【OpenGL】绘制2D机器人并实现二维变换的综合运用

企业开发 2021-03-26 10:14:29 阅读次数: 0

【OpenGL】绘制2D机器人并实现二维变换的综合运用

1.绘制目标

绘制2D机器人并实现二维变换的综合运用
在这里插入图片描述

2.核心代码

2.1 绘制矩形

void _init()
{
    
    
	glClearColor(1.0f, 1.0f, 1.0f, 1.0f);
}

/// <summary>
/// 绘制矩形
/// </summary>
/// <param name="x">左上角点的x坐标</param>
/// <param name="y">左上角点的y坐标</param>
/// <param name="height">矩形的高度</param>
/// <param name="width">矩形的宽度</param>
/// <param name="_R">颜色R</param>
/// <param name="_G">颜色G</param>
/// <param name="_B">颜色B</param>
void drawRectangle(double x, double y, double height, double width, double _R, double _G, double _B)
{
    
    
	glColor3f(_R, _G, _B);
	glBegin(GL_TRIANGLE_STRIP);
	glVertex2f(x, y);
	glVertex2f(x, y - height);
	glVertex2f(x + width, y);
	glVertex2f(x + width, y - height);
	glEnd();
}

2.2 绘制机器人的躯体

/// <summary>
/// 绘制机器人的躯体
/// </summary>
/// <param name="base_x">左上角点的x坐标</param>
/// <param name="base_y">左上角点的y坐标</param>
/// <param name="height">矩形的高度</param>
/// <param name="width">矩形的宽度</param>
/// <param name="stickLength">长度</param>
/// <param name="_R">颜色R</param>
/// <param name="_G">颜色G</param>
/// <param name="_B">颜色B</param>
void drawRobotBodyPart(double base_x, double base_y, double height, double width, double stickLength, double _R, double _G, double _B)
{
    
    
	drawRectangle(base_x, base_y, height, width, _R, _G, _B);

	double bodyStart_height = stickLength;
	double bodyStart_width = sqrt(width / 40);

	double bodyStart_x = base_x + width / 2 - bodyStart_width / 2;
	double bodyStart_y = base_y;

	drawRectangle(bodyStart_x, bodyStart_y + bodyStart_height, bodyStart_height, bodyStart_width, _R, _G, _B);
}

2.3 绘制机器人的手臂

/// <summary>
/// 绘制机器人的手臂
/// </summary>
/// <param name="base_x">左上角点的x坐标</param>
/// <param name="base_y">左上角点的y坐标</param>
/// <param name="height">矩形的高度</param>
/// <param name="width">矩形的宽度</param>
/// <param name="stickLength">长度</param>
/// <param name="_R">颜色R</param>
/// <param name="_G">颜色G</param>
/// <param name="_B">颜色B</param>
void drawRobotHand(double base_x, double base_y, double height, double width, double stickLength, double _R, double _G, double _B)
{
    
    
	glPushMatrix();
	glRotated(5, 0, 0, 1);
	glTranslated(-width, -height - 2.5 * stickLength, 0);
	drawRobotBodyPart(base_x, base_y, height, width, stickLength * 0.8, _R, _G, _B);
	glPopMatrix();

	drawRobotBodyPart(base_x, base_y, height, width, stickLength, _R, _G, _B);
}

2.4 绘制机器人的脚

/// <summary>
/// 绘制机器人的脚
/// </summary>
/// <param name="base_x">左上角点的x坐标</param>
/// <param name="base_y">左上角点的y坐标</param>
/// <param name="height">矩形的高度</param>
/// <param name="width">矩形的宽度</param>
/// <param name="stickLength">长度</param>
/// <param name="_R">颜色R</param>
/// <param name="_G">颜色G</param>
/// <param name="_B">颜色B</param>
void drawRobotLeg(double base_x, double base_y, double height, double width, double stickLength, double _R, double _G, double _B)
{
    
    
	drawRobotBodyPart(base_x, base_y, height, width, stickLength, _R, _G, _B);
	drawRobotBodyPart(base_x, base_y - height - stickLength * 0.8, height, width, stickLength, _R, _G, _B);
}

2.5 绘制圆面

/// <summary>
/// 绘制圆面
/// </summary>
/// <param name="r">圆面半径</param>
/// <param name="circle_x">圆面x坐标</param>
/// <param name="circle_y">圆面y坐标</param>
/// <param name="_R">颜色R</param>
/// <param name="_G">颜色G</param>
/// <param name="_B">颜色B</param>
void DrawCirclePointGpBlackSet(double r, double circle_x, double circle_y, double _R, double _G, double _B)
{
    
    
	glColor3f(_R, _G, _B);
	glBegin(GL_TRIANGLE_FAN);

	for (double i = -r; i <= r; i += 0.001)
	{
    
    
		double x = i;
		double y = sqrt(r * r - x * x);
		glVertex2f(x + circle_x, y + circle_y);
	}
	for (double i = r; i >= -r; i -= 0.001)
	{
    
    
		double x = i;
		double y = sqrt(r * r - x * x);
		glVertex2f(x + circle_x, -y + circle_y);
	}
	for (double i = -r; i <= r; i += 0.001)
	{
    
    
		double x = i;
		double y = sqrt(r * r - x * x);
		glVertex2f(x + circle_x, y + circle_y);
	}
	glEnd();
}

2.6 绘制圆弧

/// <summary>
/// 绘制圆弧
/// </summary>
/// <param name="r">圆面半径</param>
/// <param name="circle_x">圆面x坐标</param>
/// <param name="circle_y">圆面y坐标</param>
/// <param name="_R">颜色R</param>
/// <param name="_G">颜色G</param>
/// <param name="_B">颜色B</param>
void DrawArcPointGpSet(double r, double circle_x, double circle_y, double _R, double _G, double _B)
{
    
    
	glColor3f(_R, _G, _B);
	glBegin(GL_LINE_STRIP);

	for (double i = r; i >= -r; i -= 0.001)
	{
    
    
		double x = i;
		double y = sqrt(r * r - x * x);
		glVertex2f(x + circle_x, -y + circle_y);
	}
	glEnd();
}

2.7 绘制脸蛋

/// <summary>
/// 绘制脸蛋
/// </summary>
/// <param name="face_x">脸蛋的x坐标</param>
/// <param name="face_y">脸蛋的y坐标</param>
/// <param name="face_r">脸蛋的半径坐标</param>
void DrawFace(double face_x, double face_y, double face_r)
{
    
    
	glPushMatrix();
	// 黄色的脸蛋
	DrawCirclePointGpBlackSet(face_r, face_x, face_y, 255, 215, 0);
	// 黑色的眼睛
	DrawCirclePointGpBlackSet(face_r / 6, face_x - face_r / 3, face_y + face_r / 10, 0, 0, 0);
	DrawCirclePointGpBlackSet(face_r / 6, face_x + face_r / 3, face_y + face_r / 10, 0, 0, 0);
	// 红色嘴巴
	DrawArcPointGpSet(face_r / 3, face_x, face_y - face_r / 3, 255, 0, 0);

	glPopMatrix();
}

2.8 键盘响应

void KeyBoards(int key, int x, int y)
{
    
    
	switch (key)
	{
    
    
	case GLUT_KEY_UP:
		glMatrixMode(GL_MODELVIEW);
		glTranslated(xDir, ++yDir, zDir);
		glutPostRedisplay();
		break;
	case GLUT_KEY_LEFT:
		glMatrixMode(GL_MODELVIEW);
		glTranslated(--xDir, yDir, zDir);
		glutPostRedisplay();
		break;
	case GLUT_KEY_DOWN:
		glMatrixMode(GL_MODELVIEW);
		glTranslated(xDir, --yDir, zDir);
		glutPostRedisplay();
		break;
	case GLUT_KEY_RIGHT:
		glMatrixMode(GL_MODELVIEW);
		glTranslated(++xDir, yDir, zDir);
		glutPostRedisplay();
		break;
	case GLUT_KEY_INSERT:
		glMatrixMode(GL_MODELVIEW);
		glRotatef(++angle, 0, 0, 1);
		glutPostRedisplay();
		break;

	case GLUT_KEY_END:
		glMatrixMode(GL_MODELVIEW);
		glRotatef(--angle, 0, 0, 1);
		glutPostRedisplay();
		break;
	}
}

2.9 绘制2D机器人

void DrawRobot()
{
    
    
	glPushMatrix();
	glRotated(70, 0, 0, 1);
	glTranslated(0, -1.2, 0);
	drawRobotHand(3, 0, 1.8, 0.8, 0.5, 0.5, 0, 1);
	glPopMatrix();
	glPushMatrix();
	glRotated(-70, 0, 0, 1);
	glTranslated(-7, -1, 0);
	drawRobotHand(3, 0, 1.8, 0.8, 0.5, 0.5, 0, 1);
	glPopMatrix();
	drawRobotLeg(-1.5, -2.3, 2, 1, 0.5, 1, 0, 0);
	drawRobotLeg(0.5, -2.3, 2, 1, 0.5, 1, 0, 0);
	drawRobotBodyPart(-2, 4, 6, 4, 0.5, 0, 0, 1);
	DrawFace(0, 5.7, 1.5);
}

3.全部代码

#define GLEW_STATIC
#define FREEGLUT_STATIC

#include <GL/glew.h>
#include <GL/freeglut.h>
#include <GL/glext.h>
#include <math.h>

GLdouble xDir = 0.0;
GLdouble yDir = 0.0;
GLdouble zDir = 0.0;
GLfloat angle = 0.0;

void _init()
{
    
    
	glClearColor(1.0f, 1.0f, 1.0f, 1.0f);
}

/// <summary>
/// 绘制矩形
/// </summary>
/// <param name="x">左上角点的x坐标</param>
/// <param name="y">左上角点的y坐标</param>
/// <param name="height">矩形的高度</param>
/// <param name="width">矩形的宽度</param>
/// <param name="_R">颜色R</param>
/// <param name="_G">颜色G</param>
/// <param name="_B">颜色B</param>
void drawRectangle(double x, double y, double height, double width, double _R, double _G, double _B)
{
    
    
	glColor3f(_R, _G, _B);
	glBegin(GL_TRIANGLE_STRIP);
	glVertex2f(x, y);
	glVertex2f(x, y - height);
	glVertex2f(x + width, y);
	glVertex2f(x + width, y - height);
	glEnd();
}

/// <summary>
/// 绘制机器人的躯体
/// </summary>
/// <param name="base_x">左上角点的x坐标</param>
/// <param name="base_y">左上角点的y坐标</param>
/// <param name="height">矩形的高度</param>
/// <param name="width">矩形的宽度</param>
/// <param name="stickLength">长度</param>
/// <param name="_R">颜色R</param>
/// <param name="_G">颜色G</param>
/// <param name="_B">颜色B</param>
void drawRobotBodyPart(double base_x, double base_y, double height, double width, double stickLength, double _R, double _G, double _B)
{
    
    
	drawRectangle(base_x, base_y, height, width, _R, _G, _B);

	double bodyStart_height = stickLength;
	double bodyStart_width = sqrt(width / 40);

	double bodyStart_x = base_x + width / 2 - bodyStart_width / 2;
	double bodyStart_y = base_y;

	drawRectangle(bodyStart_x, bodyStart_y + bodyStart_height, bodyStart_height, bodyStart_width, _R, _G, _B);
}

/// <summary>
/// 绘制机器人的手臂
/// </summary>
/// <param name="base_x">左上角点的x坐标</param>
/// <param name="base_y">左上角点的y坐标</param>
/// <param name="height">矩形的高度</param>
/// <param name="width">矩形的宽度</param>
/// <param name="stickLength">长度</param>
/// <param name="_R">颜色R</param>
/// <param name="_G">颜色G</param>
/// <param name="_B">颜色B</param>
void drawRobotHand(double base_x, double base_y, double height, double width, double stickLength, double _R, double _G, double _B)
{
    
    
	glPushMatrix();
	glRotated(5, 0, 0, 1);
	glTranslated(-width, -height - 2.5 * stickLength, 0);
	drawRobotBodyPart(base_x, base_y, height, width, stickLength * 0.8, _R, _G, _B);
	glPopMatrix();

	drawRobotBodyPart(base_x, base_y, height, width, stickLength, _R, _G, _B);
}

/// <summary>
/// 绘制机器人的脚
/// </summary>
/// <param name="base_x">左上角点的x坐标</param>
/// <param name="base_y">左上角点的y坐标</param>
/// <param name="height">矩形的高度</param>
/// <param name="width">矩形的宽度</param>
/// <param name="stickLength">长度</param>
/// <param name="_R">颜色R</param>
/// <param name="_G">颜色G</param>
/// <param name="_B">颜色B</param>
void drawRobotLeg(double base_x, double base_y, double height, double width, double stickLength, double _R, double _G, double _B)
{
    
    
	drawRobotBodyPart(base_x, base_y, height, width, stickLength, _R, _G, _B);
	drawRobotBodyPart(base_x, base_y - height - stickLength * 0.8, height, width, stickLength, _R, _G, _B);
}

/// <summary>
/// 绘制圆面
/// </summary>
/// <param name="r">圆面半径</param>
/// <param name="circle_x">圆面x坐标</param>
/// <param name="circle_y">圆面y坐标</param>
/// <param name="_R">颜色R</param>
/// <param name="_G">颜色G</param>
/// <param name="_B">颜色B</param>
void DrawCirclePointGpBlackSet(double r, double circle_x, double circle_y, double _R, double _G, double _B)
{
    
    
	glColor3f(_R, _G, _B);
	glBegin(GL_TRIANGLE_FAN);

	for (double i = -r; i <= r; i += 0.001)
	{
    
    
		double x = i;
		double y = sqrt(r * r - x * x);
		glVertex2f(x + circle_x, y + circle_y);
	}
	for (double i = r; i >= -r; i -= 0.001)
	{
    
    
		double x = i;
		double y = sqrt(r * r - x * x);
		glVertex2f(x + circle_x, -y + circle_y);
	}
	for (double i = -r; i <= r; i += 0.001)
	{
    
    
		double x = i;
		double y = sqrt(r * r - x * x);
		glVertex2f(x + circle_x, y + circle_y);
	}
	glEnd();
}

/// <summary>
/// 绘制圆弧
/// </summary>
/// <param name="r">圆面半径</param>
/// <param name="circle_x">圆面x坐标</param>
/// <param name="circle_y">圆面y坐标</param>
/// <param name="_R">颜色R</param>
/// <param name="_G">颜色G</param>
/// <param name="_B">颜色B</param>
void DrawArcPointGpSet(double r, double circle_x, double circle_y, double _R, double _G, double _B)
{
    
    
	glColor3f(_R, _G, _B);
	glBegin(GL_LINE_STRIP);

	for (double i = r; i >= -r; i -= 0.001)
	{
    
    
		double x = i;
		double y = sqrt(r * r - x * x);
		glVertex2f(x + circle_x, -y + circle_y);
	}
	glEnd();
}

/// <summary>
/// 绘制脸蛋
/// </summary>
/// <param name="face_x">脸蛋的x坐标</param>
/// <param name="face_y">脸蛋的y坐标</param>
/// <param name="face_r">脸蛋的半径坐标</param>
void DrawFace(double face_x, double face_y, double face_r)
{
    
    
	glPushMatrix();
	// 黄色的脸蛋
	DrawCirclePointGpBlackSet(face_r, face_x, face_y, 255, 215, 0);
	// 黑色的眼睛
	DrawCirclePointGpBlackSet(face_r / 6, face_x - face_r / 3, face_y + face_r / 10, 0, 0, 0);
	DrawCirclePointGpBlackSet(face_r / 6, face_x + face_r / 3, face_y + face_r / 10, 0, 0, 0);
	// 红色嘴巴
	DrawArcPointGpSet(face_r / 3, face_x, face_y - face_r / 3, 255, 0, 0);

	glPopMatrix();
}

void KeyBoards(int key, int x, int y)
{
    
    
	switch (key)
	{
    
    
	case GLUT_KEY_UP:
		glMatrixMode(GL_MODELVIEW);
		glTranslated(xDir, ++yDir, zDir);
		glutPostRedisplay();
		break;
	case GLUT_KEY_LEFT:
		glMatrixMode(GL_MODELVIEW);
		glTranslated(--xDir, yDir, zDir);
		glutPostRedisplay();
		break;
	case GLUT_KEY_DOWN:
		glMatrixMode(GL_MODELVIEW);
		glTranslated(xDir, --yDir, zDir);
		glutPostRedisplay();
		break;
	case GLUT_KEY_RIGHT:
		glMatrixMode(GL_MODELVIEW);
		glTranslated(++xDir, yDir, zDir);
		glutPostRedisplay();
		break;
	case GLUT_KEY_INSERT:
		glMatrixMode(GL_MODELVIEW);
		glRotatef(++angle, 0, 0, 1);
		glutPostRedisplay();
		break;

	case GLUT_KEY_END:
		glMatrixMode(GL_MODELVIEW);
		glRotatef(--angle, 0, 0, 1);
		glutPostRedisplay();
		break;
	}
}



void DrawRobot()
{
    
    
	glPushMatrix();
	glRotated(70, 0, 0, 1);
	glTranslated(0, -1.2, 0);
	drawRobotHand(3, 0, 1.8, 0.8, 0.5, 0.5, 0, 1);
	glPopMatrix();
	glPushMatrix();
	glRotated(-70, 0, 0, 1);
	glTranslated(-7, -1, 0);
	drawRobotHand(3, 0, 1.8, 0.8, 0.5, 0.5, 0, 1);
	glPopMatrix();
	drawRobotLeg(-1.5, -2.3, 2, 1, 0.5, 1, 0, 0);
	drawRobotLeg(0.5, -2.3, 2, 1, 0.5, 1, 0, 0);
	drawRobotBodyPart(-2, 4, 6, 4, 0.5, 0, 0, 1);
	DrawFace(0, 5.7, 1.5);
}

void display() {
    
    
	glClear(GL_COLOR_BUFFER_BIT);

	//DrawFace(0, 0, 3);

	DrawRobot();


	glutSwapBuffers();
}



void reshape(int w, int h) {
    
    
	glViewport(0, 0, w, h);

	glMatrixMode(GL_PROJECTION);

	glLoadIdentity();

	gluOrtho2D(-8.f, 8.f, -8.f, 8.f);
}

int main(int argc, char** argv) {
    
    

	glutInit(&argc, argv);

	glutInitContextVersion(3, 3);

	glutInitContextProfile(GLUT_COMPATIBILITY_PROFILE);

	glutInitDisplayMode(GLUT_RGBA | GLUT_DOUBLE);

	glutInitWindowPosition(0, 0); // 左上角相对位置
	glutInitWindowSize(600, 600); // 窗口大小
	glutCreateWindow("OpenGL");

	glutDisplayFunc(display);
	glutReshapeFunc(reshape);

	glewExperimental = GL_TRUE;
	glewInit();

	_init();

	glutSpecialFunc(&KeyBoards);  //注册键盘事件(特殊字符)
	glutDisplayFunc(&display);   //回调函数 

	glutMainLoop();
	return 0;
}

4.运行结果

在这里插入图片描述
在这里插入图片描述

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