Simple Newbie Problem

Emrah_Bozkurt · November 27, 2003, 4:14am

Dear All,

I am a mech. eng. and very new to programming…Not only new to OpenGL but also to C++. I am trying to model a 6-DOF robot. I’ll simulate its inverse kinematics in Matlab and use the output data in my OpenGL program to animate the robot. In the attachment, you will see that the robot that I modeled has some problems. First one is that I do not have any edges for the cylinders that I used for the robot. Second, when I rotate the body, the colors are getting mixed to each other. Next, I want to add sound to my program. For example, when I rotate one joint, I want the program to play an appropriate sound during that rotation time.
Any help will be appreciated.
Thanks a lot in advance.

emrah bozkurt

Emrah_Bozkurt · November 27, 2003, 4:25am

Sorry, that I am unable to attach the file, but the code is the following:

//Header Files

#include <GL/glaux.h>
#include <GL/glut.h>
#include <GL/glu.h>
#include <GL/gl.h>
#include <stdlib.h>
#include <stdio.h>
#include <stdarg.h>
#include <math.h>
#include <windows.h>

//Variable Initialization

GLuint startList;

static int shoulder = 0.0, elbow = 0.0, root = 0.0, rot1 = 0.0, rot2 = 0.0, rot3 = 0.0;

static int wrst1 = 0.0, wrst2 = 0.0, wrst3 = 0.0;

int k = 0, j = 0;

float x1 = 0.0, x2 = 0.0, x3 = 0.0;

float r1 = 0.0, r2 = 0.0, r3 = 0.0;

//Object Creations

void init(void)
{

GLUquadricObj *qobj;

glClearColor (0.0, 0.0, 0.0, 0.0);

glShadeModel (GL_SMOOTH);

startList=glGenLists(22);
qobj=gluNewQuadric();

gluQuadricDrawStyle(qobj,GLU_FILL);
gluQuadricNormals(qobj,GLU_SMOOTH);
glNewList(startList,GL_COMPILE);
gluCylinder(qobj,0.2,0.2,0.6,20,8);
glEndList();

gluQuadricDrawStyle(qobj,GLU_FILL);
gluQuadricNormals(qobj,GLU_NONE);
glNewList(startList+1,GL_COMPILE);
gluPartialDisk(qobj,0.0,0.1,20.0,1.0,0.0,360);
glEndList();

gluQuadricDrawStyle(qobj,GLU_FILL);
gluQuadricNormals(qobj,GLU_SMOOTH);
glNewList(startList+2,GL_COMPILE);
gluCylinder(qobj,0.1,0.1,1.76,20,8);
glEndList();

gluQuadricDrawStyle(qobj,GLU_FILL);
gluQuadricNormals(qobj,GLU_SMOOTH);
glNewList(startList+3,GL_COMPILE);
gluCylinder(qobj,1.2,1.0,0.5,20,8);
glEndList();

gluQuadricDrawStyle(qobj,GLU_FILL);
gluQuadricNormals(qobj,GLU_NONE);
glNewList(startList+4,GL_COMPILE);
gluPartialDisk(qobj,0.0,1.0,20.0,1.0,180,360);
glEndList();

gluQuadricDrawStyle(qobj,GLU_FILL);
gluQuadricNormals(qobj,GLU_SMOOTH);
glNewList(startList+5,GL_COMPILE);
gluCylinder(qobj,0.01,0.01,1.0,20,8);
glEndList();

gluQuadricDrawStyle(qobj,GLU_FILL);
gluQuadricNormals(qobj,GLU_NONE);
glNewList(startList+6,GL_COMPILE);
gluPartialDisk(qobj,0.0,0.15,20.0,1.0,180,360);
glEndList();

gluQuadricDrawStyle(qobj,GLU_FILL);
gluQuadricNormals(qobj,GLU_SMOOTH);
glNewList(startList+7,GL_COMPILE);
gluCylinder(qobj,0.15,0.15,0.2,20,8);
glEndList();

gluQuadricDrawStyle(qobj,GLU_FILL);
gluQuadricNormals(qobj,GLU_SMOOTH);
glNewList(startList+8,GL_COMPILE);
gluCylinder(qobj,0.15,0.15,0.05,20,8);
glEndList();

gluQuadricDrawStyle(qobj,GLU_FILL);
gluQuadricNormals(qobj,GLU_NONE);
glNewList(startList+9,GL_COMPILE);
gluPartialDisk(qobj,0.0,1.2,20.0,1.0,180,360);
glEndList();

gluQuadricDrawStyle(qobj,GLU_FILL);
gluQuadricNormals(qobj,GLU_SMOOTH);
glNewList(startList+10,GL_COMPILE);
gluCylinder(qobj,0.1,0.1,1.80,20,8);
glEndList();

gluQuadricDrawStyle(qobj,GLU_FILL);
gluQuadricNormals(qobj,GLU_SMOOTH);
glNewList(startList+11,GL_COMPILE);
gluCylinder(qobj,0.2,0.15,0.95,20,8);
glEndList();

gluQuadricDrawStyle(qobj,GLU_FILL);
gluQuadricNormals(qobj,GLU_SMOOTH);
glNewList(startList+12,GL_COMPILE);
gluCylinder(qobj,0.1,0.05,0.2,20,8);
glEndList();

gluQuadricDrawStyle(qobj,GLU_FILL);
gluQuadricNormals(qobj,GLU_SMOOTH);
glNewList(startList+13,GL_COMPILE);
gluCylinder(qobj,0.01,0.01,0.5,20,8);
glEndList();

gluQuadricDrawStyle(qobj,GLU_FILL);
gluQuadricNormals(qobj,GLU_SMOOTH);
glNewList(startList+14,GL_COMPILE);
gluCylinder(qobj,0.3,0.3,0.7,20,8);
glEndList();

gluQuadricDrawStyle(qobj,GLU_FILL);
gluQuadricNormals(qobj,GLU_NONE);
glNewList(startList+15,GL_COMPILE);
gluPartialDisk(qobj,0.0,0.3,20.0,1.0,0.0,360);
glEndList();

gluQuadricDrawStyle(qobj,GLU_FILL);
gluQuadricNormals(qobj,GLU_SMOOTH);
glNewList(startList+16,GL_COMPILE);
gluCylinder(qobj,0.55,0.3,1.76,20,8);
glEndList();

gluQuadricDrawStyle(qobj,GLU_FILL);
gluQuadricNormals(qobj,GLU_SMOOTH);
glNewList(startList+17,GL_COMPILE);
gluCylinder(qobj,0.1,0.1,0.4,20,8);
glEndList();

gluQuadricDrawStyle(qobj,GLU_FILL);
gluQuadricNormals(qobj,GLU_NONE);
glNewList(startList+18,GL_COMPILE);
gluPartialDisk(qobj,0.0,0.05,20.0,1.0,180,360);
glEndList();

gluQuadricDrawStyle(qobj,GLU_FILL);
gluQuadricNormals(qobj,GLU_SMOOTH);
glNewList(startList+19,GL_COMPILE);
gluCylinder(qobj,0.05,0.05,0.05,20,8);
glEndList();

gluQuadricDrawStyle(qobj,GLU_FILL);
gluQuadricNormals(qobj,GLU_NONE);
glNewList(startList+20,GL_COMPILE);
gluPartialDisk(qobj,0.0,0.2,20.0,1.0,0.0,360);
glEndList();

gluQuadricDrawStyle(qobj,GLU_FILL);
gluQuadricNormals(qobj,GLU_SMOOTH);
glNewList(startList+21,GL_COMPILE);
gluCylinder(qobj,0.1,0.1,0.95,20,8);
glEndList();

}

//Display Function

void display(void)
{

glClear (GL_COLOR_BUFFER_BIT);



glPushMatrix();

   
   glTranslated (-5.0,0.0,-5.0);

//Screen Adjustments

glPushMatrix();

   glRotatef(50,1,0,0);  

   glRotatef ((GLfloat) rot1, 1.0, 0.0, 0.0);
   glRotatef ((GLfloat) rot2, 0.0, 1.0, 0.0);
   glRotatef ((GLfloat) rot3, 0.0, 0.0, 1.0);
   
   glTranslated (5.0,0.0,5.0);

   glTranslated(0,0,-1.6); 
   glRotatef(-50,0,1,0);  
   glRotatef(5,1,0,0);  


   glTranslated (x1,0.0,0.0);
   glTranslated (0.0,x2,0.0);
   glTranslated (0.0,0.0,x3);


   glRotatef ((GLfloat) r1, 1.0, 0.0, 0.0);
   glRotatef ((GLfloat) r2, 0.0, 1.0, 0.0);
   glRotatef ((GLfloat) r3, 0.0, 0.0, 1.0);

//Drawing of the white part of the floor

glPushMatrix();
   
   glColor4d(1.0,1.0,1.0,1.0);  
   
   glBegin(GL_QUADS);
   glVertex3f(-5,0,5); 
   glVertex3f(5,0,5); 
   glVertex3f(5,0,-5); 
   glVertex3f(-5,0,-5);
   glEnd();

//Drawing of the black squares of the floor

   glColor4d(0.6,0.4,0.8,1.0);  
   
   glBegin(GL_QUADS);
   for(k=0;k&lt;=2;++k){
   glVertex3f(-5,0,5-4*k); 
   glVertex3f(-3,0,5-4*k); 
   glVertex3f(-3,0,3-4*k); 
   glVertex3f(-5,0,3-4*k);
   }
   glEnd(); 

   
   glBegin(GL_QUADS);
   for(k=0;k&lt;=2;++k){
   glVertex3f(-1,0,5-4*k); 
   glVertex3f(1,0,5-4*k); 
   glVertex3f(1,0,3-4*k); 
   glVertex3f(-1,0,3-4*k);
   }
   glEnd(); 

   
   glBegin(GL_QUADS);
   for(k=0;k&lt;=2;++k){
   glVertex3f(3,0,5-4*k); 
   glVertex3f(5,0,5-4*k); 
   glVertex3f(5,0,3-4*k); 
   glVertex3f(3,0,3-4*k);
   }
   glEnd(); 


   glBegin(GL_QUADS);
   for(k=0;k&lt;=1;++k){
   glVertex3f(-3,0,3-4*k); 
   glVertex3f(-1,0,3-4*k); 
   glVertex3f(-1,0,1-4*k); 
   glVertex3f(-3,0,1-4*k);
   }
   glEnd(); 


   glBegin(GL_QUADS);
   for(k=0;k&lt;=1;++k){
   glVertex3f(1,0,3-4*k); 
   glVertex3f(3,0,3-4*k); 
   glVertex3f(3,0,1-4*k); 
   glVertex3f(1,0,1-4*k);
   }
   glEnd();

//Drawing of the coordinate system arrows

   glTranslated (-5.0,0.0,-5.0);

glPushMatrix();
glColor4d(0.0,1.0,0.0,1.0);
glCallList(startList+5);
glTranslated (0.0,0.0,1.0);

glPushMatrix();
glColor4d(1.0,0.0,0.0,1.0);
glutSolidCone(0.02,0.2,20,8);
glTranslated (0.0,0.0,-1.0);
glRotatef (90.0,0.0,1.0,0.0);

glPushMatrix();
glColor4d(0.0,1.0,0.0,1.0);
glCallList(startList+5);
glTranslated (0.0,0.0,1.0);

glPushMatrix();
glColor4d(1.0,0.0,0.0,1.0);
glutSolidCone(0.02,0.2,20,8);
glTranslated (0.0,0.0,-1.0);
glRotatef (-90.0,0.0,1.0,0.0);
glRotatef (-90.0,1.0,0.0,0.0);

glPushMatrix();
glColor4d(0.0,1.0,0.0,1.0);
glCallList(startList+5);
glTranslated (0.0,0.0,1.0);

glPushMatrix();
glColor4d(1.0,0.0,0.0,1.0);
glutSolidCone(0.02,0.2,20,8);
glTranslated (0.0,0.0,-1.0);
glRotatef (90.0,1.0,0.0,0.0);

glPushMatrix();
glTranslated (5.0,0.0,5.0);
glPushMatrix();
glRotatef (-90.0,1.0,0.0,0.0);

//Drawing of the robot which represents ABB IRB 140

//Base Link

glPushMatrix();
glColor4d(1.0,0.0,0.0,1.0);
glCallList(startList+3);

glPushMatrix();
glTranslated (0.0, 0.0, 0.0);
glPushMatrix();
glColor4d(1.0,0.0,0.0,1.0);
glCallList(startList+9);

//Joint 1 (Actually the top face of the base link but we may assume it to be a pseudo joint)

glPushMatrix();
glRotatef (275, 0.0, 0.0, 1.0);
glRotatef ((GLfloat) root, 0.0, 0.0, 1.0);
glTranslated (0.0, 0.0, 0.5);
glPushMatrix();
glColor4d(0.0,1.0,0.0,1.0);
glCallList(startList+4);

//Link 1

glPushMatrix();
glTranslated (0.35, 0.0, 0.0);
glPushMatrix();
glColor4d(1.0,0.0,0.0,1.0);
glCallList(startList+15);

glPushMatrix();
glTranslated (0.0, 0.0, 0.0);
glPushMatrix();
glColor4d(1.0,0.0,0.0,1.0);
glCallList(startList+16);

glPushMatrix();
glTranslated (0.0, 0.0, 1.76);
glPushMatrix();
glColor4d(1.0,0.0,0.0,1.0);
glCallList(startList+15);

//Joint 2

glPushMatrix();
glRotatef (90.0,1.0,0.0,0.0);
glTranslated (0.0, 0.0, -0.35);
glRotatef ((GLfloat) shoulder, 0.0, 0.0, 1.0);
glColor4d(1.0,1.0,0.0,1.0);
glCallList(startList+15);

glPushMatrix();
glTranslated (0.0, 0.0, 0.0);
glPushMatrix();
glColor4d(1.0,1.0,0.0,1.0);
glCallList(startList+14);

glPushMatrix();
glTranslated (0.0, 0.0, 0.7);
glPushMatrix();
glColor4d(1.0,1.0,0.0,1.0);
glCallList(startList+15);

//Link 2

glPushMatrix();
glTranslated (0.0, 0.0, -0.35);
glTranslated (0.0, 0.0, 0.2);
glRotatef (-90.0,1.0,0.0,0.0);
glPushMatrix();
glColor4d(1.0,0.0,0.0,1.0);
glCallList(startList+1);

glPushMatrix();
glTranslated (0.0,0.0,0.0);
glPushMatrix();
glColor4d(1.0,0.0,0.0,1.0);
glCallList(startList+10);

glPushMatrix();
glRotatef (90.0,1.0,0.0,0.0);
glTranslated (0.0, 0.0, -0.4);
glRotatef (-90.0,1.0,0.0,0.0);
glPushMatrix();
glColor4d(1.0,0.0,0.0,1.0);
glCallList(startList+1);

glPushMatrix();
glTranslated (0.0,0.0,0.0);
glPushMatrix();
glColor4d(1.0,0.0,0.0,1.0);
glCallList(startList+10);

glPushMatrix();
glRotatef (90.0,1.0,0.0,0.0);
glTranslated(0.0,0.0,0.2);
glTranslated (0.0, 0.0, -0.35);
glColor4d(1.0,1.0,0.0,1.0);
glCallList(startList+14);
glTranslated (0.0, 0.0, 0.0);
glCallList(startList+15);
glTranslated (0.0, 0.0, 0.7);
glCallList(startList+15);
glTranslated (0.0, 0.0, -0.35);

glPushMatrix();
glTranslated (0.0, 0.0, 0.2);
glRotatef (-90.0,1.0,0.0,0.0);
glTranslated (0.0,0.0,1.8);
glPushMatrix();
glColor4d(1.0,0.0,0.0,1.0);
glCallList(startList+1);

glPushMatrix();
glRotatef (90.0,1.0,0.0,0.0);
glTranslated (0.0, 0.0, -0.4);
glRotatef (-90.0,1.0,0.0,0.0);
glTranslated (0.0,-0.2,0.0);
glPushMatrix();
glColor4d(1.0,0.0,0.0,1.0);
glCallList(startList+1);

//Joint 3

glPushMatrix();
glTranslated (0.0, 0.3, 0.0);
glRotatef (90.0,1.0,0.0,0.0);
glRotatef ((GLfloat) elbow, 0.0, 0.0, 1.0);
glPushMatrix();
glColor4d(1.0,1.0,0.0,1.0);
glCallList(startList);

glPushMatrix();
glTranslated (0.0, 0.0, 0.0);
glPushMatrix();
glColor4d(1.0,1.0,0.0,1.0);
glCallList(startList+20);

glPushMatrix();
glTranslated (0.0, 0.0, 0.6);
glPushMatrix();
glColor4d(1.0,1.0,0.0,1.0);
glCallList(startList+20);

//link 3

glPushMatrix();
glRotatef (-90.0,1.0,0.0,0.0);
glRotatef (90.0,0.0,1.0,0.0);
glTranslated (0.0, 0.3, 0.0);
glPushMatrix();
glColor4d(1.0,0.0,0.0,1.0);
glCallList(startList+20);

glPushMatrix();
glTranslated (0.0,0.0,0.0);
glPushMatrix();
glColor4d(1.0,0.0,0.0,1.0);
glCallList(startList+11);

glPushMatrix();
glRotatef (90.0,1.0,0.0,0.0);
glTranslated (0.0, 0.0, -0.3);
glColor4d(1.0,1.0,0.0,1.0);
glCallList(startList);
glTranslated (0.0, 0.0, 0.0);
glCallList(startList+20);
glTranslated (0.0, 0.0, 0.6);
glCallList(startList+20);
glTranslated (0.0, 0.0, -0.3);

glPushMatrix();
glRotatef (-90.0,1.0,0.0,0.0);
glTranslated (0.0,0.0,0.95);
glPushMatrix();
glColor4d(1.0,0.0,0.0,1.0);
glCallList(startList+6);

//Joint 4 (First member of the spherical joint)

glPushMatrix();
glTranslated (0.0, 0.0, 0.0);
glRotatef ((GLfloat) wrst1, 0.0, 0.0, 1.0);
glPushMatrix();
glColor4d(0.0,1.0,0.0,1.0);
glCallList(startList+6);

glPushMatrix();
glTranslated (0.0,0.0,0.0);
glPushMatrix();
glColor4d(0.0,1.0,0.0,1.0);
glCallList(startList+7);

glPushMatrix();
glTranslated (0.0, 0.0, 0.2);
glPushMatrix();
glColor4d(0.0,1.0,0.0,1.0);
glCallList(startList+6);

//Link 4

glPushMatrix();
glTranslated (0.0,0.0,-0.2);
glPushMatrix();
glColor4d(1.0,0.0,0.0,1.0);
glCallList(startList+21);

glPushMatrix();
glTranslated (0.0,0.0,0.0);
glPushMatrix();
glColor4d(1.0,0.0,0.0,1.0);
glCallList(startList+1);

glPushMatrix();
glColor4d(0.0,1.0,0.0,1.0);
glCallList(startList+7);
glTranslated (0.0, 0.0, 0.2);
glColor4d(0.0,1.0,0.0,1.0);
glCallList(startList+6);
glTranslated (0.0, 0.0, -0.2);
glCallList(startList+6);

glPushMatrix();
glTranslated (0.0,0.0,0.95);
glPushMatrix();
glColor4d(1.0,0.0,0.0,1.0);
glCallList(startList+1);

//Joint 5 (Second member of the spherical joint)

   glPushMatrix();
   glRotatef (90.0,1.0,0.0,0.0);
   glTranslated (0.0, 0.0, -0.2);
   glRotatef ((GLfloat) wrst2, 0.0, 0.0, 1.0);
   glColor4d(1.0,1.0,0.0,1.0);
   glCallList(startList+1);

glPushMatrix();
glTranslated (0.0, 0.0, 0.0);
glPushMatrix();
glColor4d(1.0,1.0,0.0,1.0);
glCallList(startList+17);

glPushMatrix();
glTranslated (0.0, 0.0, 0.4);
glPushMatrix();
glColor4d(1.0,1.0,0.0,1.0);
glCallList(startList+1);

//Link 5

glPushMatrix();
glTranslated (0.0, 0.0, -0.2);
glRotatef (-90.0,1.0,0.0,0.0);
glPushMatrix();
glColor4d(1.0,0.0,0.0,1.0);
glCallList(startList+1);

glPushMatrix();
glTranslated (0.0,0.0,0.0);
glPushMatrix();
glColor4d(1.0,0.0,0.0,1.0);
glCallList(startList+12);

glPushMatrix();
glRotatef (90.0,1.0,0.0,0.0);
glTranslated (0.0, 0.0, -0.2);
glColor4d(1.0,1.0,0.0,1.0);
glCallList(startList+17);
glTranslated (0.0, 0.0, 0.0);
glCallList(startList+1);
glTranslated (0.0, 0.0, 0.4);
glCallList(startList+1);
glTranslated (0.0, 0.0, -0.2);

glPushMatrix();
glRotatef (-90.0,1.0,0.0,0.0);
glTranslated (0.0,0.0,0.2);
glPushMatrix();
glColor4d(1.0,0.0,0.0,1.0);
glCallList(startList+18);

//Joint 6 (Third and last member of the spherical joint)

glPushMatrix();
glTranslated (0.0, 0.0, 0.0);
glRotatef ((GLfloat) wrst3, 0.0, 0.0, 1.0);
glPushMatrix();
glColor4d(0.0,1.0,0.0,1.0);
glCallList(startList+19);

glPushMatrix();
glTranslated (0.0,0.0,0.0);
glPushMatrix();
glColor4d(0.0,1.0,0.0,1.0);
glCallList(startList+18);

glPushMatrix();
glTranslated (0.0, 0.0, 0.05);
glPushMatrix();
glColor4d(0.0,1.0,0.0,1.0);
glCallList(startList+18);

//Link 6 (including the gripper and the rod which will penetrate the target solid sphere)

glPushMatrix();
glTranslated (0.0, 0.0, 0.0);
glRotated (90,0.0, 0.0, 1.0);
glPushMatrix();
glColor4d(0.0,0.0,1.0,1.0);
glScaled(0.4,0.08,0.025);
glutSolidCube(1);
glScaled(2.5,12.5,40);

//Code for the rod to penetrate the target ball
   
glPushMatrix();
   glRotated (90,0.0, 1.0, 0.0);
   glTranslated (-0.075,0.0,-0.25);
   glColor4d(1.0,0.0,1.0,1.0);
   glCallList(startList+13);
   glTranslated (0.075,0.0,0.25);
   glRotated (-90,0.0, 1.0, 0.0);
   glScaled(0.4,0.08,0.025);

//End of code for the rod to penetrate the target ball

glPushMatrix();

   glColor4d(0.0,0.0,1.0,1.0);
   glScaled(2.5,12.5,40);
   glScaled(0.025,0.08,0.2);
   glTranslated (0.0, 0.0, 0.4375);
   glPushMatrix();
   glTranslated(8.0,0.0,0.0);
   glutSolidCube(1);

glPushMatrix();

   glColor4d(0.0,0.0,1.0,1.0);
   glScaled(40,12.5,5);
   glScaled(0.025,0.08,0.2);
   glPushMatrix();
   glTranslated(-16.0,0.0,0.0);
   glutSolidCube(1);

glPushMatrix();

   glColor4d(0.0,0.0,1.0,1.0);
   glScaled(40,12.5,5);
   glScaled(0.1,0.1,0.05);
   glPushMatrix();
   glTranslated(2.0,0.0,-1.2);
   glutSolidCube(0.4);
   glScaled(10,10,20);

glPushMatrix();
glTranslated(0.0,0.0,-0.0825);
glRotated(-90,0.0,0.0,1.0);
glColor4d(0.0,1.0,0.0,1.0);
glCallList(startList+18);

glPopMatrix();

glutSwapBuffers();

}

//Reshaping and viewing function

void reshape (int w, int h)

{
glViewport (0, 0, (GLsizei) w, (GLsizei) h);
glMatrixMode (GL_PROJECTION);
glLoadIdentity();
gluPerspective(85.0,(GLfloat) w/(GLfloat) h,1.0,20.0);
glMatrixMode(GL_MODELVIEW);
glLoadIdentity();
glTranslated(0.0,3.0,-5.0);

}

//Keyboard inputs

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

{
switch (key) {

  case 's':
     shoulder = (shoulder + 5);
     glutPostRedisplay();
     break;
  case 'S':
     shoulder = (shoulder - 5);
     glutPostRedisplay();
     break;

 case 'e':
     elbow = (elbow + 5);
     glutPostRedisplay();
     break;
  case 'E':
     elbow = (elbow - 5);
     glutPostRedisplay();
     break;

  case 'r':
     root = (root + 5);
     glutPostRedisplay();
     break;
  case 'R':
     root = (root - 5);
     glutPostRedisplay();
     break;

  case 'v':
     rot1 = (rot1 + 5);
     glutPostRedisplay();
     break;
  case 'V':
     rot1 = (rot1 - 5);
     glutPostRedisplay();
     break;

 case 'b':
     rot2 = (rot2 + 5);
     glutPostRedisplay();
     break;
  case 'B':
     rot2 = (rot2 - 5);
     glutPostRedisplay();
     break;

  case 'n':
     rot3 = (rot3 + 5);
     glutPostRedisplay();
     break;
  case 'N':
     rot3 = (rot3 - 5);
     glutPostRedisplay();
     break;

  case 'q':
     wrst1 = (wrst1 + 5);
     glutPostRedisplay();
     break;
  case 'Q':
     wrst1 = (wrst1 - 5);
     glutPostRedisplay();
     break;

  case 'w':
     wrst2 = (wrst2 + 5);
     glutPostRedisplay();
     break;
  case 'W':
     wrst2 = (wrst2 - 5);
     glutPostRedisplay();
     break;

  
  case 'x':
     wrst3 = (wrst3 + 5);
     glutPostRedisplay();
     break;
  case 'X':
     wrst3 = (wrst3 - 5);
     glutPostRedisplay();
     break;

  case 't':
     x1 = (x1 + 0.2);
     glutPostRedisplay();
     break;
  case 'T':
     x1 = (x1 - 0.2);
     glutPostRedisplay();
     break;

  case 'y':
     x2 = (x2 + 0.2);
     glutPostRedisplay();
     break;
  case 'Y':
     x2 = (x2 - 0.2);
     glutPostRedisplay();
     break;

  case 'u':
     x3 = (x3 + 0.2);
     glutPostRedisplay();
     break;
  case 'U':
     x3 = (x3 - 0.2);
     glutPostRedisplay();
     break;


  case 'g':
     r1 = (r1 + 5);
     glutPostRedisplay();
     break;
  case 'G':
     r1 = (r1 - 5);
     glutPostRedisplay();
     break;

  case 'h':
     r2 = (r2 + 5);
     glutPostRedisplay();
     break;
  case 'H':
     r2 = (r2 - 5);
     glutPostRedisplay();
     break;

  case 'j':
     r3 = (r3 + 5);
     glutPostRedisplay();
     break;
  case 'J':
     r3 = (r3 - 5);
     glutPostRedisplay();
     break;
  
 case 27:
     exit(0);
     break;

  default:
     break;

}
}

int main(int argc, char** argv)

{
glutInit(&argc, argv);
glutInitDisplayMode (GLUT_DOUBLE | GLUT_RGB );
glutInitWindowSize (600, 600);
glutInitWindowPosition (300, 300);
glutCreateWindow (“Robot Animation”);
init ();
glutDisplayFunc(display);
glutReshapeFunc(reshape);
glutKeyboardFunc(keyboard);
glutMainLoop();
return 0;
}

nexusone · November 27, 2003, 5:24am

For sound look fmod is a easy to use sound library, also SDL is another good choice and both are cross platform also.

I don’t have time now but will try and run

croce · November 27, 2003, 5:54am

Looks nice!

all you should do is enable depthtest during init(), en clear depthbuffer during display:

first line of init(void):

glEnable(GL_DEPTH_TEST);

first line of display(void):

glClear (GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);

you just have got some decals (coplanar polygons hiding eachother) that don’t show well with the depthtest.

cwc36 · November 27, 2003, 3:30pm

Hi,

Fmod is easy to used, but i more prefer to OpenAL. We can do a lot of sound effect with that.