my realatd part of code was posted below:
static int R[10];
int i=0;
bool m_bGetdata=false;
GloveData gData;
GLfloat farView=-15.0;
float Roffset[10];
void init(void)
{
R[0]=40;
R[1]=0;
R[2]=0;
R[3]=0;
R[4]=0;
R[5]=0;
R[6]=0;
R[7]=0;
R[8]=0;
R[9]=0;
m_bGetdata=true;
gData.init();
gData.upData();
for(i=0;i<10;i++)
Roffset[i]=gData.fJoint[i];
GLfloat mat_specular[]={1.0,1.0,1.0};
GLfloat mat_shininess[]={100.0};
GLfloat light_position[]={0.0,0.0,4.0,1.0};
GLfloat white_light[]={1.0,1.0,1.0,1.0};
glMaterialfv(GL_FRONT,GL_SPECULAR,mat_specular);
glMaterialfv(GL_FRONT,GL_SHININESS,mat_shininess);
glMaterialfv(GL_FRONT,GL_EMISSION,mat_shininess);
glLightfv(GL_LIGHT0,GL_POSITION,light_position);
glLightfv(GL_LIGHT0,GL_DIFFUSE,white_light);
glLightfv(GL_LIGHT0,GL_SPECULAR,white_light);
glLightfv(GL_LIGHT0,GL_AMBIENT,white_light);
glEnable(GL_LIGHTING);
glEnable(GL_LIGHT0);
glEnable(GL_DEPTH_TEST);
glClearColor(0.,0.,0.,0.);
glShadeModel(GL_SMOOTH);
}
void display()
{
glClear(GL_COLOR_BUFFER_BIT|GL_DEPTH_BUFFER_BIT);
//
// draw the palm
glPushMatrix();
glShadeModel(GL_FLAT);
glEnable(GL_COLOR_MATERIAL);
glDisable(GL_LIGHTING);
glColorMaterial(GL_FRONT,GL_DIFFUSE);
glColor3f(1.0,1.0,1.0);
glLoadIdentity();
glTranslatef(0.0,0.0,farView);
glTranslatef(0.0,-1.5,0.0);
glRotatef(Rx0,1.0,0.0,0.0);
glTranslatef(0.0,1.5,0.0);
glPushMatrix();
glScalef(3.0,3.0,0.5);
glutSolidCube(1.0);
glPopMatrix();
//draw the Thumb finger
glPushMatrix();
glTranslatef(-1.2,-1.0,0.0);
glRotatef(R[0],0.0,0.0,1.0);
glTranslatef(0.0,0.55,0.0);
glPushMatrix();
glScalef(0.8,1.1,0.5);
glutSolidCube(1.0);
glPopMatrix();
glTranslatef(0.0,0.55,0.0);
glRotatef(R[5],0.0,0.0,1.0);
glTranslatef(0.0,0.50,0.0); //offset for compact joint 0.55
glScalef(0.8,1.1,0.5);
glutSolidCube(1.0);
glPopMatrix();
//draw the index finger
glPushMatrix();
glTranslatef(-1.15,1.5,0.0);
glRotatef(R[1],1.0,0.0,0.0);
glTranslatef(0.0,0.6,0.0);
glPushMatrix();
glScalef(0.6,1.2,0.5);
glutSolidCube(1.0);
glPopMatrix();
glTranslatef(0.0,0.6,0.0);
glRotatef(R[6],1.0,0.0,0.0);
glTranslatef(0.,0.6,0.0);
glScalef(0.6,1.2,0.5);
glutSolidCube(1.0);
glPopMatrix();
//draw the middle finger
glPushMatrix();
glTranslatef(-0.3,1.5,0.0);
glRotatef(R[2],1.0,0.0,0.0);
glTranslatef(0.0,0.7,0.0);
glPushMatrix();
glScalef(0.7,1.4,0.5);
glutSolidCube(1.0);
glPopMatrix();
glTranslatef(0.0,0.7,0.0);
glRotatef(R[7],1.0,0.,0.0);
glTranslatef(0.0,0.65,0.0); //offset for 0.7
glScalef(0.7,1.4,0.5);
glutSolidCube(1.0);
glPopMatrix();
// ring finger
glPushMatrix();
glTranslatef(0.55,1.5,0.0);
glRotatef(R[3],1.0,0.0,0.0);
glTranslatef(0.0,0.65,0.0);
glPushMatrix();
glScalef(0.6,1.3,0.5);
glutSolidCube(1.0);
glPopMatrix();
glTranslatef(0.0,0.65,0.0);
glRotatef(R[8],1.0,0.0,0.0);
glTranslatef(0.0,0.6,0.0); //offset for joint 0.65
glScalef(0.6,1.3,0.5);
glutSolidCube(1.0);
glPopMatrix();
//pinky finger
glPushMatrix();
glTranslatef(1.3,1.5,0.0);
glRotatef(R[4],1.0,0.0,0.0);
glTranslatef(0.0,0.5,0.0);
glPushMatrix();
glScalef(0.4,1.0,0.5);
glutSolidCube(1.0);
glPopMatrix();
glTranslatef(0.0,0.5,0.0);
glRotatef(R[9],1.0,0.0,0.0);
glTranslatef(0.0,0.45,0.0); //for 0.5 offset
glScalef(0.4,1.0,0.5);
glutSolidCube(1.0);
glPopMatrix();
glDisable(GL_COLOR_MATERIAL);
glEnable(GL_LIGHTING);
glPopMatrix();
glShadeModel(GL_SMOOTH);
glutSwapBuffers();
}
void reshape(int w, int h)
{
glViewport(0,0,(GLsizei) w,(GLsizei) h);
glMatrixMode(GL_PROJECTION);
glLoadIdentity();
gluPerspective(65.0,(GLfloat)w/(GLfloat)h,1.0,100.0);
glMatrixMode(GL_MODELVIEW);
glLoadIdentity();
glTranslatef(0.0,0.0,farView);
}
you any comments are very appreciated… Thanks
beet