package glredbook10;
import java.awt.event.*;
import javax.swing.*;
import javax.media.opengl.*;
import javax.media.opengl.glu.*;
import com.sun.opengl.util.*;
public class robot
extends JFrame
implements GLEventListener, KeyListener
{
private GLU glu;
private GLUT glut;
private GLCapabilities caps;
private GLCanvas canvas;
private static int shoulder = 0, elbow = 0;
//
/**
* This program shows how to composite modeling transformations to draw
* translated and rotated hierarchical models. Interaction: pressing the s and
* e keys (shoulder and elbow) alters the rotation of the robot arm.
*
* @author Kiet Le (Java conversion)
*/
public robot()
{
super("robot");
//
caps = new GLCapabilities();
canvas = new GLCanvas(caps);
canvas.addGLEventListener(this);
canvas.addKeyListener(this);
//
getContentPane().add(canvas);
}
public void run()
{
setSize(400,400);
setLocationRelativeTo(null);
setDefaultCloseOperation(JFrame.EXIT_ON_CLOSE);
setVisible(true);
canvas.requestFocusInWindow();
}
public static void main(String[] args)
{
new robot().run();
}
public void init(GLAutoDrawable drawable)
{
GL gl = drawable.getGL();
glu = new GLU();
glut = new GLUT();
gl.glClearColor(0.0f, 0.0f, 0.0f, 0.0f);
gl.glShadeModel(GL.GL_FLAT);
}
public void display(GLAutoDrawable drawable)
{
GL gl = drawable.getGL();
//
gl.glClear(GL.GL_COLOR_BUFFER_BIT);
gl.glColor3f(1.0f, 1.0f, 1.0f);
gl.glPushMatrix();
gl.glTranslatef(-1.0f, 0.0f, 0.0f);
gl.glRotatef((float) shoulder, 0.0f, 0.0f, 1.0f);
gl.glTranslatef(1.0f, 0.0f, 0.0f);
// gl.glPushMatrix();
gl.glScalef(2.0f, 0.4f, 1.0f);
glut.glutWireCube(1.0f);
// gl.glPopMatrix();
gl.glTranslatef(1.0f, 0.0f, 0.0f);
gl.glRotatef((float) elbow, 0.0f, 0.0f, 1.0f);
gl.glTranslatef(1.0f, 0.0f, 0.0f);
// gl.glPushMatrix();
gl.glScalef(2.0f, 0.4f, 1.0f);
glut.glutWireCube(1.0f);
// gl.glPopMatrix();
gl.glPopMatrix();
gl.glFlush();
}
public void reshape(GLAutoDrawable drawable, int x, int y, int w, int h)
{
GL gl = drawable.getGL();
gl.glViewport(0, 0, w, h);
gl.glMatrixMode(GL.GL_PROJECTION);
gl.glLoadIdentity();
glu.gluPerspective(65.0, (float) w / (float) h, 1.0, 20.0);
gl.glMatrixMode(GL.GL_MODELVIEW);
gl.glLoadIdentity();
gl.glTranslatef(0.0f, 0.0f, -5.0f);
}
public void displayChanged(GLAutoDrawable drawable, boolean modeChanged,
boolean deviceChanged)
{
}
private void elbowAdd()
{
elbow = (elbow + 5) % 360;
}
private void elbowSubtract()
{
elbow = (elbow - 5) % 360;
}
private void shoulderAdd()
{
shoulder = (shoulder + 5) % 360;
}
private void shoulderSubtract()
{
shoulder = (shoulder - 5) % 360;
}
public void keyTyped(KeyEvent key)
{
}
public void keyPressed(KeyEvent key)
{
switch (key.getKeyCode()) {
case KeyEvent.VK_ESCAPE:
System.exit(0);
break;
case KeyEvent.VK_LEFT:
case KeyEvent.VK_A:
shoulderSubtract();
break;
case KeyEvent.VK_RIGHT:
case KeyEvent.VK_D:
shoulderAdd();
break;
case KeyEvent.VK_UP:
case KeyEvent.VK_W:
elbowAdd();
break;
case KeyEvent.VK_DOWN:
case KeyEvent.VK_S:
elbowSubtract();
break;
default:
break;
}
canvas.display();
}
public void keyReleased(KeyEvent key)
{
}
}
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