1/*
2 * Copyright (c) 1993-1997, Silicon Graphics, Inc.
3 * ALL RIGHTS RESERVED
4 * Permission to use, copy, modify, and distribute this software for
5 * any purpose and without fee is hereby granted, provided that the above
6 * copyright notice appear in all copies and that both the copyright notice
7 * and this permission notice appear in supporting documentation, and that
8 * the name of Silicon Graphics, Inc. not be used in advertising
9 * or publicity pertaining to distribution of the software without specific,
10 * written prior permission.
11 *
12 * THE MATERIAL EMBODIED ON THIS SOFTWARE IS PROVIDED TO YOU "AS-IS"
13 * AND WITHOUT WARRANTY OF ANY KIND, EXPRESS, IMPLIED OR OTHERWISE,
14 * INCLUDING WITHOUT LIMITATION, ANY WARRANTY OF MERCHANTABILITY OR
15 * FITNESS FOR A PARTICULAR PURPOSE.  IN NO EVENT SHALL SILICON
16 * GRAPHICS, INC.  BE LIABLE TO YOU OR ANYONE ELSE FOR ANY DIRECT,
17 * SPECIAL, INCIDENTAL, INDIRECT OR CONSEQUENTIAL DAMAGES OF ANY
18 * KIND, OR ANY DAMAGES WHATSOEVER, INCLUDING WITHOUT LIMITATION,
19 * LOSS OF PROFIT, LOSS OF USE, SAVINGS OR REVENUE, OR THE CLAIMS OF
20 * THIRD PARTIES, WHETHER OR NOT SILICON GRAPHICS, INC.  HAS BEEN
21 * ADVISED OF THE POSSIBILITY OF SUCH LOSS, HOWEVER CAUSED AND ON
22 * ANY THEORY OF LIABILITY, ARISING OUT OF OR IN CONNECTION WITH THE
23 * POSSESSION, USE OR PERFORMANCE OF THIS SOFTWARE.
24 *
25 * US Government Users Restricted Rights
26 * Use, duplication, or disclosure by the Government is subject to
27 * restrictions set forth in FAR 52.227.19(c)(2) or subparagraph
28 * (c)(1)(ii) of the Rights in Technical Data and Computer Software
29 * clause at DFARS 252.227-7013 and/or in similar or successor
30 * clauses in the FAR or the DOD or NASA FAR Supplement.
31 * Unpublished-- rights reserved under the copyright laws of the
32 * United States.  Contractor/manufacturer is Silicon Graphics,
33 * Inc., 2011 N.  Shoreline Blvd., Mountain View, CA 94039-7311.
34 *
35 * OpenGL(R) is a registered trademark of Silicon Graphics, Inc.
36 */
37
38/*
39 * robot.c
40 * This program shows how to composite modeling transformations
41 * to draw translated and rotated hierarchical models.
42 * Interaction:  pressing the s and e keys (shoulder and elbow)
43 * alters the rotation of the robot arm.
44 */
45#include "glut_wrap.h"
46#include <stdlib.h>
47
48static int shoulder = 0, elbow = 0;
49
50static void init(void)
51{
52  glClearColor (0.0, 0.0, 0.0, 0.0);
53  glShadeModel (GL_FLAT);
54}
55
56static void display(void)
57{
58   glClear (GL_COLOR_BUFFER_BIT);
59   glPushMatrix();
60   glTranslatef (-1.0, 0.0, 0.0);
61   glRotatef ((GLfloat) shoulder, 0.0, 0.0, 1.0);
62   glTranslatef (1.0, 0.0, 0.0);
63   glPushMatrix();
64   glScalef (2.0, 0.4, 1.0);
65   glutWireCube (1.0);
66   glPopMatrix();
67
68   glTranslatef (1.0, 0.0, 0.0);
69   glRotatef ((GLfloat) elbow, 0.0, 0.0, 1.0);
70   glTranslatef (1.0, 0.0, 0.0);
71   glPushMatrix();
72   glScalef (2.0, 0.4, 1.0);
73   glutWireCube (1.0);
74   glPopMatrix();
75
76   glPopMatrix();
77   glutSwapBuffers();
78}
79
80static void reshape (int w, int h)
81{
82   glViewport (0, 0, (GLsizei) w, (GLsizei) h);
83   glMatrixMode (GL_PROJECTION);
84   glLoadIdentity ();
85   gluPerspective(65.0, (GLfloat) w/(GLfloat) h, 1.0, 20.0);
86   glMatrixMode(GL_MODELVIEW);
87   glLoadIdentity();
88   glTranslatef (0.0, 0.0, -5.0);
89}
90
91/* ARGSUSED1 */
92static void keyboard (unsigned char key, int x, int y)
93{
94   switch (key) {
95      case 's':
96         shoulder = (shoulder + 5) % 360;
97         glutPostRedisplay();
98         break;
99      case 'S':
100         shoulder = (shoulder - 5) % 360;
101         glutPostRedisplay();
102         break;
103      case 'e':
104         elbow = (elbow + 5) % 360;
105         glutPostRedisplay();
106         break;
107      case 'E':
108         elbow = (elbow - 5) % 360;
109         glutPostRedisplay();
110         break;
111      case 27:
112         exit(0);
113         break;
114      default:
115         break;
116   }
117}
118
119int main(int argc, char** argv)
120{
121   glutInit(&argc, argv);
122   glutInitDisplayMode (GLUT_DOUBLE | GLUT_RGB);
123   glutInitWindowSize (500, 500);
124   glutInitWindowPosition (100, 100);
125   glutCreateWindow (argv[0]);
126   init ();
127   glutDisplayFunc(display);
128   glutReshapeFunc(reshape);
129   glutKeyboardFunc(keyboard);
130   glutMainLoop();
131   return 0;
132}
133