如何在其他部件旋转时阻止物体旋转？
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【中文标题】如何在其他部件旋转时阻止物体旋转？【英文标题】：how can I stop an object from rotating while other parts rotate? 【发布时间】：2011-05-10 02:33:25 【问题描述】：我刚刚画了一个带有 3 个旋转关节的 3 dof 机器人，我画了一个 shere 作为障碍物，它应该是恒定的，没有任何移动，但是随着机器人的抓手开始移动我的障碍物移动同样，这不应该，第二个问题是：我想转动我的机器人，我用箭头键做了这个，没有错误，但它不起作用。这是我的代码：
#include <GL/glut.h>
#include <stdio.h>
#include <stdlib.h>
#define VIEW_TURN_RATE 10
#define GLUT
#define GLUT_KEY
#define GLUT_SPEC
float t1=30;
float t2=45;
float t3=45;
float t4=0;
float t5=0;
float l=1.5;
float h=0.2*l;
double m=0.2;
double n=0.2;
double p=0.2;
float eyex,eyey=0;
float eyez=6;
float lx,ly,lz=0;
int turn = 0, turn1 = 0;
void TurnRight(void)
turn = (turn - VIEW_TURN_RATE) % 360;
void TurnLeft(void)
turn = (turn + VIEW_TURN_RATE) % 360;
void TurnForwards(void)
turn1 = (turn1 - VIEW_TURN_RATE) % 360;
void TurnBackwards(void)
turn1 = (turn1 + VIEW_TURN_RATE) % 360;
void myidlefunc()
if(t1<100)
t1+=2;
else
if(t2<150)
t2+=2;
else
if(t3<150)
t3+=2;
else
if(t4<150)
t4+=2;
else
if(t5<120)
t5+=2;
else
glutIdleFunc(0);
glutPostRedisplay();
#ifdef GLUT
#ifdef GLUT_SPEC
void
special(int key, int x, int y)
int i = 0;
printf("this is special keyboard: %d \n",key);
switch (key)
/* start of view position functions */
case 'r':
TurnRight();
i++;
break;
case GLUT_KEY_LEFT:
TurnLeft();
i++;
break;
case GLUT_KEY_DOWN:
TurnForwards();
i++;
break;
case GLUT_KEY_UP:
TurnBackwards();
i++;
break;
/* end of view postions functions */
if (i)
glutPostRedisplay();
#endif
#ifdef GLUT_KEY
void keyboard(unsigned char c,int x,int y)
switch(c)
case 27:
exit(0);
break;
case 's':
if (t1 < 50)
t1++;
break;
case 'S':
//if (t1 < 80)
t1--;
//
break;
case 'q':
glutIdleFunc(myidlefunc);
break;
case 'f':
if (t2 < 160)
t2++;
break;
case 'F':
t2--;
break;
case 'g':
t3++;
break;
case 'h':
t4++;
break;
case 'k':
t5++;
break;
glutPostRedisplay();
#endif
#endif
void drawFloor(void)
glPushMatrix ();
glBegin(GL_QUADS);
glColor3f(0.0,0.8,0.8);
glVertex3f(-20.0, 0.0, 100.0);
glVertex3f(20.0, 0.0, 100.0);
glVertex3f(20.0, 0.0, -100.0);
glVertex3f(-20.0, 0.0, -100.0);
glEnd();
glPopMatrix ();
glEnable(GL_LIGHTING);
void Base(float l)
glPushMatrix();
//glColor3f(0.4,0.6,0.5);
glScaled(1.0*l,0.2*l,1.0*l);
glutSolidCube(1);
glPopMatrix();
void obst(float radius, int slices, int stacks)
glTranslated (0,-0.5,0.0);
glPushMatrix ();
glutSolidSphere (radius,slices,stacks);
glPopMatrix ();
void arm(float l,float r,int slices,int stacks,float rotat)
float d;
d=0.2*l;
glTranslated (0,l/2+d/2,0);
glPushMatrix ();
glScaled (d/l,1,d/l);
glutSolidCube (l);
glPopMatrix ();
glTranslated (0,l/2,0);
glRotated (rotat,0,0,1);
glPushMatrix ();
glutSolidSphere (r,slices,stacks);
glPopMatrix ();
void Base2(float l,float r,int slices,int stacks,float rotat)
float d;
d=0.2*l;
glTranslated (d/2,d/2,d/2);
glPushMatrix ();
glScaled (d,d/2,d);
glutSolidCube (2);
glPopMatrix ();
void hand(float d,float x)
glColor3f(0.0,0.4,0.3);
glRotated(t5,0,1,0);
glPushMatrix ();
glTranslated(0,-d/2+x/2,0);
glScaled(1,x/d,1);
glutSolidCube (d);
glPopMatrix();
glPushMatrix ();
glTranslated(-d/2+x/2,x/2,0);
glScaled (x/(d-x),1,d/(d-x));
glutSolidCube(d-x);
glPopMatrix ();
glPushMatrix ();
glTranslated (d/2-x/2,x/2,0);
glScaled (x/(d-x),1,d/(d-x));
glutSolidCube(d-x);
glPopMatrix ();
void display()
float l,T,r,x,d;
double radius,height;
int slices, stacks;
l=1.5;
T=30;
d=0.2*l;
x=0.2*d;
r=d/2;
radius=1.0;
height=3;
slices=1000;
stacks=202;
glClearColor(1.0,1.0,1.0,1.0);
glClear(GL_DEPTH_BUFFER_BIT | GL_COLOR_BUFFER_BIT);
glPushMatrix ();
//lightning start here
glEnable(GL_LIGHT0);
GLfloat light0_pos []=lx,ly+1,lz+1,1;
GLfloat light0_diffuse []=1,0,0,0;
glLightfv(GL_LIGHT0,GL_DIFFUSE,light0_diffuse);
GLfloat light0_Ambient []=0,1,1,0;
glLightfv(GL_LIGHT0,GL_DIFFUSE,light0_Ambient);
gluLookAt(0.2,0.8,0.0,5.0,3.0,5.0,0.0,0.1,0.0);
glLightfv(GL_LIGHT0,GL_POSITION,light0_pos);
glScaled(0.2,0.2,0.2);
glRotated(90,0.0,1.0,0.0);
/* Draw "bottom" of floor in blue. */
glColor3f(0.0, 0.8, 0.8);
drawFloor();
//base
glColor3f(0.0,0.0,0.0);
Base(2);
//base2
glColor3f(1.0,0.0,0.0);
Base2(l,r,60,60,t1);
//arm1
glColor3f(1.0,0.0,0.8);
arm(l,r,60,60,t1);
glColor3f(0.0,1.0,0.0);
arm(l,r,60,60,t2);
glColor3f(1.0,0.8,0.5);
arm(l,r,60,60,t3);
//hand
glTranslated (0,d/2+r,0);
hand(d,x);
//obst
glTranslated (-1,3,0);
glColor3f(0.0,0.0,1.0);
obst(radius,slices,stacks);
//glRotated(0.0,0.0,1.0,0.0);
glPopMatrix ();
glFlush();
glutSwapBuffers();
void reshape(int width,int height)
float aspect=(float)width/(float)height;
glMatrixMode(GL_PROJECTION);
glLoadIdentity();
glViewport(0,0,width,height);
//glOrtho(-aspect,aspect,-1,+1,-1,+1);
gluPerspective(60.0,0.0,0.0,8);
glMatrixMode (GL_MODELVIEW);
glLoadIdentity();
//glTranslatef(0.0, 0.0, 0.0); /* viewing transform */
int main(int argc,char** argv)
glutInit(&argc,argv);
glutInitDisplayMode(GLUT_RGBA|GLUT_DOUBLE);
glutInitWindowPosition(0,0);
glutInitWindowSize(500,500);
static int window=glutCreateWindow("OPenGL!");
glutDisplayFunc(display);
glutReshapeFunc(reshape);
glutKeyboardFunc(keyboard);
#ifdef GLUT_SPEC
glutSpecialFunc(special);
#endif
glShadeModel(GL_FLAT);
glEnable(GL_LIGHTING);
glEnable(GL_DEPTH_TEST);
glEnable(GL_COLOR_MATERIAL);
glutMainLoop();
exit(0);
【问题讨论】：
只是对编码风格的评论，您可以将嵌套的 if-else 语句以更易读的格式（请原谅评论中缺少换行符）表达为：if(t1<100) t1+=2; else if(t2<150) t2+=2; else if(t3<150) t3+=2; else if(t4<150) t4+=2; else if(t5<120) t5+=2; else glutIdleFunc(0);
【参考方案1】：
当您最后渲染障碍物时，您的模型视图矩阵已成为该点之前所有变换的接收者。您需要使用glPushMatrix() 和glPopMatrix() 更仔细地管理您的模型视图矩阵。我还没有测试，但尝试在 //arm 1 之前推送并在您的 //obst 之前弹出。
【讨论】：
亲爱的 Edf，您的想法非常有效。你对我的第二个问题有什么想法吗？ 关于您的其他问题，您可以根据系统部件的位置和大小的知识来检查是否存在冲突。这些知识目前遍布您的图形功能。值得将其整合到对象中，然后将它们用于图形和碰撞检测算法。以上是关于如何在其他部件旋转时阻止物体旋转？的主要内容，如果未能解决你的问题，请参考以下文章