PRACTICA 3

Humaniode con manos


#include
#include
#include
#include
#include

void mano(float ang,float rpy,float rpz,float rpyf123,float rpyf23,float rpyf3,float rixf123,float rixf23,float rixf3,float rmxf123,float rmxf23,float rmxf3,float raxf123,float raxf23,float raxf3,float rmexf123,float rmexf23,float rmexf3,float rmaz,float rmax,float rmay);

void mueveExtremidades(float abd, float abi, float apd,float api,float x1,float y1,float z1);

void init(void)
{
glClearColor (0.0, 0.0, 1.0, 0.0);
glShadeModel (GL_FLAT);
}

void display(void)
{

glClear (GL_COLOR_BUFFER_BIT);
glColor3f (1.0, 1.0, 1.0);
glLoadIdentity (); /* clear the matrix */
/* viewing transformation */
gluLookAt (0.0, 0.0, 5.0, 0.0, 0.0, 0.0, 0.0, 1.0, 0.0);
glScalef (1.0, 1.0, 1.0); /* modeling transformation */


glPushMatrix();
glScalef(0.1,.6,1.0);
glTranslatef(-21,2.75f,0.0f);
glRotatef(90,0,0,1);
mano(0,1,45,0,0, 45,0,0, 45,0,0, 45,0,0, -20,0,0, -15, 0,1,0 );
glPopMatrix();

glPushMatrix();
glScalef(0.1,.6,1.0);
glTranslatef(21,2.75f,0.0f);
glRotatef(-90,0,0,1);
mano(0,1,45,0,0, 45,0,0, 45,0,0, 45,0,0, -20,0,0, -15, 0,1,0 ,);
glPopMatrix();

mueveExtremidades(8,-8,8,-8,0,0,0);

glFlush ();
}

void reshape (int w, int h)
{
glViewport (0, 0, (GLsizei) w, (GLsizei) h);
glMatrixMode (GL_PROJECTION);
glLoadIdentity ();
glFrustum (-1.0, 1.0, -1.0, 1.0, 1.5, 20.0);
glMatrixMode (GL_MODELVIEW);
}

/* ARGSUSED1 */
void keyboard(unsigned char key, int x, int y)
{
switch (key) {
case 27:
exit(0);
break;
}
}

nt main(int argc, char** argv)
{
glutInit(&argc, argv);
glutInitDisplayMode (GLUT_SINGLE GLUT_RGB);
glutInitWindowSize (500, 500);
glutInitWindowPosition (300,230);
glutCreateWindow (argv[0]);
init ();
glutDisplayFunc(display);
glutReshapeFunc(reshape);
glutKeyboardFunc(keyboard);
glutMainLoop();

return 0;
}



void mueveExtremidades(float abd, float abi, float apd,float api,float x1,float y1,float z1)
{
float x,y,z,brazod, brazoi, pied, piei;
x=x1;
y=y1;
z=z1;
brazod=abd;
brazoi=abi;
pied=apd;
piei=api;

glPushMatrix();
//cabeza
glTranslatef(0.0f,2.5f,0.0f);
glutWireCube (0.5);

//tronco
glScalef(2.5,2.5,2.0);
glTranslatef(0.0f,-0.45f,0.0f);
glutWireCube (0.5);
//piernas

glPushMatrix();
glPushMatrix();
//pierna izquierda
glRotatef(piei,x,y,z);
glTranslatef(-0.1f,-0.55f,0.0f);
glScalef(-.3,1.2,1.0);
glutWireCube (0.5);
glPushMatrix();

glTranslatef(0.0f,-0.7f,0.0f);
glutWireCube (0.5);

glPushMatrix();
glTranslatef(0.0f,.35f,0.0f);
glScalef(1.1,.4,1.0);
glutWireCube (0.5);
glPopMatrix();
glPopMatrix();
//pies
glPushMatrix();
glTranslatef(.3f,-1.0f,0.0f);
glScalef(1.6,.2,1.0);
glutWireCube (0.5);
glPopMatrix();
glPopMatrix();

//pierna derecha
glRotatef(pied,x,y,z);
glTranslatef(0.1f,-0.55f,0.0f);
glScalef(-.3,1.2,1.0);
glutWireCube (0.5);
glPushMatrix();

glTranslatef(0.0f,-0.7f,0.0f);
glutWireCube (0.5);

glPushMatrix();
glTranslatef(0.0f,.35f,0.0f);
glScalef(1.1,.4,1.0);
glutWireCube (0.5);
glPopMatrix();
glPopMatrix();

//pies
glTranslatef(-.3f,-1.0f,0.0f);
glScalef(1.6,.2,1.0);
glutWireCube (0.5);


glPopMatrix();
//brazo derecho
glPushMatrix();
glRotatef(brazod,x,y,z);
glTranslatef(0.35f,0.1f,0.0f);
glScalef(0.5,0.4,.5);
glutWireCube (0.5);

glPushMatrix();

glTranslatef(0.4f,0.0f,0.0f);
glScalef(0.5,1.2,1.0);
glutWireCube (0.5);

glPopMatrix();
glTranslatef(0.7f,0.0f,0.0f);
glScalef(.7,1,1.0);
glutWireCube (0.5);
//brazo izquierdo
glPopMatrix();
glRotatef(brazoi,x,y,z);
glTranslatef(-0.35f,0.1f,0.0f);
glScalef(0.5,0.4,.5);
glutWireCube (0.5);

glPushMatrix();
glTranslatef(-0.4f,0.0f,0.0f);
glScalef(0.5,1.2,1.0);
glutWireCube (0.5);

glPopMatrix();
glTranslatef(-0.7f,0.0f,0.0f);
glScalef(.7,1,1.0);
glutWireCube (0.5);
glPopMatrix();


}

void mano(float ang,float rpy,float rpz,float rpyf123,float rpyf23,float rpyf3,float rixf123,float rixf23,float rixf3,float rmxf123,float rmxf23,float rmxf3,float raxf123,float raxf23,float raxf3,float rmexf123,float rmexf23,float rmexf3,float rmaz,float rmax,float rmay)
{


glRotatef(ang,rmax,rmay,rmaz);
glPushMatrix();
//palma

glScalef(4,3,2);
glutWireCube (0.5);
glPopMatrix();

glPushMatrix();
//pulgar
//falange1
glRotatef(rpyf123,0,1,0);
glTranslatef(1.25f,-0.55f,0.0f);
glScalef(1.25,1,1);
glutWireCube (0.5);

//falange2
glRotatef(rpyf23,0,1,0);
glTranslatef(.5f,0.0f,0.0f);
glScalef(1,1,1);
glutWireCube (0.5);

//falange3
glRotatef(rpyf3,0,1,0);
glTranslatef(0.39f,0.0f,0.0f);
glScalef(.5,1,1);
glutWireCube (0.5);

glPopMatrix();

glPushMatrix();
//indice
//falange1
glRotatef(rixf123,1,0,0);
glScalef(1,1.5,1);
glTranslatef(0.75f,0.75f,0.0f);
glutWireCube (0.5);

//falange2
glRotatef(rixf23,1,0,0);
glScalef(1,1.25,1);
glTranslatef(0.0f,0.45f,0.0f);
glutWireCube (0.5);

//falange3
glRotatef(rixf3,1,0,0);
glScalef(1,.5,1);
glTranslatef(0.0f,.75f,0.0f);
glutWireCube (0.5);

glPopMatrix();

glPushMatrix();
//medio
//falange1
glRotatef(rmxf123,1,0,0);
glScalef(1,1.5,1);
glTranslatef(0.25f,0.75f,0.0f);
glutWireCube (0.5);

//falange2
glRotatef(rmxf23,1,0,0);
glScalef(1,1.25,1);
glTranslatef(0.0f,0.45f,0.0f);
glutWireCube (0.5);

//falange3
glRotatef(rmxf3,1,0,0);
glScalef(1,.75,1);
glTranslatef(0.0f,.60f,0.0f);
glutWireCube (0.5);

glPopMatrix();

glPushMatrix();
//Angular
//falange1
glRotatef(raxf123,1,0,0);
glScalef(1,1.25,1);
glTranslatef(-0.25f,0.860f,0.0f);
glutWireCube (0.5);

//falange2
glScalef(1,1.25,1);
glRotatef(raxf23,1,0,0);
glTranslatef(0.0f,.45f,0.0f);
glutWireCube (0.5);

//falange3
glRotatef(raxf3,1,0,0);
glScalef(1,1,1);
glTranslatef(0.0f,.5f,0.0f);
glutWireCube (0.5);

glPopMatrix();

glPushMatrix();
//meñique
//falange1
glRotatef(rmexf123,1,0,0);
glScalef(1,1.2,1);
glTranslatef(-0.75f,0.86f,0.0f);
glutWireCube (0.5);

//falange2
glRotatef(rmexf23,1,0,0);
glScalef(1,1,1);
glTranslatef(0.0f,0.5f,0.0f);
glutWireCube (0.5);

//falange3
glRotatef(rmexf3,1,0,0);
glScalef(1,1,1);
glTranslatef(0.0f,.5f,0.0f);
glutWireCube (0.5);

glPopMatrix();

}