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* Copyright (c) 1993-1997, Silicon Graphics, Inc.
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* Permission to use, copy, modify, and distribute this software for
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* any purpose and without fee is hereby granted, provided that the above
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* copyright notice appear in all copies and that both the copyright notice
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* and this permission notice appear in supporting documentation, and that
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* the name of Silicon Graphics, Inc. not be used in advertising
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* or publicity pertaining to distribution of the software without specific,
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* written prior permission.
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* THE MATERIAL EMBODIED ON THIS SOFTWARE IS PROVIDED TO YOU "AS-IS"
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* AND WITHOUT WARRANTY OF ANY KIND, EXPRESS, IMPLIED OR OTHERWISE,
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* INCLUDING WITHOUT LIMITATION, ANY WARRANTY OF MERCHANTABILITY OR
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* FITNESS FOR A PARTICULAR PURPOSE. IN NO EVENT SHALL SILICON
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* GRAPHICS, INC. BE LIABLE TO YOU OR ANYONE ELSE FOR ANY DIRECT,
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* SPECIAL, INCIDENTAL, INDIRECT OR CONSEQUENTIAL DAMAGES OF ANY
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* KIND, OR ANY DAMAGES WHATSOEVER, INCLUDING WITHOUT LIMITATION,
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* LOSS OF PROFIT, LOSS OF USE, SAVINGS OR REVENUE, OR THE CLAIMS OF
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* THIRD PARTIES, WHETHER OR NOT SILICON GRAPHICS, INC. HAS BEEN
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* ADVISED OF THE POSSIBILITY OF SUCH LOSS, HOWEVER CAUSED AND ON
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* ANY THEORY OF LIABILITY, ARISING OUT OF OR IN CONNECTION WITH THE
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* POSSESSION, USE OR PERFORMANCE OF THIS SOFTWARE.
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* US Government Users Restricted Rights
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* Use, duplication, or disclosure by the Government is subject to
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* restrictions set forth in FAR 52.227.19(c)(2) or subparagraph
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* (c)(1)(ii) of the Rights in Technical Data and Computer Software
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* clause at DFARS 252.227-7013 and/or in similar or successor
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* clauses in the FAR or the DOD or NASA FAR Supplement.
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* Unpublished-- rights reserved under the copyright laws of the
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* United States. Contractor/manufacturer is Silicon Graphics,
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* Inc., 2011 N. Shoreline Blvd., Mountain View, CA 94039-7311.
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* OpenGL(R) is a registered trademark of Silicon Graphics, Inc.
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* This program shows how to composite modeling transformations
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* to draw translated and rotated hierarchical models.
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* Interaction: pressing the s and e keys (shoulder and elbow)
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* alters the rotation of the robot arm.
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static int shoulder = 0, elbow = 0;
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static void init(void)
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glClearColor (0.0, 0.0, 0.0, 0.0);
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glShadeModel (GL_FLAT);
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static void display(void)
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glClear (GL_COLOR_BUFFER_BIT);
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glTranslatef (-1.0, 0.0, 0.0);
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glRotatef ((GLfloat) shoulder, 0.0, 0.0, 1.0);
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glTranslatef (1.0, 0.0, 0.0);
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glScalef (2.0, 0.4, 1.0);
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glTranslatef (1.0, 0.0, 0.0);
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glRotatef ((GLfloat) elbow, 0.0, 0.0, 1.0);
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glTranslatef (1.0, 0.0, 0.0);
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glScalef (2.0, 0.4, 1.0);
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static void reshape (int w, int h)
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glViewport (0, 0, (GLsizei) w, (GLsizei) h);
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glMatrixMode (GL_PROJECTION);
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gluPerspective(65.0, (GLfloat) w/(GLfloat) h, 1.0, 20.0);
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glMatrixMode(GL_MODELVIEW);
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glTranslatef (0.0, 0.0, -5.0);
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static void keyboard (unsigned char key, int x, int y)
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shoulder = (shoulder + 5) % 360;
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shoulder = (shoulder - 5) % 360;
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elbow = (elbow + 5) % 360;
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elbow = (elbow - 5) % 360;
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int main(int argc, char** argv)
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glutInit(&argc, argv);
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glutInitDisplayMode (GLUT_DOUBLE | GLUT_RGB);
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glutInitWindowSize (500, 500);
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glutInitWindowPosition (100, 100);
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glutCreateWindow (argv[0]);
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glutDisplayFunc(display);
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glutReshapeFunc(reshape);
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glutKeyboardFunc(keyboard);