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#/*
# * Copyright (c) 1993-1997, Silicon Graphics, Inc.
# * ALL RIGHTS RESERVED
# * Permission to use, copy, modify, and distribute this software for
# * any purpose and without fee is hereby granted, provided that the above
# * copyright notice appear in all copies and that both the copyright notice
# * and this permission notice appear in supporting documentation, and that
# * the name of Silicon Graphics, Inc. not be used in advertising
# * or publicity pertaining to distribution of the software without specific,
# * written prior permission.
# *
# * THE MATERIAL EMBODIED ON THIS SOFTWARE IS PROVIDED TO YOU "AS-IS"
# * AND WITHOUT WARRANTY OF ANY KIND, EXPRESS, IMPLIED OR OTHERWISE,
# * INCLUDING WITHOUT LIMITATION, ANY WARRANTY OF MERCHANTABILITY OR
# * FITNESS FOR A PARTICULAR PURPOSE. IN NO EVENT SHALL SILICON
# * GRAPHICS, INC. BE LIABLE TO YOU OR ANYONE ELSE FOR ANY DIRECT,
# * SPECIAL, INCIDENTAL, INDIRECT OR CONSEQUENTIAL DAMAGES OF ANY
# * KIND, OR ANY DAMAGES WHATSOEVER, INCLUDING WITHOUT LIMITATION,
# * LOSS OF PROFIT, LOSS OF USE, SAVINGS OR REVENUE, OR THE CLAIMS OF
# * THIRD PARTIES, WHETHER OR NOT SILICON GRAPHICS, INC. HAS BEEN
# * ADVISED OF THE POSSIBILITY OF SUCH LOSS, HOWEVER CAUSED AND ON
# * ANY THEORY OF LIABILITY, ARISING OUT OF OR IN CONNECTION WITH THE
# * POSSESSION, USE OR PERFORMANCE OF THIS SOFTWARE.
# *
# * US Government Users Restricted Rights
# * Use, duplication, or disclosure by the Government is subject to
# * restrictions set forth in FAR 52.227.19(c)(2) or subparagraph
# * (c)(1)(ii) of the Rights in Technical Data and Computer Software
# * clause at DFARS 252.227-7013 and/or in similar or successor
# * clauses in the FAR or the DOD or NASA FAR Supplement.
# * Unpublished-- rights reserved under the copyright laws of the
# * United States. Contractor/manufacturer is Silicon Graphics,
# * Inc., 2011 N. Shoreline Blvd., Mountain View, CA 94039-7311.
# *
# * OpenGL(R) is a registered trademark of Silicon Graphics, Inc.
# */
#
#/*
# * robot.c
# * 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.
# */
require "opengl"
require "glut"
require "mathn"
$shoulder = 0;
$elbow = 0;
def init
GL.ClearColor(0.0, 0.0, 0.0, 0.0);
GL.ShadeModel(GL::FLAT);
end
display = Proc.new {
GL.Clear(GL::COLOR_BUFFER_BIT);
GL.PushMatrix();
GL.Translate(-1.0, 0.0, 0.0);
GL.Rotate($shoulder, 0.0, 0.0, 1.0);
GL.Translate(1.0, 0.0, 0.0);
GL.PushMatrix();
GL.Scale(2.0, 0.4, 1.0);
GLUT.WireCube (1.0);
GL.PopMatrix();
GL.Translate(1.0, 0.0, 0.0);
GL.Rotate($elbow, 0.0, 0.0, 1.0);
GL.Translate(1.0, 0.0, 0.0);
GL.PushMatrix();
GL.Scale(2.0, 0.4, 1.0);
GLUT.WireCube(1.0);
GL.PopMatrix();
GL.PopMatrix();
GLUT.SwapBuffers();
}
reshape = Proc.new {|w, h|
GL.Viewport(0, 0, w, h);
GL.MatrixMode(GL::PROJECTION);
GL.LoadIdentity();
GLU.Perspective(65.0, w/ h, 1.0, 20.0);
GL.MatrixMode(GL::MODELVIEW);
GL.LoadIdentity();
GL.Translate(0.0, 0.0, -5.0);
}
#/* ARGSUSED1 */
keyboard = Proc.new {|key, x, y|
case (key)
when 's'[0]
$shoulder = ($shoulder + 5) % 360;
GLUT.PostRedisplay();
when 'S'[0]
$shoulder = ($shoulder - 5) % 360;
GLUT.PostRedisplay();
when 'e'[0]
$elbow = ($elbow + 5) % 360;
GLUT.PostRedisplay();
when 'E'[0]
$elbow = ($elbow - 5) % 360;
GLUT.PostRedisplay();
when 27
exit(0);
end
}
GLUT.Init
GLUT.InitDisplayMode(GLUT::DOUBLE | GLUT::RGB);
GLUT.InitWindowSize(500, 500);
GLUT.InitWindowPosition(100, 100);
GLUT.CreateWindow($0);
init();
GLUT.DisplayFunc(display);
GLUT.ReshapeFunc(reshape);
GLUT.KeyboardFunc(keyboard);
GLUT.MainLoop();
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