第九步 {
//open gl初始值設定 glEnable(GL_DEPTH_TEST); // Hidden surface removal glFrontFace(GL_CCW); // Counter clock-wise polygons face out glDisable(GL_CULL_FACE); // Do not calculate inside of jet glShadeModel(GL_SMOOTH);
glEnable(GL_LIGHTING);
glLightfv(GL_LIGHT0,GL_AMBIENT,ambientLight);
glLightfv(GL_LIGHT0,GL_DIFFUSE,diffuseLight);
glLightfv(GL_LIGHT0,GL_SPECULAR,specular);
glEnable(GL_LIGHT0);
glColorMaterial(GL_FRONT, GL_AMBIENT_AND_DIFFUSE);
glEnable(GL_COLOR_MATERIAL);
glMaterialfv(GL_FRONT, GL_SPECULAR, specref);//將多邊形設為具有反射性質 glMateriali(GL_FRONT, GL_SHININESS, 128);//設定反射性質的亮度 glClearColor(0.0f, 100.0f, 150.0f, 1.0f );//設定桌布顏色 glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);//清除螢幕動作
}
BOOL CGLbaseView::OnEraseBkgnd(CDC* pDC)
{
// TODO: Add your message handler code here and/or call default
return TRUE;//第十二步 }
void CGLbaseView::OnKeyDown(UINT nChar, UINT nRepCnt, UINT nFlags) {
// TODO: Add your message handler code here and/or call default switch(nChar) {
case 65://A,4 view_y+=5.0f;
//MessageBox("A"); break; case 67://C,3 break; case 68://D,6 view_y-=5.0f;
//MessageBox("D"); break; case 69://E,9 view_z+=5.0f;
//MessageBox("E"); break; case 81://Q,7 view_z-=5.0f;
//MessageBox("Q"); break; case 83://S,5 view_x=0.0f;
view_y=0.0f;
view_z=0.0f;
break; case 87://W,8 view_x-=5.0f;
//MessageBox("W"); break; case 88://X,2 view_x+=5.0f;
//MessageBox("X"); break; case 90://Z,1 view_z=0.0f;
view_x=-90.0f;
view_y=0.0f;
//MessageBox("Z"); break; case VK_F5: Line_Flag = !Line_Flag;
break; case VK_UP: trans_x+= 5.0f;
break; case VK_DOWN: trans_x -= 5.0f;
break; case VK_RIGHT: trans_y += 5.0f;
break; case VK_LEFT: trans_y -= 5.0f;
break; }
Invalidate(true); CView::OnKeyDown(nChar, nRepCnt, nFlags);
}
void CGLbaseView::Onset() {
// TODO: Add your command handler code here /* CDlg1 dlg1(this);//建立對話盒實體 if(dlg1.DoModal()==IDOK)
{
Rotat1=dlg1.m_v1;
Rotat2=dlg1.m_v2;
Rotat3=dlg1.m_v3;
Rotat4=dlg1.m_v4;
Rotat5=dlg1.m_v5;
Trans1=dlg1.m_v6;
}
Invalidate(true);
*/
bar1.show();
}
void CGLbaseView::OnButton1() {
// TODO: Add your control notification handler code here float data[6]={0}; bar1.GetData(data);
Rotat1=data[0];
Rotat2=data[1];
Rotat3=data[2];
Rotat4=data[3];
Rotat5=data[4];
Trans1=data[5];
this->SetFocus(); Invalidate(true); }
void CGLbaseView::OnQ() {
// TODO: Add your control notification handler code here view_z-=5.0f;
this->SetFocus(); Invalidate(true); }
void CGLbaseView::OnS() {
// TODO: Add your control notification handler code here view_x=0.0f;
view_y=0.0f;
view_z=0.0f;
this->SetFocus(); Invalidate(true); }
void CGLbaseView::OnW() {
// TODO: Add your control notification handler code here view_x-=5.0f;
this->SetFocus(); Invalidate(true); }
void CGLbaseView::OnX() {
// TODO: Add your control notification handler code here view_x+=5.0f;
this->SetFocus(); Invalidate(true); }
void CGLbaseView::OnZ() {
// TODO: Add your control notification handler code here view_z=0.0f;
view_x=-90.0f;
view_y=0.0f;
this->SetFocus(); Invalidate(true); }
void CGLbaseView::OnE() {
// TODO: Add your control notification handler code here view_z+=5.0f;
this->SetFocus(); Invalidate(true); }
void CGLbaseView::OnD() {
// TODO: Add your control notification handler code here view_y-=5.0f;
this->SetFocus(); Invalidate(true); }
void CGLbaseView::OnC() {
// TODO: Add your control notification handler code here Line_Flag = !Line_Flag;
this->SetFocus(); Invalidate(true); }
void CGLbaseView::OnA() {
// TODO: Add your control notification handler code here view_y+=5.0f;
this->SetFocus(); Invalidate(true); }
void CGLbaseView::OnUp1() {
// TODO: Add your control notification handler code here float data[6]={0}; bar1.SentData(0,1.0f);
bar1.GetData(data);
Rotat1=data[0];
Rotat2=data[1];
Rotat3=data[2];
Rotat4=data[3];
Rotat5=data[4];
Trans1=data[5];
this->SetFocus(); Invalidate(true); }
void CGLbaseView::OnUp2() {
// TODO: Add your control notification handler code here float data[6]={0}; bar1.SentData(1,1.0f);
bar1.GetData(data);
Rotat1=data[0];
Rotat2=data[1];
Rotat3=data[2];
Rotat4=data[3];
Rotat5=data[4];
Trans1=data[5];
this->SetFocus(); Invalidate(true); }
void CGLbaseView::OnUp3() {
// TODO: Add your control notification handler code here float data[6]={0}; bar1.SentData(2,1.0f);
bar1.GetData(data);
Rotat1=data[0];
Rotat2=data[1];
Rotat3=data[2];
Rotat4=data[3];
Rotat5=data[4];
Trans1=data[5];
this->SetFocus(); Invalidate(true); }
void CGLbaseView::OnUp4() {
// TODO: Add your control notification handler code here float data[6]={0}; bar1.SentData(3,1.0f);
bar1.GetData(data);
Rotat1=data[0];
Rotat2=data[1];
Rotat3=data[2];
Rotat4=data[3];
Rotat5=data[4];
Trans1=data[5];
this->SetFocus(); Invalidate(true); }
void CGLbaseView::OnUp5() {
// TODO: Add your control notification handler code here float data[6]={0}; bar1.SentData(4,1.0f);
bar1.GetData(data);
Rotat1=data[0];
Rotat2=data[1];
Rotat3=data[2];
Rotat4=data[3];
Rotat5=data[4];
Trans1=data[5];
this->SetFocus(); Invalidate(true); }
void CGLbaseView::OnUp6() {
// TODO: Add your control notification handler code here float data[6]={0}; bar1.SentData(5,1.0f);
bar1.GetData(data);
Rotat1=data[0];
Rotat2=data[1];
Rotat3=data[2];
Rotat4=data[3];
Rotat5=data[4];
Trans1=data[5];
this->SetFocus(); Invalidate(true); }
void CGLbaseView::OnDown1() {
// TODO: Add your control notification handler code here float data[6]={0}; bar1.SentData(0,-1.0f);
bar1.GetData(data);
Rotat1=data[0];
Rotat2=data[1];
Rotat3=data[2];
Rotat4=data[3];
Rotat5=data[4];
Trans1=data[5];
this->SetFocus(); Invalidate(true); }
void CGLbaseView::OnDown2() {
// TODO: Add your control notification handler code here float data[6]={0}; bar1.SentData(1,-1.0f);
bar1.GetData(data);
Rotat1=data[0];
Rotat2=data[1];
Rotat3=data[2];
Rotat4=data[3];
Rotat5=data[4];
Trans1=data[5];
this->SetFocus(); Invalidate(true); }
void CGLbaseView::OnDown3() {
// TODO: Add your control notification handler code here float data[6]={0}; bar1.SentData(2,-1.0f);
bar1.GetData(data);
Rotat1=data[0];
Rotat2=data[1];
Rotat3=data[2];
Rotat4=data[3];
Rotat5=data[4];
Trans1=data[5];
this->SetFocus(); Invalidate(true); }
void CGLbaseView::OnDown4() {
// TODO: Add your control notification handler code here float data[6]={0}; bar1.SentData(3,-1.0f);
bar1.GetData(data);
Rotat1=data[0];
Rotat2=data[1];
Rotat3=data[2];
Rotat4=data[3];
Rotat5=data[4];
Trans1=data[5];
this->SetFocus(); Invalidate(true); }
void CGLbaseView::OnDown5() {
// TODO: Add your control notification handler code here float data[6]={0}; bar1.SentData(4,-1.0f);
bar1.GetData(data);
Rotat1=data[0];
Rotat2=data[1];
Rotat3=data[2];
Rotat4=data[3];
Rotat5=data[4];
Trans1=data[5];
this->SetFocus(); Invalidate(true); }
void CGLbaseView::OnDown6() {
// TODO: Add your control notification handler code here float data[6]={0}; bar1.SentData(5,-1.0f);
bar1.GetData(data);
Rotat1=data[0];
Rotat2=data[1];
Rotat3=data[2];
Rotat4=data[3];
Rotat5=data[4];
Trans1=data[5];
this->SetFocus(); Invalidate(true); }
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