Hey everyone!

I have a term project due for school in a few days, it consists of making a fully moveable robot that can move around a set grid, move all its limbs, has three objects that it cannot pass through, and must be able to toggle from first to third person view..

I have completed everything except the first person view code and collision detection code..

What I need help in is for the code I have not yet completed. I know that for the first person view I can use the lookAt function but I can't make heads or tails of it all, and the collision detection far surpases my abilities of programming at this moment in time.

So if anyone can offer any help or show me some code on how to get these two things done it would be appreciated more than you know. The Robot file is coded in C.

Below is the code that I have completed so far, I'm also using a simple Makefile program to compile it all and create an exe for the program.

#include <GL/glut.h>
#include <math.h>
#define BASE_HEIGHT 4.0/2
#define BASE_RADIUS 1.0/2
#define HEAD_HEIGHT 1.25/2
#define HEAD_RADIUS 0.75/2
#define NECK_HEIGHT 0.5/2
#define EYE_LEVEL 0.75/2
#define NOSE_LENGTH 0.5/2
#define LOWER_ARM_HEIGHT 2.0/2
#define LOWER_ARM_WIDTH 0.5/2
#define UPPER_ARM_HEIGHT 1.25/2
#define UPPER_ARM_WIDTH 0.5/2
#define ARM_TRANSLATION 0.22/2
#define alpha 0.0
#define pi 3.14159265
static GLfloat theta[] = {0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0};
static GLint axis = 0;
GLUquadricObj *p;
GLfloat x = 0.0;
GLfloat y = 0.0;
GLfloat xpos = 0.0;
GLfloat ypos = 0.0;
GLfloat zpos = 0.0;
GLfloat ambient[3];
GLfloat diffuse[3];
GLfloat specular[3];
GLfloat shiness[] = {50.0f};
float width = 500;
float height = 500;
void base(void);
void head(void);
void neck(void);
void upper_rarm(void);
void upper_larm(void);
void lower_rarm(void);
void lower_larm(void);
void init(void);
void display(void);
void reshape (int width, int height);
void keyboard(unsigned char, int, int);
void processSpecialKeys(int, int, int);
void jump (void);
void lsphere (void);
void init1 (void);

void base (void) {
double angle, angleInc;
int i;
angle = pi / 180;
angleInc = angle;
glPushMatrix();

ambient[0] = 1.0; ambient[1] = 0.0; ambient[2] = 0.0;
diffuse[0] = 1.0; diffuse[1] = 0.0; diffuse[2] = 0.0;
specular[0] = 0.7; specular[1] = 0.6; specular[2] = 0.5;

glMaterialfv(GL_FRONT, GL_AMBIENT, ambient);
glMaterialfv(GL_FRONT, GL_DIFFUSE, diffuse);
glMaterialfv(GL_FRONT, GL_SPECULAR, specular);
glMaterialfv(GL_FRONT, GL_SHININESS, shiness);

glRotatef (-90.0, 1.0, 0.0, 0.0);
gluQuadricDrawStyle(p, GLU_FILL);
gluCylinder (p, BASE_RADIUS, BASE_RADIUS, BASE_HEIGHT, 20, 20);

glPopMatrix();

glPushMatrix();

gluQuadricDrawStyle (p, GLU_FILL);
glTranslatef (0.0, BASE_HEIGHT, 0.0);
glRotatef (-90.0, 1.0, 0.0, 0.0);
gluDisk (p, 0.0, BASE_RADIUS, 20, 20);
glTranslatef (0.0, 0.0, -BASE_HEIGHT);
gluDisk (p, 0.0, BASE_RADIUS, 20, 20);
glPopMatrix();
}


void neck (void) {
glPushMatrix();

ambient[0] = 1.0; ambient[1] = 1.0; ambient[2] = 0.0;
diffuse[0] = 1.0; diffuse[1] = 1.0; diffuse[2] = 0.0;
specular[0] = 0.7; specular[1] = 0.6; specular[2] = 0.5;

glMaterialfv(GL_FRONT, GL_AMBIENT, ambient);
glMaterialfv(GL_FRONT, GL_DIFFUSE, diffuse);
glMaterialfv(GL_FRONT, GL_SPECULAR, specular);
glMaterialfv(GL_FRONT, GL_SHININESS, shiness);

glTranslatef(0.0, BASE_HEIGHT, 0.0);
glRotatef (-90.0, 1.0, 0.0, 0.0);
gluQuadricDrawStyle(p, GLU_FILL);
gluCylinder (p, HEAD_RADIUS/2, HEAD_RADIUS/2, HEAD_HEIGHT, 8, 6);
glPopMatrix();
}

void head (void) {
glPushMatrix();

ambient[0] = 1.0; ambient[1] = 0.0; ambient[2] = 1.0;
diffuse[0] = 1.0; diffuse[1] = 0.0; diffuse[2] = 1.0;
specular[0] = 0.7; specular[1] = 0.6; specular[2] = 0.5;

glMaterialfv(GL_FRONT, GL_AMBIENT, ambient);
glMaterialfv(GL_FRONT, GL_DIFFUSE, diffuse);
glMaterialfv(GL_FRONT, GL_SPECULAR, specular);
glMaterialfv(GL_FRONT, GL_SHININESS, shiness);

glRotatef (-90.0, 1.0, 0.0, 0.0);
gluQuadricDrawStyle(p, GLU_FILL);
gluCylinder (p, HEAD_RADIUS, HEAD_RADIUS, HEAD_HEIGHT, 20, 20);

glPushMatrix();

gluDisk (p, 0.0, HEAD_RADIUS, 20, 20);
glTranslatef (0.0, 0.0, HEAD_HEIGHT);
gluDisk (p, 0.0, HEAD_RADIUS, 20, 20);
glPopMatrix();

glPushMatrix();
glTranslatef (0.25, -HEAD_RADIUS+0.12, EYE_LEVEL);

ambient[0] = 1.0; ambient[1] = 1.0; ambient[2] = 1.0;
diffuse[0] = 1.0; diffuse[1] = 1.0; diffuse[2] = 1.0;
specular[0] = 0.5; specular[1] = 0.5; specular[2] = 0.5;

glMaterialfv(GL_FRONT, GL_AMBIENT, ambient);
glMaterialfv(GL_FRONT, GL_DIFFUSE, diffuse);
glMaterialfv(GL_FRONT, GL_SPECULAR, specular);
glMaterialfv(GL_FRONT, GL_SHININESS, shiness);

gluQuadricDrawStyle(p, GLU_FILL);
gluSphere (p, 0.125, 6, 6);
glPopMatrix();

glPushMatrix();
glTranslatef (-0.25, -HEAD_RADIUS+0.12, EYE_LEVEL);
ambient[0] = 1.0; ambient[1] = 1.0; ambient[2] = 1.0;
diffuse[0] = 1.0; diffuse[1] = 1.0; diffuse[2] = 1.0;
specular[0] = 0.5; specular[1] = 0.5; specular[2] = 0.5;

glMaterialfv(GL_FRONT, GL_AMBIENT, ambient);
glMaterialfv(GL_FRONT, GL_DIFFUSE, diffuse);
glMaterialfv(GL_FRONT, GL_SPECULAR, specular);
glMaterialfv(GL_FRONT, GL_SHININESS, shiness);


gluQuadricDrawStyle(p, GLU_FILL);
gluSphere (p, 0.125, 6, 6);
glPopMatrix();

glPushMatrix();
ambient[0] = 1.0; ambient[1] = 0.5; ambient[2] = 0.0;
diffuse[0] = 1.0; diffuse[1] = 0.5; diffuse[2] = 0.0;
specular[0] = 0.5; specular[1] = 0.5; specular[2] = 0.5;

glMaterialfv(GL_FRONT, GL_AMBIENT, ambient);
glMaterialfv(GL_FRONT, GL_DIFFUSE, diffuse);
glMaterialfv(GL_FRONT, GL_SPECULAR, specular);
glMaterialfv(GL_FRONT, GL_SHININESS, shiness);
glTranslatef(0.0, -HEAD_RADIUS, NOSE_LENGTH);
glRotatef(90.0, 1.0, 0.0, 0.0);
gluQuadricDrawStyle(p, GLU_FILL);
gluCylinder(p, 0.125, 0, NOSE_LENGTH, 8,6);
glPopMatrix();

glPopMatrix();
}

void lower_rarm(void) {
glPushMatrix();

ambient[0] = 0.0; ambient[1] = 1.0; ambient[2] = 0.0;
diffuse[0] = 0.0; diffuse[1] = 1.0; diffuse[2] = 0.0;
specular[0] = 0.7; specular[1] = 0.6; specular[2] = 0.5;

glMaterialfv(GL_FRONT, GL_AMBIENT, ambient);
glMaterialfv(GL_FRONT, GL_DIFFUSE, diffuse);
glMaterialfv(GL_FRONT, GL_SPECULAR, specular);
glMaterialfv(GL_FRONT, GL_SHININESS, shiness);

glTranslatef(0.0, 0.5 * LOWER_ARM_HEIGHT, ARM_TRANSLATION);
glScalef(LOWER_ARM_WIDTH, LOWER_ARM_HEIGHT, LOWER_ARM_WIDTH);
glutSolidCube(1.0);
glPopMatrix();
}

void lower_larm(void) {
glPushMatrix();

ambient[0] = 0.0; ambient[1] = 1.0; ambient[2] = 0.0;
diffuse[0] = 0.0; diffuse[1] = 1.0; diffuse[2] = 0.0;
specular[0] = 0.7; specular[1] = 0.6; specular[2] = 0.5;

glMaterialfv(GL_FRONT, GL_AMBIENT, ambient);
glMaterialfv(GL_FRONT, GL_DIFFUSE, diffuse);
glMaterialfv(GL_FRONT, GL_SPECULAR, specular);
glMaterialfv(GL_FRONT, GL_SHININESS, shiness);

glTranslatef(0.0, 0.5 * LOWER_ARM_HEIGHT, -ARM_TRANSLATION);
glScalef(LOWER_ARM_WIDTH, LOWER_ARM_HEIGHT, LOWER_ARM_WIDTH);
glutSolidCube(1.0);
glPopMatrix();
}

void upper_rarm(void) {
glPushMatrix();

ambient[0] = 0.0; ambient[1] = 0.0; ambient[2] = 1.0;
diffuse[0] = 0.0; diffuse[1] = 0.0; diffuse[2] = 1.0;
specular[0] = 0.7; specular[1] = 0.6; specular[2] = 0.5;

glMaterialfv(GL_FRONT, GL_AMBIENT, ambient);
glMaterialfv(GL_FRONT, GL_DIFFUSE, diffuse);
glMaterialfv(GL_FRONT, GL_SPECULAR, specular);
glMaterialfv(GL_FRONT, GL_SHININESS, shiness);

glTranslatef(0.0, 0.5 * UPPER_ARM_HEIGHT, ARM_TRANSLATION);
glScalef(UPPER_ARM_WIDTH, UPPER_ARM_HEIGHT, UPPER_ARM_WIDTH);
glutSolidCube(1.0);
glPopMatrix();
}

void upper_larm(void) {
glPushMatrix();

ambient[0] = 0.0; ambient[1] = 0.0; ambient[2] = 1.0;
diffuse[0] = 0.0; diffuse[1] = 0.0; diffuse[2] = 1.0;
specular[0] = 0.7; specular[1] = 0.6; specular[2] = 0.5;

glMaterialfv(GL_FRONT, GL_AMBIENT, ambient);
glMaterialfv(GL_FRONT, GL_DIFFUSE, diffuse);
glMaterialfv(GL_FRONT, GL_SPECULAR, specular);
glMaterialfv(GL_FRONT, GL_SHININESS, shiness);

glTranslatef(0.0, 0.5 * UPPER_ARM_HEIGHT, -ARM_TRANSLATION);
glScalef(UPPER_ARM_WIDTH, UPPER_ARM_HEIGHT, UPPER_ARM_WIDTH);
glutSolidCube(1.0);
glPopMatrix();
}


void init1(void){
GLfloat mat_specular[] = {1.0, 1.0, 1.0, 1.0};
GLfloat mat_shininess[] = {50.0};
GLfloat light_position[] = {1.0, 1.0, 1.0, 1.0};
GLfloat white_light[] = {0.3, 0.3, 0.3, 1.0};
GLfloat lmodel_ambient[] = {1.0, 1.0, 0.0, 1.0};
glClearColor(0.0, 0.0, 0.0, 0.0);
glShadeModel(GL_SMOOTH);
glMaterialfv(GL_FRONT, GL_SPECULAR, mat_specular);
glMaterialfv(GL_FRONT, GL_SHININESS, mat_shininess);
glLightfv(GL_LIGHT0, GL_POSITION, light_position);
glLightfv(GL_LIGHT0, GL_DIFFUSE, white_light);
glLightfv(GL_LIGHT0, GL_SPECULAR, white_light);
glLightModelfv(GL_LIGHT_MODEL_AMBIENT, lmodel_ambient);

glEnable(GL_LIGHTING);
glEnable(GL_LIGHT0);
glEnable(GL_DEPTH_TEST);
}

void lsphere(void){
glClear(GL_COLOR_BUFFER_BIT |GL_DEPTH_BUFFER_BIT);
glutSolidSphere(1.0, 20, 16);
glFlush();
}

void display(void) {

glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
glLoadIdentity();
gluLookAt(0.3, 5.3, 12.0, 0.0, 1.25, 0.0, 0.0, 1.0, 0.0);

glPushMatrix();
ambient[0] = 1.0; ambient[1] = 0.3; ambient[2] = 0.3;
diffuse[0] = 1.0; diffuse[1] = 1.0; diffuse[2] = 1.0;
specular[0] = 0.7; specular[1] = 0.6; specular[2] = 0.5;

glMaterialfv(GL_FRONT, GL_AMBIENT, ambient);
glMaterialfv(GL_FRONT, GL_DIFFUSE, diffuse);
glMaterialfv(GL_FRONT, GL_SPECULAR, specular);
glMaterialfv(GL_FRONT, GL_SHININESS, shiness);


glTranslatef(0.0, 5.0, 0.0);
lsphere();
glPopMatrix();

glPushMatrix();
ambient[0] = 0.3; ambient[1] = 0.3; ambient[2] = 0.3;
diffuse[0] = 0.0; diffuse[1] = 0.0; diffuse[2] = 1.0;
specular[0] = 0.7; specular[1] = 0.6; specular[2] = 0.5;

glMaterialfv(GL_FRONT, GL_AMBIENT, ambient);
glMaterialfv(GL_FRONT, GL_DIFFUSE, diffuse);
glMaterialfv(GL_FRONT, GL_SPECULAR, specular);
glMaterialfv(GL_FRONT, GL_SHININESS, shiness);

glTranslatef(3.0, 0.5, 1.0);
glutSolidCube(1.0);
glPopMatrix();

glPushMatrix();
ambient[0] = 0.3; ambient[1] = 0.3; ambient[2] = 0.3;
diffuse[0] = 1.0; diffuse[1] = 0.0; diffuse[2] = 1.0;
specular[0] = 0.7; specular[1] = 0.6; specular[2] = 0.5;

glMaterialfv(GL_FRONT, GL_AMBIENT, ambient);
glMaterialfv(GL_FRONT, GL_DIFFUSE, diffuse);
glMaterialfv(GL_FRONT, GL_SPECULAR, specular);
glMaterialfv(GL_FRONT, GL_SHININESS, shiness);

glTranslatef(-4.0, 0.5, 3.0);
glutSolidCone(0.5, 1.5, 20, 15);
glPopMatrix();

glPushMatrix();
ambient[0] = 0.3; ambient[1] = 0.3; ambient[2] = 0.3;
diffuse[0] = 1.0; diffuse[1] = 0.0; diffuse[2] = 0.0;
specular[0] = 0.7; specular[1] = 0.6; specular[2] = 0.5;

glMaterialfv(GL_FRONT, GL_AMBIENT, ambient);
glMaterialfv(GL_FRONT, GL_DIFFUSE, diffuse);
glMaterialfv(GL_FRONT, GL_SPECULAR, specular);
glMaterialfv(GL_FRONT, GL_SHININESS, shiness);

glTranslatef(-3.0, 0.5, -3.0);
glutSolidTeapot(1.0);
glPopMatrix();

glPushMatrix();
ambient[0] = 0.5; ambient[1] = 0.5; ambient[2] = 0.5;
diffuse[0] = 1.0; diffuse[1] = 1.0; diffuse[2] = 1.0;
specular[0] = 0.7; specular[1] = 0.6; specular[2] = 0.5;

glMaterialfv(GL_FRONT, GL_AMBIENT, ambient);
glMaterialfv(GL_FRONT, GL_DIFFUSE, diffuse);
glMaterialfv(GL_FRONT, GL_SPECULAR, specular);
glMaterialfv(GL_FRONT, GL_SHININESS, shiness);

glBegin(GL_POLYGON);
glVertex3f(5.0, 0.0, 5.0);
glVertex3f(5.0, 0.0, -5.0);
glVertex3f(-5.0, 0.0, -5.0);
glVertex3f(-5.0, 0.0, 5.0);
glVertex3f(5.0, 0.0, 5.0);
glEnd();

glPopMatrix();

glTranslatef (xpos, ypos, zpos);
glRotatef(theta[0], 0.0, 1.0, 0.0);
base();
neck();

glPushMatrix();
glTranslatef(0.0, BASE_HEIGHT + HEAD_HEIGHT/2, 0.0);
glRotatef(theta[2], 1.0, 0.0, 0.0);
glRotatef(theta[1], 0.0, 1.0, 0.0);
head();
glPopMatrix();


glPushMatrix();
glTranslatef(BASE_RADIUS, BASE_HEIGHT - BASE_RADIUS / 2, 0.0);
glRotatef(180.0, 0.0, 0.0, 1.0);
glRotatef(270.0, 0.0, 1.0, 0.0);
glRotatef(theta[4], 0.0, 0.0, 1.0);
lower_rarm();
glTranslatef(0.0, LOWER_ARM_HEIGHT, 0.0);
glRotatef(0.0, 0.0, 0.0, 180.0);
glRotatef(theta[6], 0.0, 0.0, 1.0);
upper_rarm();
glPopMatrix();

glPushMatrix();
glTranslatef(-BASE_RADIUS, BASE_HEIGHT - BASE_RADIUS / 2, 0.0);
glRotatef(180.0, 0.0, 0.0, 1.0);
glRotatef(270.0, 0.0, 1.0, 0.0);
glRotatef(theta[3], 0.0, 0.0, 1.0);
lower_larm();
glTranslatef(0.0, LOWER_ARM_HEIGHT, 0.0);
glRotatef(0.0, 0.0, 0.0, 180.0);
glRotatef(theta[5], 0.0, 0.0, 1.0);
upper_larm();
glPopMatrix();


glFlush();
glutSwapBuffers();
}

void keyboard (unsigned char key, int x, int y) {
switch (key) {
case 'a': theta[1] += 5.0;
if (theta[1] > 90.0)
theta[1] = 90.0;
break;

case 'z': theta[1] -= 5.0;
if (theta[1] < -90.0)
theta[1] = -90.0;
break;

case 'o': theta[2] += 5.0;
if (theta[2] > 45.0)
theta[2] = 45.0;
break;

case 'p': theta[2] -= 5.0;
if (theta[2] < -45.0)
theta[2] = -45.0;
break;

case 'k': theta[3] -= 5.0; break;
case 'l': theta[3] += 5.0; break;

case 'h': theta[4] -= 5.0; break;
case 'j': theta[4] += 5.0; break;

case 'n': theta[5] -= 5.0; break;
case 'm': theta[5] += 5.0; break;

case 'v': theta[6] -= 5.0; break;
case 'b': theta[6] += 5.0; break;

case 'e': theta[0] = theta[1] = theta[2] = theta[3] = theta[4] = theta[5] = theta[6] = xpos = ypos = zpos = 0.0;
break;

case 'r': theta[0] = theta[1] = theta[2] = theta[3] = theta[4] = theta[5] = theta[6] = 0.0;
break;

case 'q': exit(0); break;
}
glutPostRedisplay();
}


void processSpecialKeys(int key, int x, int y) {
switch(key) {
case GLUT_KEY_UP:
xpos -= cos(90 * pi/180 + theta[0] * pi/180);
zpos += sin(90 * pi/180 + theta[0] * pi/180);
if (xpos > 5)
xpos = 5;
if (zpos > 5)
zpos = 5;
if (xpos < -5)
xpos = -5;
if (zpos < -5)
zpos = -5;
break;
case GLUT_KEY_DOWN:
xpos += cos(90 * pi/180 + theta[0] * pi/180);
zpos -= sin(90 * pi/180 + theta[0] * pi/180);
if (xpos > 5)
xpos = 5;
if (zpos > 5)
zpos = 5;
if (xpos < -5)
xpos = -5;
if (zpos < -5)
zpos = -5;
break;
case GLUT_KEY_LEFT: theta[0] -= 5.0; break;
case GLUT_KEY_RIGHT: theta[0] += 5.0; break;
case GLUT_KEY_PAGE_UP: ypos += 1.0; break;
case GLUT_KEY_PAGE_DOWN: ypos -= 1.0; break;
}
glutPostRedisplay();
}

void reshape(int w, int h) {
glViewport(0, 0, w, h);
glMatrixMode(GL_PROJECTION);
glLoadIdentity();
gluPerspective(100.0, (GLfloat) w / (GLfloat) h, 0.5, 100.0);
glMatrixMode(GL_MODELVIEW);
glLoadIdentity();
}

void init (void) {
GLfloat lightIntensity[] = {0.7f, 0.7f, 0.7f, 1.0f};
GLfloat light_position[] = {2.0f, 6.0f, 3.0f, 0.0f};

glEnable(GL_LIGHTING);
glEnable(GL_LIGHT0);
glShadeModel(GL_SMOOTH);
glEnable(GL_DEPTH_TEST);
glEnable(GL_NORMALIZE);

glLightfv(GL_LIGHT0, GL_POSITION, light_position);
glLightfv(GL_LIGHT0, GL_DIFFUSE, lightIntensity);

glClearColor(0.0, 0.0, 0.0, 0.0);
glColor3f(1.0, 0.0, 0.0);
p = gluNewQuadric();
}

int main(int argc, char **argv) {
glutInit(&argc, argv);
glutInitDisplayMode(GLUT_DOUBLE | GLUT_RGB | GLUT_DEPTH);
glutInitWindowSize(width, height);
glutCreateWindow("Robot");
init();
init1();
glutReshapeFunc(reshape);
glutDisplayFunc(display);
glutKeyboardFunc(keyboard);
glutSpecialFunc (processSpecialKeys);
glutMainLoop();
return 0;
}