OpenglRobot

该项目使用opengl做的一个机器人，能够行走，旋转，并对机器人贴了图。具体源码请参考我的github

实验环境：visual studio 2015

源码解析

    // gl_robot2.cpp : 定义控制台应用程序的入口点。    //    #define GLUT_DISABLE_ATEXIT_HACK    #pragma comment(lib, "legacy_stdio_definitions.lib")    #include <windows.h>    #include <stdio.h>    #include <stdlib.h>    #include <gl/glut.h>    #include <gl\GLAUX.H>    #include <cmath>    #define GLOBAL_SIZE 0.5    #define PI 3.1415926    bool isLeft = true;    static const GLfloat leg_x = 2.0, leg_y = 0.6, leg_z = 0.5; //腿的坐标系缩放比例    static const GLfloat body_x = 1.2, body_y = 2.4, body_z = 1.8; //身体的坐标系缩放比例    static const GLfloat head_x = 1.0, head_z = 1.2, head_y = 1; //头的半径    static const GLfloat arm_x = 1.6, arm_y = 0.6, arm_z = 0.4; //手臂的坐标系缩放比例    static const GLfloat head_radis = 0.25;    static const GLfloat foot_x = 1.0, foot_y = 0.3, foot_z = 0.4; //脚的坐标系缩放比例    static const GLfloat neck_x = head_x / 2, neck_y = head_y, neck_z = head_z / 4;    static GLfloat centerX = 0.0, centerY = 0.0, centerZ = 0.0;    static GLint angle = 0;    //初始的角度为竖直的    static int leftHigherLegAngle = -90, rightHigherLegAngle = -90;    static int LeftLowerLegAngle = 90, rightLowerLegAngle = 0;    static int leftHigherHandAngle = -90, rightHigherHandAngle = -90;    static int leftLowerHandAngle = 0, rightLowerHandAngle = 0;    static int leftFootAngle = 0, rightFootAngle = 0;    int speed = 1;    GLUquadricObj *quadratic; //画三维物体时用到    GLuint g_texture = 0, g_texture_head = 0, g_texture_ground = 0, g_texture_sky = 0;    void init(void) {        glClearColor(0.0, 0.0, 0.0, 0.0);        glShadeModel(GL_FLAT);        glEnable(GL_DEPTH_TEST);        //glCullFace(GL_BACK);//背面裁剪(背面不可见)        //glEnable(GL_CULL_FACE);//启用裁剪        glEnable(GL_TEXTURE_2D);        quadratic = gluNewQuadric();        gluQuadricNormals(quadratic, GLU_SMOOTH);    }    //画立方体的函数    void drawCube_head(GLfloat x, GLfloat y, GLfloat z)    {        GLfloat x1 = 0.5 * x / 2;        GLfloat y1 = 0.5 * y / 2;        GLfloat z1 = 0.5 * z / 2;        glBindTexture(GL_TEXTURE_2D, g_texture_head);        glBegin(GL_QUADS);        //glPushMatrix();        //画前面                                       glVertex3f(-x1, y1, z1);        glVertex3f(x1, y1, z1);        glVertex3f(x1, -y1, z1);        glVertex3f(-x1, -y1, z1);        //画后面        glVertex3f(-x1, y1, -z1);        glVertex3f(x1, y1, -z1);        glVertex3f(x1, -y1, -z1);        glVertex3f(-x1, -y1, -z1);        //画上面        glVertex3f(-x1, y1, z1);        glVertex3f(x1, y1, z1);        glVertex3f(x1, y1, -z1);        glVertex3f(-x1, y1, -z1);        //画底面        glVertex3f(-x1, -y1, z1);        glVertex3f(x1, -y1, z1);        glVertex3f(x1, -y1, -z1);        glVertex3f(-x1, -y1, -z1);        //画左面        glTexCoord2f(0.0f, 1.0f);  glVertex3f(-x1, y1, z1);        glTexCoord2f(1.0f, 1.0f);  glVertex3f(-x1, y1, -z1);        glTexCoord2f(1.0f, 0.0f);  glVertex3f(-x1, -y1, -z1);        glTexCoord2f(0.0f, 0.0f);  glVertex3f(-x1, -y1, z1);        //画右面        glVertex3f(x1, y1, z1);        glVertex3f(x1, y1, -z1);        glVertex3f(x1, -y1, -z1);        glVertex3f(x1, -y1, z1);        glEnd();        //glPopMatrix();    }    void drawCube(GLfloat x, GLfloat y, GLfloat z)    {        GLfloat x1 = 0.5 * x / 2;        GLfloat y1 = 0.5 * y / 2;        GLfloat z1 = 0.5 * z / 2;        glBindTexture(GL_TEXTURE_2D, g_texture);        glBegin(GL_QUADS);        //glPushMatrix();        //画前面                                       glTexCoord2f(0.0f, 0.0f); glVertex3f(-x1, y1, z1);        glTexCoord2f(1.0f, 0.0f); glVertex3f(x1, y1, z1);        glTexCoord2f(1.0f, 1.0f); glVertex3f(x1, -y1, z1);        glTexCoord2f(0.0f, 1.0f); glVertex3f(-x1, -y1, z1);        //画后面        glTexCoord2f(0.0f, 0.0f); glVertex3f(-x1, y1, -z1);        glTexCoord2f(1.0f, 0.0f); glVertex3f(x1, y1, -z1);        glTexCoord2f(1.0f, 1.0f); glVertex3f(x1, -y1, -z1);        glTexCoord2f(0.0f, 1.0f); glVertex3f(-x1, -y1, -z1);        //画上面        glTexCoord2f(0.0f, 0.0f); glVertex3f(-x1, y1, z1);        glTexCoord2f(1.0f, 0.0f); glVertex3f(x1, y1, z1);        glTexCoord2f(1.0f, 1.0f); glVertex3f(x1, y1, -z1);        glTexCoord2f(0.0f, 1.0f); glVertex3f(-x1, y1, -z1);        //画底面        glTexCoord2f(0.0f, 0.0f); glVertex3f(-x1, -y1, z1);        glTexCoord2f(1.0f, 0.0f); glVertex3f(x1, -y1, z1);        glTexCoord2f(1.0f, 1.0f); glVertex3f(x1, -y1, -z1);        glTexCoord2f(0.0f, 1.0f); glVertex3f(-x1, -y1, -z1);        //画左面        glTexCoord2f(0.0f, 0.0f); glVertex3f(-x1, y1, z1);        glTexCoord2f(1.0f, 0.0f); glVertex3f(-x1, y1, -z1);        glTexCoord2f(1.0f, 1.0f); glVertex3f(-x1, -y1, -z1);        glTexCoord2f(0.0f, 1.0f); glVertex3f(-x1, -y1, z1);        //画右面        glTexCoord2f(0.0f, 0.0f); glVertex3f(x1, y1, z1);        glTexCoord2f(1.0f, 0.0f); glVertex3f(x1, y1, -z1);        glTexCoord2f(1.0f, 1.0f); glVertex3f(x1, -y1, -z1);        glTexCoord2f(0.0f, 1.0f); glVertex3f(x1, -y1, z1);        glEnd();        //glPopMatrix();    }    int LoadGLTexTures_head(GLuint& unTexture, const char* chFileName)    {        AUX_RGBImageRec *TextureImage; //保存贴图数据的指针        TextureImage = auxDIBImageLoadA((LPCSTR)"face.bmp");        //TextureImage_head = auxDIBImageLoadA((LPCSTR)"face.bmp");        glGenTextures(1, &unTexture);        glBindTexture(GL_TEXTURE_2D, unTexture);        //设置纹理的信息，        glTexImage2D(GL_TEXTURE_2D, 0, 3, TextureImage->sizeX, TextureImage->sizeY, 0, GL_RGB, GL_UNSIGNED_BYTE, TextureImage->data);        glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_LINEAR); //设置滤波为线性滤波        glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_LINEAR);//线性滤波        if (TextureImage)//释放资源        {            if (TextureImage->data)            {                free(TextureImage->data);            }            free(TextureImage);        }        return 1;    }    int LoadGLTexTures(GLuint& unTexture, const char* chFileName)    {        AUX_RGBImageRec *TextureImage; //保存贴图数据的指针        TextureImage = auxDIBImageLoadA((LPCSTR)"body.bmp");        //TextureImage_head = auxDIBImageLoadA((LPCSTR)"face.bmp");        glGenTextures(1, &unTexture);        glBindTexture(GL_TEXTURE_2D, unTexture);        //设置纹理的信息，        glTexImage2D(GL_TEXTURE_2D, 0, 3, TextureImage->sizeX, TextureImage->sizeY, 0, GL_RGB, GL_UNSIGNED_BYTE, TextureImage->data);        glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_LINEAR); //设置滤波为线性滤波        glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_LINEAR);//线性滤波        if (TextureImage)//释放资源        {            if (TextureImage->data)            {                free(TextureImage->data);            }            free(TextureImage);        }        return 1;    }    int LoadGLTexTures_ground(GLuint& unTexture, const char* chFileName)    {        AUX_RGBImageRec *TextureImage; //保存贴图数据的指针        TextureImage = auxDIBImageLoadA((LPCSTR)"ground.bmp");        //TextureImage_head = auxDIBImageLoadA((LPCSTR)"face.bmp");        glGenTextures(1, &unTexture);        glBindTexture(GL_TEXTURE_2D, unTexture);        //设置纹理的信息，        glTexImage2D(GL_TEXTURE_2D, 0, 3, TextureImage->sizeX, TextureImage->sizeY, 0, GL_RGB, GL_UNSIGNED_BYTE, TextureImage->data);        glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_LINEAR); //设置滤波为线性滤波        glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_LINEAR);//线性滤波        if (TextureImage)//释放资源        {            if (TextureImage->data)            {                free(TextureImage->data);            }            free(TextureImage);        }        return 1;    }    int LoadGLTexTures_sky(GLuint& unTexture, const char* chFileName)    {        AUX_RGBImageRec *TextureImage; //保存贴图数据的指针        TextureImage = auxDIBImageLoadA((LPCSTR)"sky.bmp");        //TextureImage_head = auxDIBImageLoadA((LPCSTR)"face.bmp");        glGenTextures(1, &unTexture);        glBindTexture(GL_TEXTURE_2D, unTexture);        //设置纹理的信息，        glTexImage2D(GL_TEXTURE_2D, 0, 3, TextureImage->sizeX, TextureImage->sizeY, 0, GL_RGB, GL_UNSIGNED_BYTE, TextureImage->data);        glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_LINEAR); //设置滤波为线性滤波        glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_LINEAR);//线性滤波        if (TextureImage)//释放资源        {            if (TextureImage->data)            {                free(TextureImage->data);            }            free(TextureImage);        }        return 1;    }    void DrawGround()    {        GLfloat y = -GLOBAL_SIZE * leg_x * 2 - GLOBAL_SIZE * foot_y;        glBindTexture(GL_TEXTURE_2D, g_texture_ground);        glBegin(GL_QUADS);        glTexCoord2f(0.0f, 0.0f); glVertex3f(centerX - 20.0f, y, centerZ - 20.0f);        glTexCoord2f(1.0f, 0.0f); glVertex3f(centerX - 20.0f, y, centerZ + 20.0f);        glTexCoord2f(1.0f, 1.0f); glVertex3f(centerX + 20.0f, y, centerZ + 20.0f);        glTexCoord2f(0.0f, 1.0f); glVertex3f(centerX + 20.0f, y, centerZ - 20.0f);        glEnd();    }    void DrawSky()    {        GLfloat y = 3.5;        GLfloat y1 = -GLOBAL_SIZE * leg_x * 2 - GLOBAL_SIZE * foot_y;        glBindTexture(GL_TEXTURE_2D, g_texture_sky);        glBegin(GL_QUADS);        glTexCoord2f(0.0f, 0.0f); glVertex3f(centerX - 20.0f, y, centerZ - 20.0f);        glTexCoord2f(1.0f, 0.0f); glVertex3f(centerX - 20.0f, y, centerZ + 20.0f);        glTexCoord2f(1.0f, 1.0f); glVertex3f(centerX + 20.0f, y, centerZ + 20.0f);        glTexCoord2f(0.0f, 1.0f); glVertex3f(centerX + 20.0f, y, centerZ - 20.0f);        glTexCoord2f(0.0f, 0.0f); glVertex3f(centerX - 20.0f, y, centerZ - 20.0f);        glTexCoord2f(1.0f, 0.0f); glVertex3f(centerX - 20.0f, y, centerZ + 20.0f);        glTexCoord2f(1.0f, 1.0f); glVertex3f(centerX - 20.0f, y1, centerZ + 20.0f);        glTexCoord2f(0.0f, 1.0f); glVertex3f(centerX - 20.0f, y1, centerZ - 20.0f);        glTexCoord2f(0.0f, 1.0f); glVertex3f(centerX + 20.0f, y, centerZ - 20.0f);        glTexCoord2f(1.0f, 1.0f); glVertex3f(centerX + 20.0f, y, centerZ + 20.0f);        glTexCoord2f(1.0f, 0.0f); glVertex3f(centerX + 20.0f, y1, centerZ + 20.0f);        glTexCoord2f(0.0f, 0.0f); glVertex3f(centerX + 20.0f, y1, centerZ - 20.0f);        glTexCoord2f(0.0f, 0.0f); glVertex3f(centerX - 20.0f, y, centerZ - 20.0f);        glTexCoord2f(1.0f, 0.0f); glVertex3f(centerX + 20.0f, y, centerZ - 20.0f);        glTexCoord2f(1.0f, 1.0f); glVertex3f(centerX + 20.0f, y1, centerZ - 20.0f);        glTexCoord2f(0.0f, 1.0f); glVertex3f(centerX - 20.0f, y1, centerZ - 20.0f);        glEnd();    }    void display(void) {        glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT); //清空颜色缓冲和深度缓冲        DrawGround();        DrawSky();        glColor3f(0.8, 0.8, 0.8);        glPushMatrix(); //robot的位置和方向设置        glTranslatef(centerX, centerY, centerZ);        glRotatef(angle, 0.0, 1.0, 0.0);        glColor3f(0.5, 0.5, 0.5); //设置颜色为灰色        glPushMatrix();  //画出左大腿        glColor3f(0.5, 0.5, 0.5);        glRotatef((GLfloat)leftHigherLegAngle, 0, 0, 1.0);        glTranslatef(0.5*leg_x / 2, 0.0, leg_z * 0.5);        glPushMatrix();        glScalef(leg_x, leg_y, leg_z);        glutSolidCube(GLOBAL_SIZE);        glPopMatrix();        glTranslatef(0.5 * leg_x / 2, 0.0, 0.0); //画关节        glPushMatrix();        glTranslatef(0.0, 0.0, -0.5*leg_z / 2);        gluCylinder(quadratic, 0.5 * leg_y / 2, 0.5 * leg_y / 2, leg_z * 0.5, 32, 32);        glPopMatrix();        glRotatef(LeftLowerLegAngle, 0.0, 0.0, 1.0); //画左小腿        glTranslatef(0.5*leg_x / 2, 0.0, 0.0);        glPushMatrix();        glColor3f(0.5, 0.5, 0.5);        glScalef(leg_x - 0.2, leg_y - 0.2, leg_z - 0.2);        glutSolidCube(GLOBAL_SIZE);        glPopMatrix();        glTranslatef(0.5*leg_x / 2, 0.0, 0.0);        glRotatef(90, 0.0, 0.0, 1.0);        glTranslatef(-0.5*foot_x / 2 + 0.5*foot_y / 2, 0.0, 0.0);        glRotatef(leftFootAngle, 0.0, 0.0, 1.0);        glPushMatrix();        glScalef(foot_x, foot_y, foot_z);        glutSolidCube(GLOBAL_SIZE);        glPopMatrix();        glPopMatrix();        glPushMatrix();  //画出右大腿        glColor3f(0.25, 0.45, 0.25);        glRotatef((GLfloat)rightHigherLegAngle, 0, 0, 1.0);        glTranslatef(leg_x / 4, 0.0, -leg_z / 2);        glPushMatrix();        glScalef(leg_x, leg_y, leg_z);        glutSolidCube(GLOBAL_SIZE);        glPopMatrix();        glTranslatef(leg_x / 4, 0, 0); //画关节        glPushMatrix();        glTranslatef(0.0, 0.0, -leg_z / 4);        gluCylinder(quadratic, leg_y / 4, leg_y / 4, leg_z / 2, 32, 32);        glPopMatrix();        glRotatef(rightLowerLegAngle, 0.0, 0.0, 1.0); //画左小腿        glTranslatef(leg_x / 4, 0.0, 0.0);        glPushMatrix();        glColor3f(0.5, 0.5, 0.5);        glScalef(leg_x - 0.2, leg_y - 0.2, leg_z - 0.2);        glutSolidCube(GLOBAL_SIZE);        glPopMatrix();        glTranslatef(leg_x / 4, 0.0, 0.0);        glRotatef(90, 0.0, 0.0, 1.0);        glTranslatef(-foot_x / 4 + leg_y / 4, 0.0, 0.0);        glRotatef(rightFootAngle, 0.0, 0.0, 1.0);        glPushMatrix();        glScalef(foot_x, foot_y, foot_z);        glutSolidCube(GLOBAL_SIZE);        glPopMatrix();        glPopMatrix();        // 身体        glColor3f(1.0, 1.0, 1.0);        glPushMatrix();        glColor3f(0.65, 0.45, 0.45);        glTranslatef(0, body_y / 4, 0.0);        drawCube(body_x, body_y, body_z);        glPopMatrix();        glPushMatrix(); //脖子        glColor3f(0.25, 0.75, 0.75);        glTranslatef(0, 0.5*body_y, 0);        glScalef(neck_x, neck_y, neck_z);        glutSolidCube(GLOBAL_SIZE);        glPopMatrix();        // 头部        glPushMatrix();        glColor3f(0.5, 0.5, 0.5);        glTranslatef(0, 0.5*body_y + 0.5*head_y, 0);        drawCube_head(head_x, head_y, head_z);        glPopMatrix();        glColor3f(0.5, 0.55, 0.55);        glPushMatrix(); //画左手        glColor3f(0.5, 0.6, 0.6);        glTranslatef(0, 0.5*body_y, 0.0);        glRotatef(leftHigherHandAngle, 0.0, 0.0, 1.0);        glTranslatef(arm_x / 4, 0.0, (body_z + arm_z) / 4);        glPushMatrix();        glScalef(arm_x - 0.1, arm_y - 0.1, arm_z - 0.1);        glutSolidCube(GLOBAL_SIZE);        glPopMatrix();        glTranslatef(arm_x / 4, 0.0, 0.0);        glPushMatrix();        glColor3f(0.5, 0.55, 0.55);        glTranslatef(0.0, 0.0, -arm_z / 4);        gluCylinder(quadratic, arm_y / 4, arm_y / 4, arm_z*0.5, 32, 32);        glPopMatrix();        glRotatef(leftLowerHandAngle, 0.0, 0.0, 1.0);        glTranslatef(arm_x / 4, 0.0, 0.0);        glPushMatrix();        glScalef(arm_x - 0.1, arm_y - 0.1, arm_z - 0.1);        glutSolidCube(GLOBAL_SIZE);        glPopMatrix();        glPopMatrix();        glPushMatrix(); //画右手        glColor3f(0.5, 0.55, 0.55);        glTranslatef(0, body_y / 2, 0.0);        glRotatef(rightHigherHandAngle, 0.0, 0.0, 1.0);        glTranslatef(arm_x / 4, 0.0, -(body_z + arm_z) / 4);        glPushMatrix();        glScalef(arm_x, arm_y, arm_z);        glutSolidCube(GLOBAL_SIZE);        glPopMatrix();        glTranslatef(arm_x / 4, 0.0, 0.0);        glPushMatrix();        glColor3f(0.5, 0.55, 0.55);        glTranslatef(0.0, 0.0, -arm_z / 4);        gluCylinder(quadratic, arm_y / 4, arm_y / 4, arm_z*0.5, 32, 32);        glPopMatrix();        glRotatef(rightLowerHandAngle, 0.0, 0.0, 1.0);        glTranslatef(arm_x / 4, 0.0, 0.0);        glPushMatrix();        glScalef(arm_x - 0.1, arm_y - 0.1, arm_z - 0.1);        glutSolidCube(GLOBAL_SIZE);        glPopMatrix();        glPopMatrix();        glPopMatrix();        glFlush();        glutSwapBuffers();    }    static double lookatx = -3.5, lookatz = -3.5, lookaty = 0;    static int scrw, scrh;    //实时刷新    void reshape(int w, int h) {        scrw = w;        scrh = h;        glViewport(0, 0, (GLsizei)w, (GLsizei)h);        glMatrixMode(GL_PROJECTION);        glLoadIdentity();        gluPerspective(60.0, (GLfloat)w / (GLfloat)h, 1.0, 200.0);        glMatrixMode(GL_MODELVIEW);        glLoadIdentity();        gluLookAt(lookatx, lookaty, lookatz, centerX, 0, centerZ, 0.0, 1.0, 0.0);    }    //响应鼠标事件    void passiveMotionFunc(int x, int y) {        lookatx = -5.0 + (double)x / scrw * 10.0;        lookatz = sqrt(25 - lookatx * lookatx) + centerZ;        lookatx += centerX;        double tmpy = -5.0 + (double)y / scrh * 10.0;        if (tmpy >= -GLOBAL_SIZE * leg_x * 2)            lookaty = tmpy;        glLoadIdentity();        glutPostRedisplay();        gluLookAt(lookatx, lookaty, lookatz, centerX, 0, centerZ, 0.0, 1.0, 0.0);    }    bool left = false;    //规定当角度大于-75度时，小腿的角度变化，并比大腿变化快，规定是大腿地4倍    //响应键盘事件的，当按'w'时先前走，当按's'时为向后转    void keyboard(unsigned char key, int x, int y)    {        switch (key)        {        case 'w':            for (int i = 0; i < speed; i++) {                centerY = leg_x * sin(-leftHigherLegAngle / 180.0 * PI) - leg_x;                // 为了简化计算，我粗略假定大腿每动1度，人会朝着其方向前进0.035个单位长度                double mvx = cos(angle / 180.0 * PI) * 0.035; // 计算x轴方向移动的距离                double mvz = sin(angle / 180.0 * PI) * 0.035; // 计算z轴方向移动的距离                if (!left) { //左脚迈出                    leftHigherLegAngle--;                    rightHigherLegAngle++;                    if (leftHigherLegAngle >= -75) {                        LeftLowerLegAngle += 6;                        leftFootAngle = 0;                    }                    else if (leftHigherLegAngle < -105) LeftLowerLegAngle -= 6;                    if (leftHigherLegAngle == -120) {                        left = true;                    }                    leftHigherHandAngle++;                    leftLowerHandAngle++;                    rightHigherHandAngle--;                    rightLowerHandAngle--;                }                else {                    leftHigherLegAngle++;                    rightHigherLegAngle--;                    if (rightHigherLegAngle >= -75) {                        rightLowerLegAngle += 6;                        rightFootAngle = 0;                    }                    else if (rightHigherLegAngle < -105) rightLowerLegAngle -= 6;                    if (leftHigherLegAngle == -60) left = false;                    leftHigherHandAngle--;                    leftLowerHandAngle--;                    rightHigherHandAngle++;                    rightLowerHandAngle++;                }                centerX -= mvx;                lookatx -= mvx;                centerZ += mvz;                lookatz += mvz;                // 调整视角，始终把屏幕中心对准人的中心                glLoadIdentity();                gluLookAt(lookatx, lookaty, lookatz, centerX, 0, centerZ, 0.0, 1.0, 0.0);                glutPostRedisplay();            }            break;        case 's':            angle = (angle + 180) % 360;            glutPostRedisplay();            break;        case 'a': //左转            angle = (angle + 5) % 360;            glutPostRedisplay();            break;        case 'd': //右转            angle = (angle - 5) % 360;            glutPostRedisplay();            break;        case 'f':            speed++;            break;        case 'h':            if (speed > 0)                speed--;            break;        }    }    //设置光照      void SetupLights()    {        GLfloat ambientLight[] = { 0.45f,  0.45f,  0.5f,  1.0f };//环境光          GLfloat diffuseLight[] = { 0.55f,  0.55f,  0.55f,  1.0f };//漫反射          GLfloat specularLight[] = { 0.6f,  0.6f,  0.6f,  1.0f };//镜面光          GLfloat lightPos[] = { 50.0f, 80.0f, 60.0f, 1.0f };//光源位置          glEnable(GL_LIGHTING);  //启用光照          glLightfv(GL_LIGHT0, GL_AMBIENT, ambientLight);//设置环境光源          glLightfv(GL_LIGHT0, GL_DIFFUSE, diffuseLight);//设置漫反射光源          glLightfv(GL_LIGHT0, GL_SPECULAR, specularLight);   //设置镜面光源          glLightfv(GL_LIGHT0, GL_POSITION, lightPos);//设置灯光位置          glEnable(GL_LIGHT0);//打开第一个灯光          glEnable(GL_COLOR_MATERIAL);//启用材质的颜色跟踪          glColorMaterial(GL_FRONT, GL_AMBIENT_AND_DIFFUSE);  //指定材料着色的面          glMaterialfv(GL_FRONT, GL_SPECULAR, specularLight); //指定材料对镜面光的反应          glMateriali(GL_FRONT, GL_SHININESS, 100);   //指定反射系数      }    int main(int argc, char **argv) {        glutInit(&argc, argv);        glutInitDisplayMode(GLUT_DOUBLE | GLUT_RGB | GLUT_DEPTH);        glutInitWindowSize(500, 500);        glutInitWindowPosition(100, 100);        glutCreateWindow(argv[0]);        init();        LoadGLTexTures(g_texture, "body.bmp");        LoadGLTexTures_head(g_texture_head, "face.bmp");        LoadGLTexTures_ground(g_texture_ground, "ground.bmp");        LoadGLTexTures_sky(g_texture_sky, "sky.bmp");        glutDisplayFunc(display);        glutReshapeFunc(reshape);  //屏幕刷新是用        glutKeyboardFunc(keyboard);//按下按键        glutPassiveMotionFunc(passiveMotionFunc);//鼠标转动        SetupLights();        glutMainLoop();        return 0;    }

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实验截图