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ロボットが歩き回れるシンプルな 3D 環境を実装しようとしています。ユーザーがロボットの一人称視点と三人称視点を切り替えられるようにしたい。

ロボットと、他のいくつかのオブジェクトを含む単純な領域を実装しました。現在、視点は三人称です。私はgluPerspective関数を使用して、頭が回転したときに回転する一人称を実装しようとしました（頭の回転はすでに実装されています）が、使用するパラメーターに関係なく、トグルが機能しないようです。それはいつも同じままです。これまでに試した方法よりも簡単にこの効果を達成する方法はありますか? 私のアプローチが原因で、私がやっていることは機能していませんか?

次のコードは、パースペクティブを一人称に設定するのに十分ですが、私が期待するように図の頭に従いません。彼の上で初期化できますが、風景が彼の周りを効果的に移動するため、カメラでロボットを動かす方法がわかりません。一人称視点でロボットを取り外すことで、これを一種の「偽物」にできると考えていました。考え？:

glMatrixMode(GL_MODELVIEW);
glLoadIdentity();
double atx = xPos + cos(lookAngle);
double atz = zPos + sin(lookAngle);
double atHeight = eyeHeight + eyeIncline;
gluLookAt(xPos, eyeHeight, zPos, atx, atHeight, atz, 0.0, 1.0, 0.0);

キーボード関数で switch ステートメントを呼び出して、3 人称に切り替えようとしました。キーボード呼び出しは次のようになります。

void key(unsigned char k, int x, int y)
{
if ( k == 27 ) /* Escape */
  exit(0);
else if ( k == 86 ) { /* 'v' for view change */
   glMatrixMode(GL_MODELVIEW);
   glLoadIdentity();
   gluLookAt(0, 0, -20, 0, 0, -1, 0, 1, 0); //Look down z-axis

}
glutPostRedisplay();
}

しかし、うまくいきません。トグルは行われません。

以下のコード:

#define GLUT_DISABLE_ATEXIT_HACK

#include <GL/glut.h>
#include <GL/gl.h>
#include <math.h>

#define TORSO_HEIGHT 5.0
#define UPPER_ARM_HEIGHT 3.0
#define LOWER_ARM_HEIGHT 2.0
#define UPPER_LEG_RADIUS  0.5
#define LOWER_LEG_RADIUS  0.5
#define LOWER_LEG_HEIGHT 2.0
#define UPPER_LEG_HEIGHT 3.0
#define UPPER_LEG_RADIUS  0.5
#define TORSO_RADIUS 1.0
#define UPPER_ARM_RADIUS  0.5
#define LOWER_ARM_RADIUS  0.5
#define HEAD_HEIGHT 1.5
#define HEAD_RADIUS 1.0

double cubeX[] = { 5.0, 5.0, 5.0 };
double cubeY[] = { 3.0, 3.0, 3.0 };
double cubeZ[] = { 7.0, 5.0, 3.0 };
double cubeR[] = { 1.0, 0.0, 0.0 };
double cubeG[] = { 0.0, 1.0, 0.0 };
double cubeB[] = { 0.0, 0.0, 1.0 };

double xPos = 2.0, zPos = 5.0;
double eyeHeight = 4.5;
double eyeIncline = -0.5;
double lookAngle = 0.0; //In rads

double posIncr = 0.25;
double thetaIncr = 0.1;

typedef float point[3];

static GLfloat theta[11] = {0.0,0.0,0.0,0.0,0.0,0.0,0.0,
        180.0,0.0,180.0,0.0}; /* initial joint angles */
static GLint angle = 2;

GLUquadricObj *t, *h, *lua, *lla, *rua, *rla, *lll, *rll, *rul, *lul, *lf1, *lf2;

double size=1.0;

void torso()
{
glPushMatrix();
glRotatef(-90.0, 1.0, 0.0, 0.0);
gluCylinder(t,TORSO_RADIUS, TORSO_RADIUS, TORSO_HEIGHT,10,10);
glPopMatrix();
}

void head()
{
glPushMatrix();
glTranslatef(0.0, 0.5*HEAD_HEIGHT,0.0);
glScalef(HEAD_RADIUS, HEAD_HEIGHT, HEAD_RADIUS);
gluSphere(h,1.0,10,10);
glPopMatrix();
}

void left_upper_arm()
{
glPushMatrix();
glRotatef(-90.0, 1.0, 0.0, 0.0);
gluCylinder(lua,UPPER_ARM_RADIUS, UPPER_ARM_RADIUS, UPPER_ARM_HEIGHT,10,10);
glPopMatrix();
}

void left_lower_arm()
{
glPushMatrix();
glRotatef(-90.0, 1.0, 0.0, 0.0);
gluCylinder(lla,LOWER_ARM_RADIUS, LOWER_ARM_RADIUS, LOWER_ARM_HEIGHT,10,10);
glPopMatrix();
}

void left_finger1()
{
glPushMatrix();
glRotatef(-90.0, 1.0, 0.0, 0.0);
gluCylinder(lf1,FINGER_1_RADIUS, FINGER_1_RADIUS, FINGER_1_HEIGHT,10,10);
glPopMatrix();
}

void left_finger2()
{
glPushMatrix();
glRotatef(-90.0, 1.0, 0.0, 0.0);
gluCylinder(lla,LOWER_ARM_RADIUS, LOWER_ARM_RADIUS, LOWER_ARM_HEIGHT,10,10);
glPopMatrix();
} 

void right_upper_arm()
{
glPushMatrix();
glRotatef(-90.0, 1.0, 0.0, 0.0);
gluCylinder(rua,UPPER_ARM_RADIUS, UPPER_ARM_RADIUS, UPPER_ARM_HEIGHT,10,10);
glPopMatrix();
}

void right_lower_arm()
{
glPushMatrix();
glRotatef(-90.0, 1.0, 0.0, 0.0);
gluCylinder(rla,LOWER_ARM_RADIUS, LOWER_ARM_RADIUS, LOWER_ARM_HEIGHT,10,10);
glPopMatrix();
}

void left_upper_leg()
{
glPushMatrix();
glRotatef(-90.0, 1.0, 0.0, 0.0);
gluCylinder(lul,UPPER_LEG_RADIUS, UPPER_LEG_RADIUS, UPPER_LEG_HEIGHT,10,10);
glPopMatrix();
}

void left_lower_leg()
{
glPushMatrix();
glRotatef(-90.0, 1.0, 0.0, 0.0);
gluCylinder(lll,LOWER_LEG_RADIUS, LOWER_LEG_RADIUS, LOWER_LEG_HEIGHT,10,10);
glPopMatrix();
}

void right_upper_leg()
{
glPushMatrix();
glRotatef(-90.0, 1.0, 0.0, 0.0);
gluCylinder(rul,UPPER_LEG_RADIUS, UPPER_LEG_RADIUS, UPPER_LEG_HEIGHT,10,10);
glPopMatrix();
}

void right_lower_leg()
{
glPushMatrix();
glRotatef(-90.0, 1.0, 0.0, 0.0);
gluCylinder(rll,LOWER_LEG_RADIUS, LOWER_LEG_RADIUS, LOWER_LEG_HEIGHT,10,10);
glPopMatrix();
}

void drawCube( int i )
{
double x = cubeX[i];
double y = cubeY[i];
double z = cubeZ[i];

glColor3i(1, 0, 0); //Red cube
glPushMatrix();
glTranslatef(x,y,z);
glutSolidCube(1);
glPopMatrix();

glColor3i(0, 1, 0); //Green Cube
glPushMatrix();
glTranslatef(x,y,z);
glutSolidCube(1);
glPopMatrix();

glColor3i(0, 0, 1); //Blue Cube
glPushMatrix();
glTranslatef(x,y,z);
glutSolidCube(1);
glPopMatrix();

glColor3i(0, 1, 1);
glPushMatrix();
glTranslatef(x,y,z);
glutSolidCube(1);
glPopMatrix();

}

void drawCubes(void)
{

glLoadName(1);
drawCube(0);

glLoadName(2);
drawCube(1);

glLoadName(3);
drawCube(2);

/* Set name back to '0' to indicate background. */
glLoadName(0);
}

void drawFloor(void)
{
GLfloat mat_diffuse[] = { 0.5, 0.5, 0.5, 1.0 };
glMaterialfv(GL_FRONT, GL_DIFFUSE, mat_diffuse);
glBegin(GL_POLYGON);
  glNormal3f(0.0, 1.0, 0.0);
  glVertex3f(-10.0, 0.0, -10.0);
  glVertex3f(10.0, 0.0, -10.0);
  glVertex3f(10.0, 0.0,  10.0);
  glVertex3f(-10.0, 0.0,  10.0);
glEnd();
}

void doDrawing(void)
{

drawCubes();

drawFloor();

/* Everything else is a lighter shade of grey. */
GLfloat mat_diffuse[] = { 0.8, 0.8, 0.8, 1.0 };
glMaterialfv(GL_FRONT, GL_DIFFUSE, mat_diffuse);
}

void drawEnviro(void)
{
glMatrixMode(GL_MODELVIEW);
glLoadIdentity();
double atx = xPos + cos(lookAngle);
double atz = zPos + sin(lookAngle);
double atHeight = eyeHeight + eyeIncline;
gluLookAt(xPos, eyeHeight, zPos, atx, atHeight, atz, 0.0, 1.0, 0.0);

glPushMatrix();
doDrawing();
glPopMatrix();
}

void display(void)
{
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
drawEnviro();
glLoadIdentity();
gluLookAt(0, 0, -20, 0, 0, -1, 0, 1, 0);
glColor3f(0.0, 0.0, 0.0);

glRotatef(theta[0], 0.0, 1.0, 0.0);
torso();
glPushMatrix();

glTranslatef(0.0, TORSO_HEIGHT+0.5*HEAD_HEIGHT, 0.0);
glRotatef(theta[1], 1.0, 0.0, 0.0);
glRotatef(theta[2], 0.0, 1.0, 0.0);
glTranslatef(0.0, -0.5*HEAD_HEIGHT, 0.0);
head();

glPopMatrix();
glPushMatrix();
glTranslatef(-(TORSO_RADIUS + UPPER_ARM_RADIUS), 0.9 * TORSO_HEIGHT, 0.0);
glRotatef(theta[3], 1.0, 0.0, 0.0);
left_upper_arm();

glTranslatef(0.0, UPPER_ARM_HEIGHT, 0.0);
glRotatef(theta[4], 1.0, 0.0, 0.0);
left_lower_arm();

glTranslatef(0.0, LOWER_ARM_HEIGHT, 0.0);
glRotatef(theta[11], 1.0, 0.0, 0.0);
left_finger1();

glPopMatrix();
glPushMatrix();
glTranslatef(TORSO_RADIUS+UPPER_ARM_RADIUS, 0.9*TORSO_HEIGHT, 0.0);
glRotatef(theta[5], 1.0, 0.0, 0.0);
right_upper_arm();

glTranslatef(0.0, UPPER_ARM_HEIGHT, 0.0);
glRotatef(theta[6], 1.0, 0.0, 0.0);
right_lower_arm();

glPopMatrix();
glPushMatrix();
glTranslatef(-(TORSO_RADIUS+UPPER_LEG_RADIUS), 0.1*UPPER_LEG_HEIGHT, 0.0);
glRotatef(theta[7], 1.0, 0.0, 0.0);
left_upper_leg();

glTranslatef(0.0, UPPER_LEG_HEIGHT, 0.0);
glRotatef(theta[8], 1.0, 0.0, 0.0);
left_lower_leg();

glPopMatrix();
glPushMatrix();
glTranslatef(TORSO_RADIUS+UPPER_LEG_RADIUS, 0.1*UPPER_LEG_HEIGHT, 0.0);
glRotatef(theta[9], 1.0, 0.0, 0.0);
right_upper_leg();

glTranslatef(0.0, UPPER_LEG_HEIGHT, 0.0);
glRotatef(theta[10], 1.0, 0.0, 0.0);
right_lower_leg();

glPopMatrix();

glFlush();
glutSwapBuffers();
}

void setProjection(void)
{
gluPerspective(60.0, 1.0, 0.1, 100.0);
}

void mouse(int btn, int state, int x, int y)
{
  if(btn==GLUT_LEFT_BUTTON && state == GLUT_DOWN)
    {
    theta[angle] += 5.0;
    if( theta[angle] > 360.0 ) theta[angle] -= 360.0;
    }
  if(btn==GLUT_RIGHT_BUTTON && state == GLUT_DOWN)
    {
    theta[angle] -= 5.0;
    if( theta[angle] < 360.0 ) theta[angle] += 360.0;
    }
    display();
 }

void menu(int id)
{
if (id < 11 ) angle = id;
if (id == 11 ) exit(0);
}

void specialKey(int k, int x, int y)
{
/* Accept commands to move the viewpoint. */
switch (k) {
  case GLUT_KEY_UP:
     xPos += posIncr * cos(lookAngle);
     zPos += posIncr * sin(lookAngle);
     break;
  case GLUT_KEY_DOWN:
     xPos -= posIncr * cos(lookAngle);
     zPos -= posIncr * sin(lookAngle);
     break;
  case GLUT_KEY_LEFT:
     lookAngle -= thetaIncr;
     break;
  case GLUT_KEY_RIGHT:
     lookAngle += thetaIncr;
     break;
  case GLUT_KEY_PAGE_UP:
     eyeIncline += 0.5;
     break;
  case GLUT_KEY_PAGE_DOWN:
     eyeIncline -= 0.5;
     break;
  case GLUT_KEY_HOME:
     eyeHeight += 0.5;
     break;
  case GLUT_KEY_END:
     eyeHeight -= 0.5;
     break;
  default:
     return;
  }
  glutPostRedisplay();
 }

void reshape(int w, int h) 
{
glViewport(0, 0, w, h);
glMatrixMode(GL_PROJECTION);
glLoadIdentity();
gluPerspective (65.0, w/h, 1, 1000.0);
glMatrixMode(GL_MODELVIEW);
glLoadIdentity();
}

void init()
{
    GLfloat mat_specular[]={1.0, 1.0, 1.0, 1.0};
    GLfloat mat_diffuse[]={1.0, 1.0, 1.0, 1.0};
    GLfloat mat_ambient[]={1.0, 1.0, 1.0, 1.0};
    GLfloat mat_shininess={100.0};
    GLfloat light_ambient[]={0.0, 0.0, 0.0, 1.0};
    GLfloat light_diffuse[]={1.0, 1.0, 1.0, 1.0};
    GLfloat light_specular[]={1.0, 1.0, 1.0, 1.0};
    GLfloat light_position[]={10.0, 10.0, 10.0, 0.0};

    glLightfv(GL_LIGHT0, GL_POSITION, light_position);
    glLightfv(GL_LIGHT0, GL_AMBIENT, light_ambient);
    glLightfv(GL_LIGHT0, GL_DIFFUSE, light_diffuse);
    glLightfv(GL_LIGHT0, GL_SPECULAR, light_specular);

    glMaterialfv(GL_FRONT, GL_SPECULAR, mat_specular);
    glMaterialfv(GL_FRONT, GL_AMBIENT, mat_ambient);
    glMaterialfv(GL_FRONT, GL_DIFFUSE, mat_diffuse);
    glMaterialf(GL_FRONT, GL_SHININESS, mat_shininess);

    glShadeModel(GL_SMOOTH);
    glEnable(GL_LIGHTING);
    glEnable(GL_LIGHT0);
    glDepthFunc(GL_LEQUAL);
    glEnable(GL_DEPTH_TEST);

    glClearColor(0.0, 0.0, 0.0, 0.0);
    glMatrixMode(GL_PROJECTION);

    glLoadIdentity();
    setProjection();

    //Fill the body parts of the robot
    h=gluNewQuadric();
    gluQuadricDrawStyle(h, GLU_FILL);
    t=gluNewQuadric();
    gluQuadricDrawStyle(t, GLU_FILL);
    lua=gluNewQuadric();
    gluQuadricDrawStyle(lua, GLU_FILL);
    lla=gluNewQuadric();
    gluQuadricDrawStyle(lla, GLU_FILL);
    rua=gluNewQuadric();
    gluQuadricDrawStyle(rua, GLU_FILL);
    rla=gluNewQuadric();
    gluQuadricDrawStyle(rla, GLU_FILL);
    lul=gluNewQuadric();
    gluQuadricDrawStyle(lul, GLU_FILL);
    lll=gluNewQuadric();
    gluQuadricDrawStyle(lll, GLU_FILL);
    rul=gluNewQuadric();
    gluQuadricDrawStyle(rul, GLU_FILL);
    rll=gluNewQuadric();
    gluQuadricDrawStyle(rll, GLU_FILL);
    lf1=gluNewQuadric();
    gluQuadricDrawStyle(lf1, GLU_FILL);

 }

int main(int argc, char **argv)
{
glutInit(&argc, argv);
glutInitDisplayMode(GLUT_DOUBLE | GLUT_RGB | GLUT_DEPTH);
glutInitWindowSize(500, 500);
glutCreateWindow("robot");
init();
glutReshapeFunc(reshape);
glutDisplayFunc(display);
glutMouseFunc(mouse);
glutSpecialFunc(specialKey);

glutCreateMenu(menu);
glutAddMenuEntry("torso", 0);
glutAddMenuEntry("head1", 1);
glutAddMenuEntry("head2", 2);
glutAddMenuEntry("right_upper_arm", 3);
glutAddMenuEntry("right_lower_arm", 4);
glutAddMenuEntry("left_upper_arm", 5);
glutAddMenuEntry("left_lower_arm", 6);
glutAddMenuEntry("right_upper_leg", 7);
glutAddMenuEntry("right_lower_leg", 8);
glutAddMenuEntry("left_upper_leg", 9);
glutAddMenuEntry("left_lower_leg", 10);
glutAddMenuEntry("quit", 11);
glutAttachMenu(GLUT_MIDDLE_BUTTON);

glutMainLoop();

return 0;
}
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1 に答える 1

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描画に関連するすべてのものと同様に、投影マトリックスの設定 (ビューポートとモデルビュー マトリックスの設定と共に) は、描画コード パスに属しますdisplay。には入れないでくださいreshape。そしてinit、これを行うのは完全に間違っています。

于 2014-11-03T17:46:54.693 に答える