(* Copyright (c) 1993-1997, Silicon Graphics, Inc. * ALL RIGHTS RESERVED * Permission to use, copy, modify, and distribute this software for * any purpose and without fee is hereby granted, provided that the above * copyright notice appear in all copies and that both the copyright notice * and this permission notice appear in supporting documentation, and that * the name of Silicon Graphics, Inc. not be used in advertising * or publicity pertaining to distribution of the software without specific, * written prior permission. * * THE MATERIAL EMBODIED ON THIS SOFTWARE IS PROVIDED TO YOU "AS-IS" * AND WITHOUT WARRANTY OF ANY KIND, EXPRESS, IMPLIED OR OTHERWISE, * INCLUDING WITHOUT LIMITATION, ANY WARRANTY OF MERCHANTABILITY OR * FITNESS FOR A PARTICULAR PURPOSE. IN NO EVENT SHALL SILICON * GRAPHICS, INC. BE LIABLE TO YOU OR ANYONE ELSE FOR ANY DIRECT, * SPECIAL, INCIDENTAL, INDIRECT OR CONSEQUENTIAL DAMAGES OF ANY * KIND, OR ANY DAMAGES WHATSOEVER, INCLUDING WITHOUT LIMITATION, * LOSS OF PROFIT, LOSS OF USE, SAVINGS OR REVENUE, OR THE CLAIMS OF * THIRD PARTIES, WHETHER OR NOT SILICON GRAPHICS, INC. HAS BEEN * ADVISED OF THE POSSIBILITY OF SUCH LOSS, HOWEVER CAUSED AND ON * ANY THEORY OF LIABILITY, ARISING OUT OF OR IN CONNECTION WITH THE * POSSESSION, USE OR PERFORMANCE OF THIS SOFTWARE. * * US Government Users Restricted Rights * Use, duplication, or disclosure by the Government is subject to * restrictions set forth in FAR 52.227.19(c)(2) or subparagraph * (c)(1)(ii) of the Rights in Technical Data and Computer Software * clause at DFARS 252.227-7013 and/or in similar or successor * clauses in the FAR or the DOD or NASA FAR Supplement. * Unpublished-- rights reserved under the copyright laws of the * United States. Contractor/manufacturer is Silicon Graphics, * Inc., 2011 N. Shoreline Blvd., Mountain View, CA 94039-7311. * * OpenGL(R) is a registered trademark of Silicon Graphics, Inc. *) (* robot.ml * This program shows how to composite modeling transformations * to draw translated and rotated hierarchical models. * Interaction: pressing the s and e keys (shoulder and elbow) * alters the rotation of the robot arm. *) (* OCaml version by Florent Monnier *) open GL open Glu open Glut let shoulder = ref 0 let elbow = ref 0 let init() = glClearColor 0.0 0.0 0.0 0.0; glShadeModel GL_FLAT; ;; let display() = glClear [GL_COLOR_BUFFER_BIT]; glPushMatrix(); glTranslate (-1.0) 0.0 0.0; glRotate (float !shoulder) 0.0 0.0 1.0; glTranslate 1.0 0.0 0.0; glPushMatrix(); glScale 2.0 0.4 1.0; glColor3 1.0 0.4 0.0; glutWireCube 1.0; glPopMatrix(); glTranslate 1.0 0.0 0.0; glRotate (float !elbow) 0.0 0.0 1.0; glTranslate 1.0 0.0 0.0; glPushMatrix(); glScale 2.0 0.4 1.0; glColor3 0.0 0.8 1.0; glutWireCube 1.0; glPopMatrix(); glPopMatrix(); glutSwapBuffers(); ;; let reshape ~width:w ~height:h = glViewport 0 0 w h; glMatrixMode GL_PROJECTION; glLoadIdentity(); gluPerspective 65.0 ((float w)/.(float h)) 1.0 20.0; glMatrixMode GL_MODELVIEW; glLoadIdentity(); glTranslate 0.0 0.0 (-5.0); ;; let keyboard ~key ~x ~y = match key with | 's' -> shoulder := (!shoulder + 5) mod 360; glutPostRedisplay(); | 'S' -> shoulder := (!shoulder - 5) mod 360; glutPostRedisplay(); | 'e' -> elbow := (!elbow + 5) mod 360; glutPostRedisplay(); | 'E' -> elbow := (!elbow - 5) mod 360; glutPostRedisplay(); | 'Q' | 'q' | '\027' -> exit 0; | _ -> () ;; let () = ignore(glutInit Sys.argv); glutInitDisplayMode [GLUT_DOUBLE; GLUT_RGB]; glutInitWindowSize 500 500; glutInitWindowPosition 100 100; ignore(glutCreateWindow Sys.argv.(0)); init(); glutDisplayFunc ~display; glutReshapeFunc ~reshape; glutKeyboardFunc ~keyboard; glutMainLoop(); ;;