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OpenGL.cpp
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OpenGL.cpp
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#include <iostream>
#include <cmath>
#include <cstdio>
#ifdef _WIN32
#include <glut.h>
#define GLUT_DISABLE_ATEXIT_HACK
#define DELAY 12
#endif
#ifdef __linux
#include <GL/glut.h>
#define DELAY 1
#endif
#ifdef MACRO
#include <GL/glut.h>
#define DELAY 12
#endif
using namespace std;
//Skeleton Const
const double BASIC_SIZE = 0.25;
const double STRETCH_SCALE = 0.8;
const double JOINT_SPAN = 1.25;
const double HEAD_RADIUS = 0.05;
const double THIGH_SCALE_X = 0.7;
const double THIGH_SCALE_Y = 0.2;
const double THIGH_SCALE_Z = 0.2;
const double CALF_SCALE_X = 0.8;
const double CALF_SCALE_Y = 0.2;
const double CALF_SCALE_Z = 0.2;
const double FOOT_SCALE_X = 0.5;
const double FOOT_SCALE_Y = 0.15;
const double FOOT_SCALE_Z = 0.2;
const double BODY_SCALE_X = 0.25;
const double BODY_SCALE_Y = 1.25;
const double BODY_SCALE_Z = 0.75;
const double ARM_SCALE_X = 0.45;
const double ARM_SCALE_Y = 0.15;
const double ARM_SCALE_Z = 0.15;
const double FOREARM_SCALE_X = 0.65;
const double FOREARM_SCALE_Y = 0.15;
const double FOREARM_SCALE_Z = 0.15;
//Relative Const
const static double PI = acos(-1.0);
const double INCREMENT = 0.005;
const int NUM_OF_LINE = 32;
const int BLOCK_SIZE = 1;
//Skeleton Parameter
float neck[3] = {0.0f,BASIC_SIZE * BODY_SCALE_Y + HEAD_RADIUS,0.0f};
float spine[3] = {0.0f,BASIC_SIZE * BODY_SCALE_Y / 2,0.0f};
float thighL[3] = {BASIC_SIZE * THIGH_SCALE_X / 2,0.0f,BASIC_SIZE * THIGH_SCALE_Z};
float calfL[3] = {BASIC_SIZE * CALF_SCALE_X / 2,0.0f,0.0f};
float thighR[3] = {BASIC_SIZE * THIGH_SCALE_X / 2,0.0f,-BASIC_SIZE * THIGH_SCALE_Z};
float calfR[3] = {BASIC_SIZE * CALF_SCALE_X / 2,0.0f,0.0f};
float armL[3] = {BASIC_SIZE * ARM_SCALE_X / 2,0.0f,BASIC_SIZE * (ARM_SCALE_Z + BODY_SCALE_Z) / 2};
float armR[3] = {BASIC_SIZE * ARM_SCALE_X / 2,0.0f,-BASIC_SIZE * (ARM_SCALE_Z + BODY_SCALE_Z) / 2};
//Relative Parameter
bool left_forward = true;
bool right_forward = false;
bool look_from_left = true;
double floor_move_x = 0.0;
double floor_move_y = 0.0;
double view_stretch = 1.0;
double near_sight = 1.0;
double far_sight = 200.0;
double lookatX = -1.06;
double lookatY = 0.5;
double lookatZ = 1.06;
double centerX = 0;
double centerY = 0;
double centerZ = 0;
int scr_w;
int scr_h;
int vangle = 0;
float left_thigh_angle = -60;
float left_calf_angle = 30;
float left_foot_angle = 90;
float right_thigh_angle = -120;
float right_calf_angle = 30;
float right_foot_angle = 90;
float left_arm_angle = -90;
float left_forearm_angle = -30;
float right_arm_angle = -75;
float right_forearm_angle = -15;
void init()
{
glClearColor(0.0f,0.0f,0.0f,0.0f);
glShadeModel(GL_FLAT);
glEnable(GL_DEPTH_TEST);
}
void display()
{
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
glColor3f(0.3f,0.3f,0.3f);
//Floor
for (int i = 0;i < NUM_OF_LINE * 2;i++)
{
glBegin(GL_LINES);
glVertex3f((NUM_OF_LINE - i) * BLOCK_SIZE + floor_move_x,-BASIC_SIZE * (BODY_SCALE_Y + THIGH_SCALE_X + CALF_SCALE_X + FOOT_SCALE_Z) / 2,NUM_OF_LINE * BLOCK_SIZE);
glVertex3f((NUM_OF_LINE - i) * BLOCK_SIZE + floor_move_x,-BASIC_SIZE * (BODY_SCALE_Y + THIGH_SCALE_X + CALF_SCALE_X + FOOT_SCALE_Z) / 2,-NUM_OF_LINE * BLOCK_SIZE);
glEnd();
glBegin(GL_LINES);
glVertex3f(NUM_OF_LINE * BLOCK_SIZE,-BASIC_SIZE * (BODY_SCALE_Y + THIGH_SCALE_X + CALF_SCALE_X + FOOT_SCALE_Z) / 2,(NUM_OF_LINE - i) * BLOCK_SIZE - floor_move_y);
glVertex3f(-NUM_OF_LINE * BLOCK_SIZE,-BASIC_SIZE * (BODY_SCALE_Y + THIGH_SCALE_X + CALF_SCALE_X + FOOT_SCALE_Z) / 2,(NUM_OF_LINE - i) * BLOCK_SIZE - floor_move_y);
glEnd();
}
floor_move_x += INCREMENT * cos((double)vangle / 180.0 * PI);
floor_move_y += INCREMENT * sin((double)vangle / 180.0 * PI);
if (floor_move_x >= BLOCK_SIZE)
floor_move_x -= BLOCK_SIZE;
else if (floor_move_x <= -BLOCK_SIZE)
floor_move_x += BLOCK_SIZE;
if (floor_move_y >= BLOCK_SIZE)
floor_move_y -= BLOCK_SIZE;
else if (floor_move_y <= -BLOCK_SIZE)
floor_move_y += BLOCK_SIZE;
glPushMatrix();
glTranslatef(centerX,centerY,centerZ);
glPushMatrix();
glRotatef(vangle,0.0f,1.0f,0.0f);
glColor3f(0.9f,0.9f,0.9f);
//Head
glPushMatrix();
glTranslatef(neck[0],neck[1],neck[2]);
glutSolidSphere(HEAD_RADIUS,10,10);
glPopMatrix();
//Body
glPushMatrix();
glTranslatef(spine[0],spine[1],spine[2]);
glScalef(BODY_SCALE_X,BODY_SCALE_Y,BODY_SCALE_Z);
glutSolidCube(BASIC_SIZE);
glPopMatrix();
glColor3f(0.5f,0.5f,0.5f);
//Left leg
glPushMatrix();
//Hip
glPushMatrix();
glTranslatef(0.0f,0.0f,BASIC_SIZE * THIGH_SCALE_Z);
glutSolidSphere(BASIC_SIZE * THIGH_SCALE_Y / 2 * JOINT_SPAN,10,10);
glPopMatrix();
//Thigh
glRotatef((GLfloat)left_thigh_angle,0.0f,0.0f,1.0f);
glTranslatef(thighL[0],thighL[1],thighL[2]);
glPushMatrix();
glScalef(THIGH_SCALE_X,THIGH_SCALE_Y,THIGH_SCALE_Z);
glutSolidCube(BASIC_SIZE);
glPopMatrix();
//Knee
glTranslatef(BASIC_SIZE * THIGH_SCALE_X / 2,0.0f,0.0f);
glutSolidSphere(BASIC_SIZE * THIGH_SCALE_Y / 2 * JOINT_SPAN,10,10);
//Calf
glRotatef((GLfloat)left_calf_angle,0.0f,0.0f,1.0f);
glTranslatef(calfL[0],calfL[1],calfL[2]);
glPushMatrix();
glScalef(CALF_SCALE_X,CALF_SCALE_Y,CALF_SCALE_Z);
glutSolidCube(BASIC_SIZE);
glPopMatrix();
//Foot
glTranslatef(BASIC_SIZE * CALF_SCALE_X / 2,0.0f,0.0f);
glTranslatef(-BASIC_SIZE * FOOT_SCALE_X / 2 + BASIC_SIZE * THIGH_SCALE_Y,-BASIC_SIZE * CALF_SCALE_Y / 2,0.0f);
glRotatef((GLfloat)left_foot_angle,0.0f,0.0f,1.0f);
glPushMatrix();
glScalef(FOOT_SCALE_X,FOOT_SCALE_Y,FOOT_SCALE_Z);
glutSolidCube(BASIC_SIZE);
glPopMatrix();
glPopMatrix();
//Left Arm
glPushMatrix();
glTranslatef(0.0f,BASIC_SIZE * BODY_SCALE_Y,0.0f);
//Arm
glRotatef((GLfloat)left_arm_angle,0.0f,0.0f,1.0f);
glTranslatef(armL[0],armL[1],armL[2]);
glPushMatrix();
glScalef(ARM_SCALE_X,ARM_SCALE_Y,ARM_SCALE_Z);
glutSolidCube(BASIC_SIZE);
glPopMatrix();
//Elbow
glTranslatef(BASIC_SIZE * ARM_SCALE_X / 2,0.0f,0.0f);
glutSolidSphere(BASIC_SIZE * ARM_SCALE_Y / 2 * JOINT_SPAN,10,10);
//Forearm
glRotatef((GLfloat)left_forearm_angle,0.0f,0.0f,1.0f);
glTranslatef(BASIC_SIZE * FOREARM_SCALE_X / 2,0.0f,0.0f);
glPushMatrix();
glScalef(FOREARM_SCALE_X,FOREARM_SCALE_Y,FOREARM_SCALE_Z);
glutSolidCube(BASIC_SIZE);
glPopMatrix();
glPopMatrix();
glColor3f(0.7f,0.7f,0.7f);
//Right leg
glPushMatrix();
//Hip
glPushMatrix();
glTranslatef(0.0f,0.0f,-BASIC_SIZE * THIGH_SCALE_Z);
glutSolidSphere(BASIC_SIZE * THIGH_SCALE_Y / 2 * JOINT_SPAN,10,10);
glPopMatrix();
//Thigh
glRotatef((GLfloat)right_thigh_angle,0.0f,0.0f,1.0f);
glTranslatef(thighR[0],thighR[1],thighR[2]);
glPushMatrix();
glScalef(THIGH_SCALE_X,THIGH_SCALE_Y,THIGH_SCALE_Z);
glutSolidCube(BASIC_SIZE);
glPopMatrix();
//Knee
glTranslatef(BASIC_SIZE * THIGH_SCALE_X / 2,0.0f,0.0f);
glutSolidSphere(BASIC_SIZE * THIGH_SCALE_Y / 2 * JOINT_SPAN,10,10);
//Calf
glRotatef((GLfloat)right_calf_angle,0.0f,0.0f,1.0f);
glTranslatef(calfR[0],calfR[1],calfR[2]);
glPushMatrix();
glScalef(CALF_SCALE_X,CALF_SCALE_Y,CALF_SCALE_Z);
glutSolidCube(BASIC_SIZE);
glPopMatrix();
//Foot
glTranslatef(BASIC_SIZE * CALF_SCALE_X / 2,0.0f,0.0f);
glTranslatef(-BASIC_SIZE * FOOT_SCALE_X / 2 + BASIC_SIZE * THIGH_SCALE_Y,-BASIC_SIZE * CALF_SCALE_Y / 2,0.0f);
glRotatef((GLfloat)right_foot_angle,0.0f,0.0f,1.0f);
glPushMatrix();
glScalef(FOOT_SCALE_X,FOOT_SCALE_Y,FOOT_SCALE_Z);
glutSolidCube(BASIC_SIZE);
glPopMatrix();
glPopMatrix();
//Right Arm
glPushMatrix();
glTranslatef(0.0f,BASIC_SIZE * BODY_SCALE_Y,0.0f);
//Arm
glRotatef((GLfloat)right_arm_angle,0.0f,0.0f,1.0f);
glTranslatef(armR[0],armR[1],armR[2]);
glPushMatrix();
glScalef(ARM_SCALE_X,ARM_SCALE_Y,ARM_SCALE_Z);
glutSolidCube(BASIC_SIZE);
glPopMatrix();
//Elbow
glTranslatef(BASIC_SIZE * ARM_SCALE_X / 2,0.0f,0.0f);
glutSolidSphere(BASIC_SIZE * ARM_SCALE_Y / 2 * JOINT_SPAN,10,10);
//Forearm
glRotatef((GLfloat)right_forearm_angle,0.0f,0.0f,1.0f);
glTranslatef(BASIC_SIZE * FOREARM_SCALE_X / 2,0.0f,0.0f);
glPushMatrix();
glScalef(FOREARM_SCALE_X,FOREARM_SCALE_Y,FOREARM_SCALE_Z);
glutSolidCube(BASIC_SIZE);
glPopMatrix();
glPopMatrix();
glPopMatrix();
glPopMatrix();
glFlush();
glutSwapBuffers();
}
void refresh(int c)
{
centerY = -(1 - sin(-left_thigh_angle / 180.0 * PI)) * BASIC_SIZE * THIGH_SCALE_X + BASIC_SIZE * FOOT_SCALE_Y / 2;
if (left_thigh_angle < -120)
{
left_forward = false;
}
else if (left_thigh_angle > -60)
{
left_forward = true;
}
if (right_thigh_angle < -120)
{
right_forward = false;
}
else if (right_thigh_angle > -60)
{
right_forward = true;
}
if (left_forward)
{
left_thigh_angle--;
if (left_thigh_angle < -90)
left_calf_angle++;
else left_calf_angle--;
left_arm_angle += 0.25;
left_forearm_angle += 0.5;
}
else
{
left_thigh_angle++;
if (left_thigh_angle <= -90)
left_calf_angle--;
else left_calf_angle++;
left_arm_angle -= 0.25;
left_forearm_angle -= 0.5;
}
if (right_forward)
{
right_thigh_angle--;
if (right_thigh_angle < -90)
right_calf_angle++;
else right_calf_angle--;
right_arm_angle += 0.25;
right_forearm_angle += 0.5;
}
else
{
right_thigh_angle++;
if (right_thigh_angle <= -90)
right_calf_angle--;
else right_calf_angle++;
right_arm_angle -= 0.25;
right_forearm_angle -= 0.5;
}
glutPostRedisplay();
glutTimerFunc(DELAY,refresh,0);
}
void reshape(int w,int h)
{
scr_w = w;
scr_h = h;
glViewport(0,0,(GLsizei)w,(GLsizei)h);
glMatrixMode(GL_PROJECTION);
glLoadIdentity();
gluPerspective(75.0,(GLfloat)scr_w / (GLfloat)scr_h,near_sight * view_stretch,far_sight * view_stretch);
glMatrixMode(GL_MODELVIEW);
glLoadIdentity();
gluLookAt(lookatX,lookatY,lookatZ,0.0f,0.0f,0.0f,0.0f,1.0f,0.0f);
}
void passiveMotion(int x,int y)
{
lookatX = -1.5 + (double)x / scr_w * 3;
lookatY = 1 - (double)y / scr_h * 2;
if (look_from_left)
lookatZ = sqrt(2.25 - lookatX * lookatX);
else lookatZ = -sqrt(2.25 - lookatX * lookatX);
glMatrixMode(GL_MODELVIEW);
glLoadIdentity();
gluLookAt(lookatX * view_stretch,lookatY * view_stretch,lookatZ * view_stretch,0.0f,0.0f,0.0f,0.0f,1.0f,0.0f);
}
void mouse(int button,int state,int x,int y)
{
switch (button)
{
case GLUT_LEFT_BUTTON:
if (state == GLUT_DOWN)
{
if (near_sight * view_stretch > 0.5)
view_stretch *= STRETCH_SCALE;
glMatrixMode(GL_PROJECTION);
glLoadIdentity();
gluPerspective(75.0,(GLfloat)scr_w / (GLfloat)scr_h,near_sight * view_stretch,far_sight * view_stretch);
glMatrixMode(GL_MODELVIEW);
glLoadIdentity();
gluLookAt(lookatX * view_stretch,lookatY * view_stretch,lookatZ * view_stretch,0.0f,0.0f,0.0f,0.0f,1.0f,0.0f);
}
break;
case GLUT_RIGHT_BUTTON:
if (state == GLUT_DOWN)
{
if (far_sight * view_stretch < 1000.0)
view_stretch /= STRETCH_SCALE;
glMatrixMode(GL_PROJECTION);
glLoadIdentity();
gluPerspective(75.0,(GLfloat)scr_w / (GLfloat)scr_h,near_sight * view_stretch,far_sight * view_stretch);
glMatrixMode(GL_MODELVIEW);
glLoadIdentity();
gluLookAt(lookatX * view_stretch,lookatY * view_stretch,lookatZ * view_stretch,0.0f,0.0f,0.0f,0.0f,1.0f,0.0f);
}
break;
}
}
void control(unsigned char key,int x,int y)
{
switch(key)
{
case 'a':
vangle = (vangle + 1) % 360;
break;
case 'd':
vangle = (vangle - 1) % 360;
break;
case 'w':
vangle = -(180 - vangle) % 360;
break;
case 's':
vangle = -(180 - vangle) % 360;
break;
case 32:
look_from_left = !look_from_left;
if (look_from_left)
lookatZ = sqrt(2.25 - lookatX * lookatX);
else lookatZ = -sqrt(2.25 - lookatX * lookatX);
glMatrixMode(GL_MODELVIEW);
glLoadIdentity();
gluLookAt(lookatX * view_stretch,lookatY * view_stretch,lookatZ * view_stretch,0.0f,0.0f,0.0f,0.0f,1.0f,0.0f);
break;
case 27:
exit(0);
default:
break;
}
}
int main(int argc,char *argv[])
{
glutInit(&argc,argv);
glutInitDisplayMode(GLUT_DOUBLE | GLUT_RGB | GLUT_DEPTH);
glutInitWindowSize(600,600);
glutInitWindowPosition(100,100);
glutCreateWindow("Simulate Human Walk");
init();
glutDisplayFunc(display);
glutReshapeFunc(reshape);
glutPassiveMotionFunc(passiveMotion);
glutMouseFunc(mouse);
glutKeyboardFunc(control);
refresh(0);
glutMainLoop();
return 0;
}