opengl doubt..........

[abhilashm86]

i've a simulated robot arm which does 5 operations, moves up,down, rotate, others...........
this i did using glutKeyboardFunc(), so user needs to press keys, which i need to change it automatically........

like without any user input/ event, robot arm should itself simulate, like rotate first, up, down, like that,
what are my best options??
1) should i use glutTimerFunc(), an will it work
2) use for loop, delay??
3) use a external file input and make this............

[abhilashm86]

code for above simulated robot is shown here, now though user key input like S,s,E,e,F,f.........
suggest how to implement with automatically without user input.........
like 4 seconds it should rotate then up and goes on............

#include<GL/glut.h>

#include<stdlib.h>

#include<math.h>

const float DEG2RAD = 3.14159/180;

static int shoulder = 0, elbow = 0,gripper=0,shldf=0;

//GLfloat position[]={0.0,0.0,5.0,1.0};

void init()

{

glClearColor (1.0, 1.0, 1.0, 0.0);

glShadeModel (GL_SMOOTH);

//glEnable(GL_LIGHTING);

//glEnable(GL_LIGHT0);

//glLightfv(GL_LIGHT0,GL_POSITION,position);

glEnable(GL_DEPTH_TEST);

}





void keyboard (unsigned char key, int x, int y)

{

switch (key)

{

case 's':

shoulder = (shoulder + 2) % 360; //Shoulder Motion

glutPostRedisplay();

break;

case 'S':

shoulder = (shoulder - 2) % 360; //Shoulder Motion

glutPostRedisplay();

break;

case 'e':

elbow = (elbow + 2) % 90; //Elbow Motion

glutPostRedisplay();

break;

case 'E':

elbow = (elbow - 2) % 90; //Elbow Motion

glutPostRedisplay();

break;

case 'g':

gripper=(gripper+2)%360; //Gripper Motion

glutPostRedisplay();

break;

case 'G':

gripper=(gripper-2)%360; //Gripper Motion

glutPostRedisplay();

break;

case 'f':

shldf=(shldf+2)%45; //Shoulder to-fro motion

glutPostRedisplay();

break;

case 'F':

shldf=(shldf-2)%75; //Shoulder to-fro Motion

glutPostRedisplay();

break;

case 27:

exit(0);

break;

default:

break;

}

}





void base_arm()

{

glPushMatrix();



glScalef (1.0,0.1,0.4);

glColor3f(0.0,.0,0.0);

glutSolidCube (1.0); //Connecting cube

glPopMatrix();

glPushMatrix();


glTranslatef(0.0,-0.6,0.0);

glColor3f(0.0,.0,0.0);

glScalef(1.0,0.1,0.4);

glutSolidCube(1.0); //Connecting Cube

glPopMatrix();

glPushMatrix();

glTranslatef(0.0,0.6,0.0);

glScalef(1.0,0.1,0.4);

glColor3f(0.0,.0,0.0);

glutSolidCube(1.0); //Connecting Cube

glPopMatrix();

glPushMatrix();

glTranslatef(-0.5,0.0,0.0);

glScalef(0.4,2.0,0.4);

glColor3f(0.4,.4,0.4);

glutSolidCube(1.0); //Side Long Cube

glPopMatrix();

glPushMatrix();

glTranslatef(0.5,0.0,0.0);

glScalef(0.4,2.0,0.4);

glColor3f(0.4,.4,0.4);

glutSolidCube(1.0); //Side Long Cube

glPopMatrix();

}





void drawCircle(float radius) //Code to draw semi-circle; 360 limit in for loop draws circle,but i need filled one

{

glBegin(GL_TRIANGLE_FAN);



for (int i=0; i<360; i++)

{

float degInRad = i*DEG2RAD;

glVertex2f(cos(degInRad)*radius,sin(degInRad)*radi us);

}



glEnd();

}



void drawSemiCircle(float radius) //Code to draw semi-circle; 360 limit in for loop draws circle,but i need filled one

{

glBegin(GL_TRIANGLE_FAN);



for (int i=0; i<180; i++)

{

float degInRad = i*DEG2RAD;

glVertex2f(cos(degInRad)*radius,sin(degInRad)*radi us);

}



glEnd();

}



void robotarm()

{

glPushMatrix();

glTranslatef(0.0,-1.4,0.0);

glPushMatrix();

glColor3f(0.0,.0,0.0);

glRotatef(90.0,1.0,0.0,0.0);

glTranslatef(0.0,0.0,-0.3);

drawCircle(1.0);

glPopMatrix();

glColor3f(0.0,.0,0.0);

glTranslatef(0.0,0.0,-0.5);

glScalef(3.0,0.5,3.0);

glutSolidCube(1.0); //Fixed Base

glTranslatef(0.0,-1.0,-0.5);

glScalef(2.0,0.5,2.0);

glColor3f(0.0,0.0,0.0);

glutSolidCube(1.0);

glPopMatrix();

glPushMatrix();

glColor3f(1.0,0.0,0.0);

glRotatef((GLfloat) shoulder, 0.0, 1.0, 0.0); //360deg motion;

glPushMatrix();

glTranslatef(-0.7,-1.1,0.0);

glRotatef(90.0,0.0,1.0,0.0);

glColor3f(0.0,0.0,1.0);

drawSemiCircle(0.3);

glPopMatrix();

glPushMatrix();

glTranslatef(0.7,-1.1,0.0);

glRotatef(90.0,0.0,1.0,0.0);

glColor3f(0.0,0.0,1.0);

drawSemiCircle(0.3);

glPopMatrix();

glPushMatrix();

glTranslatef(0.0,-1.0,0.0);

glRotatef(shldf,1.0,0.0,0.0); //180deg frnt-bck motion

glTranslatef(0.0,1.0,0.0);

glPushMatrix();



base_arm(); //Shoulder to elbow

glPushMatrix();

glTranslatef(-0.71,1.0,0.0);

glRotatef(90.0,0.0,1.0,0.0);

glColor3f(0.0,0.0,1.0);

drawCircle(0.2);

glPopMatrix();

glPushMatrix();

glTranslatef(0.71,1.0,0.0);

glRotatef(90.0,0.0,1.0,0.0);

glColor3f(0.0,0.0,1.0);

drawCircle(0.2);

glPopMatrix();

glTranslatef(0.0,1.0,0.0);

glRotatef(90.0,1.0,0.0,0.0);

glTranslatef(0.0,1.0,0.0);

glTranslatef(0.0,-1.0,0.0);

glRotatef((GLfloat) elbow,1.0,0.0,0.0); //Elbow rotation

glTranslatef(0.0,1.0,0.0);

base_arm(); //elbow to Gripper

glPushMatrix();

glColor3f(.7,0.7,.7);

glTranslatef(0.0,1.2,0.0);

glRotatef(90.0,1.0,0.0,0.0);

glScalef(1.5,0.5,0.4);

glRotatef(gripper,0.0,0.0,1.0);

glutSolidCube(1.0); //Gripper

glPopMatrix();

glPopMatrix();

glPopMatrix();

glPopMatrix();

}





void display(void)

{

glClear (GL_COLOR_BUFFER_BIT|GL_DEPTH_BUFFER_BIT);

glPushMatrix();

glScalef(0.8,0.8,0.8); //To Show entire robo arm within the window

robotarm();

glPopMatrix();

glutSwapBuffers();

}



void reshape (int w, int h)

{

GLint xc=100,yc=450,r=10;

glViewport (0, 0, (GLsizei) w, (GLsizei) h);

glMatrixMode (GL_PROJECTION);

glLoadIdentity ();

gluPerspective(65.0, (GLfloat) w/(GLfloat) h,1.0, 20.0);

glMatrixMode(GL_MODELVIEW);

glLoadIdentity();

glTranslatef (0.0, 0.0, -5.0);

}



int main(int argc, char** argv)

{

glutInit(&argc, argv);

glutInitDisplayMode (GLUT_DOUBLE | GLUT_RGB);

glutInitWindowSize (600, 600);

glutInitWindowPosition (0,0);

glutCreateWindow ("Robot Arm Simulation");

init();

glutDisplayFunc(display);

glutReshapeFunc(reshape);

glutKeyboardFunc(keyboard);

glutMainLoop();

return 0;

}

[grayrainbow]

It seems you're on right way by your own. Just...what exactly you mean by "for loop, delay?" ? :O
Btw, you can also use simple algorithm to make arm moving, but then if you want to change the movements you should recompile(doesn't seem big problem).

P.S. You can show same general cod logic without posting functions like base_arm + _draw couse it is quite obvius what you do with it

[abhilashm86]

now the program works by user input-> keyboard.......
i want it automatically to make trasitions, movement according to time, so i tried for loop and delay, but its really fast and i can't see the effect.
So i thought of using glutTimerFunc(), it trigers any function called and in millie seconds.............
Is there any good better options??