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GRtool.cpp
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GRtool.cpp
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//This is a library of 3D Robot rendering, it contains several tools.
#include "GRtool.h"
//=====================Draw Solid Cylinder=========================
void grDrawSolidCylinder(GLfloat baseRadius, GLfloat topRadius, GLfloat Height)
{
GLUquadricObj *pObj; // Temporary, used for quadrics
// Setup the quadric object
pObj = gluNewQuadric();
glPushMatrix();
glTranslatef(0.0f, 0.0f, -Height/2);
//gluCylinder (GLUquadric* quad, GLfloat base, GLfloat top, GLfloat height, GLint slices, GLint stacks);
gluCylinder(pObj, baseRadius, topRadius, Height, 20, 4);
//Draw a cone as top surface
glutSolidCone(baseRadius, Height/2, 20, 1);
//Draw a cone as bottom surface
glPushMatrix();
glTranslatef(0.0f, 0.0f, Height);
glRotatef(180, 1.0f, 0.0f, 0.0f);
glutSolidCone(topRadius, Height/2, 20, 1);
glPopMatrix();
glPopMatrix();
}
//=====================Draw Rotational Joint=========================
void grDrawRJoint(GLfloat baseRadius, GLfloat topRadius, GLfloat Height, GLfloat _R, GLfloat _G, GLfloat _B, GLfloat _Alpha)
{
glColor4f(_R, _G, _B, _Alpha); //Red
grDrawSolidCylinder(baseRadius, topRadius, Height); //Draw a solid closed Cylinder
//Then draw three flanges for locomotion identification
glColor4f((_R+_G)*1000, (_R+_G)*1000, 0.0f, _Alpha); //yellow
glPushMatrix();
//first flange
glPushMatrix();
glTranslatef(0.0f, baseRadius/2+0.1f*baseRadius, 0.0f);
glScalef(0.1*baseRadius, 0.8f*baseRadius, Height*1.1);
glutSolidCube(1.0f);
glPopMatrix();
//second flange
glRotatef(120, 0.0f, 0.0f, 1.0f);
glPushMatrix();
glTranslatef(0.0f, baseRadius/2+0.1f*baseRadius, 0.0f);
glScalef(0.1*baseRadius, 0.8f*baseRadius, Height*1.1);
glutSolidCube(1.0f);
glPopMatrix();
//third flange
glRotatef(120, 0.0f, 0.0f, 1.0f);
glPushMatrix();
glTranslatef(0.0f, baseRadius/2+0.1f*baseRadius, 0.0f);
glScalef(0.1*baseRadius, 0.8f*baseRadius, Height*1.1);
glutSolidCube(1.0f);
glPopMatrix();
glPopMatrix();
}
//===================Draw Base====================
//Draw a Base of robot, which is a solid cylinder + a flat box
void grDrawBase(GLfloat baseRadius, GLfloat Height, GLfloat R, GLfloat G, GLfloat B, GLfloat ALPHA)
{
glColor4f(R, G, B, ALPHA); //gray
glPushMatrix();
//Draw a solid cylinder as base
grDrawSolidCylinder(baseRadius, baseRadius, 0.9f*Height);
//Draw a flat box as pedesta
glTranslatef(0.0f, 0.0f, -Height/2);
glScalef(2.2f*baseRadius, 2.2f*Height, 0.1f*baseRadius);
glutSolidCube(1.0f);
glPopMatrix();
}
//===============Draw Prismatic Joint==============================
void grDrawPJoint(GLfloat baseRadius, GLfloat topRadius, GLfloat Length, GLfloat _R, GLfloat _G, GLfloat _B, GLfloat _Alpha)
{
const GLfloat Ratio = 0.4f; //sleeve ration of the total length
glPushMatrix();
glTranslatef(0.0f, 0.0f, -Length); //Let the head of prismatic joint align with the origin of prismatic Frame.
//--------------------------------------Sleeve
glPushMatrix();
glTranslatef(0.0f, 0.0f, Length*Ratio*0.5f);
glScalef(baseRadius*2.0f, baseRadius*2.0f, Length*Ratio); //draw sleeve of prismatic joint, which is 10% of total length
glColor4f(_R*0.7f, _G, _B, _Alpha); //dark Red
glutSolidCube(1.0f);
glColor4f(0.0f, 0.0f, 0.0f, 1.0f); //draw black wire
glutWireCube(1.0f);
glPopMatrix();
//---------------------------------------Arm
glPushMatrix();
glTranslatef(0.0f, 0.0f, Length*(0.5f+0.5*Ratio));
glScalef(topRadius*2.0f, topRadius*2.0f, Length*(1-Ratio)); //draw arm of prismatic joint, which is 90% of total length
glColor4f(_R, _G, _B, _Alpha); //Red
glutSolidCube(1.0f);
glColor4f(0.0f, 0.0f, 0.0f, 1.0f); //draw black wire
glutWireCube(1.0f);
glPopMatrix();
glPopMatrix();
}
//void grDrawSolidBox(GLfloat x, GLfloat y, GLfloat z, GLfloat Radius, GLfloat R, GLfloat G, GLfloat B, GLfloat ALPHA) //Draw a box from origin to (x,y,z);
//{
// const float PI=3.1415926;
// GLfloat m[16];
// GLdouble alpha, theta;
// GLfloat Length, Ri;
// //calculate rotation angle: alpha and theta
// Length = sqrt(x*x+y*y+z*z);
// Ri = sqrt(x*x+y*y);
// theta = 90+ atan2(y, x)*180.0/PI; //degrees
// alpha = atan2(Ri, z)*180.0/PI; //degrees
// glColor4f(R, G, B, ALPHA);
// //generate GL-compatible rotation matrix
// grRotMatrix(alpha, theta, m);
// glPushMatrix();
// glMatrixMode(GL_MODELVIEW);
// //glMultMatrixf(m);
// glRotatef(theta,0.0f, 0.0f, 1.0f);
// glRotatef(alpha, 1.0f, 0.0f, 0.0f);
// glTranslatef(0.0f, 0.0f, Length*0.5f);
// glScalef(Radius, Radius, Length);
// glutSolidCube(1.0f);
// glColor4f(0.0f, 0.0f, 0.0f, 1.0f);
// glutWireCube(1.0f);
// glPopMatrix();
//}
void grDrawEndEffector(GLfloat size, GLint mode, GLfloat R, GLfloat G, GLfloat B, GLfloat ALPHA)
{ //change mode, change oritation of end effector to x+, x-, y+, y-, z+ and z- accroding to 'mode'
glPushMatrix();
//Change mode
switch (mode) {
case 1: //x+
glRotatef(90, 0.0f, 1.0f, 0.0f);
break;
case 2: //x-
glRotatef(-90, 0.0f, 1.0f, 0.0f);
break;
case 3: //y+
glRotatef(90, 1.0f, 0.0f, 0.0f);
break;
case 4: //y-
glRotatef(-90, 1.0f, 0.0f, 0.0f);
break;
case 5: //z-
glRotatef(180, 1.0f, 0.0f, 0.0f);
break;
case 6:
break;
default:
//z+
break;
}
//Draw a base of grasper
glPushMatrix();
glScalef(size, 0.5*size, 0.1*size);
glColor4f(R, G, B, ALPHA);
glutSolidCube(1.0f);
glColor4f(0.0f, 0.0f, 0.0f, 1.0f); //draw black wire
glutWireCube(1.0f);
glPopMatrix();
//Draw finger 1
glPushMatrix();
glTranslatef(0.35*size, 0.0f, 0.2*size);
glRotatef(-30, 0.0f, 1.0f, 0.0f);
glScalef(0.1*size, 0.5*size, 0.6*size);
glColor4f(R, G, B, ALPHA);
glutSolidCube(1.0f);
glColor4f(0.0f, 0.0f, 0.0f, 1.0f); //draw black wire
glutWireCube(1.0f);
glPopMatrix();
//Draw finger 2
glPushMatrix();
glTranslatef(-0.35*size, 0.0f, 0.2*size);
glRotatef(30, 0.0f, 1.0f, 0.0f);
glScalef(0.1*size, 0.5*size, 0.6*size);
glColor4f(R, G, B, ALPHA);
glutSolidCube(1.0f);
glColor4f(0.0f, 0.0f, 0.0f, 1.0f); //draw black wire
glutWireCube(1.0f);
glPopMatrix();
glPopMatrix();
}
void grDrawGround(GLfloat Length, GLfloat Width, GLfloat zPosition)
{
glPushMatrix();
glRotatef(90, 1.0f, 0.0f, 0.0f);
// Draw the ground; we do manual shading to a darker green
// in the background to give the illusion of depth
glBegin(GL_QUADS);
glColor3f(0.1, 0.1, 0.1);
glVertex3f(Length, -Width, -zPosition);
glVertex3f(-Length, -Width, -zPosition);
glVertex3f(-Length, Width, -zPosition);
glVertex3f(Length, Width, -zPosition);
glEnd();
glPopMatrix();
}
void grBeginShadow(GLfloat zPosition, GLfloat *lightPos)
{
M3DMatrix44f shadowMat;
// Any three points on the ground (counter clockwise order)
M3DVector3f points[3] = {{ 1.0f, 1.0f, zPosition},
{ 40.0f, 15.0f, zPosition},
{ 15.0f, 40.0f, zPosition}};
// Get the plane equation from three points on the ground
M3DVector4f vPlaneEquation;
m3dGetPlaneEquation(vPlaneEquation, points[0], points[1], points[2]);
// Calculate projection matrix to draw shadow on the ground
m3dMakePlanarShadowMatrix(shadowMat, vPlaneEquation, lightPos);
glPushMatrix();
//glRotatef(90, 1.0f, 0.0f, 0.0f);
// Get ready to draw the shadow and the ground
// First disable lighting and save the projection state
glDisable(GL_DEPTH_TEST);
glDisable(GL_LIGHTING);
// Multiply by shadow projection matrix
glMultMatrixf((GLfloat *)shadowMat);
}
void grEndShadow()
{
glEnable(GL_DEPTH_TEST);
glEnable(GL_LIGHTING);
glPopMatrix();
}
//void grHomoMatrix(float alpha, float a, float d, float theta, float *m) //degrees
//{
// const float PI= 3.1415926;
// alpha = alpha*PI/180.0; //rad
// theta = theta*PI/180.0; //rad
// *m = cos(theta);
// *(m+1) = sin(theta)*cos(alpha);
// *(m+2) = sin(theta)*sin(alpha);
// *(m+3) = 0.0;
// *(m+4) = -sin(theta);
// *(m+5) = cos(theta)*cos(alpha);
// *(m+6) = cos(theta)*sin(alpha);
// *(m+7) = 0.0;
// *(m+8) = 0.0;
// *(m+9) = -sin(alpha);
// *(m+10) = cos(alpha);
// *(m+11) = 0.0;
// *(m+12) = a;
// *(m+13) = -sin(alpha)*d;
// *(m+14) = cos(alpha)*d;
// *(m+15) = 1.0;
//}
//void grRotMatrix(float alpha, float theta, float *m) //degrees
//{
// const float PI= 3.1415926;
// alpha = alpha*PI/180.0; //rad
// theta = theta*PI/180.0; //rad
// *m = cos(theta);
// *(m+1) = sin(theta)*cos(alpha);
// *(m+2) = sin(theta)*sin(alpha);
// *(m+3) = 0.0;
// *(m+4) = -sin(theta);
// *(m+5) = cos(theta)*cos(alpha);
// *(m+6) = cos(theta)*sin(alpha);
// *(m+7) = 0.0;
// *(m+8) = 0.0;
// *(m+9) = -sin(alpha);
// *(m+10) = cos(alpha);
// *(m+11) = 0.0;
// *(m+12) = 0.0;
// *(m+13) = 0.0;
// *(m+14) = 0.0;
// *(m+15) = 1.0;
//}