CG Robotic Model

A visualization openGl and cpp code for full robotic body model with all parts of the body, their limitations and floor and objects.

Installation

Linux Users

sudo apt-get install freeglut3-dev

Windows Users

Download the compiled source files Here.
Create a new folder in “C:\” directory, and name it “glut”.
Inside “C:\glut”, create two new folders with names “include” and “lib”
Create a new folder and call it “GL” inside “C:\glut\include”, copy glut.h” from the unzipped file and passed it here. where you should have : C:\glut\include\GL\glut.h
Inside “C:\glut\lib” copy “glut.def ” + “glut32.lib” + “glut32.dll” + “README-win32.txt” from the unzipped file and passed it here. where you should have : So: C:\glut\lib\glut.def, C:\glut\lib\glut32.lib, C:\glut\lib\ glut32.dll, C:\glut\lib\ README-win32.txt
Start, Control Panel, System, Advanced, Environment Variables
In the “Environment Variables” window and under the “system variables” select “path”, then click “edit” and in the “variable value” label add “C:\glut\lib”, then click “Ok”
restart your computer to make sure that the windows operating system noticed those changes.
Go to Visual Studio and create your C++ project as follow:
- New Project
- Under “Installed” on the left panel; select “Visual C++”, then select “ Win32” ,select from the middle panel “Win32 console application”, rename your project (with a meaningful name, ex: HelloCG), select your path from “Browse”, then click “Ok”.
- In the “Win32 Application Wizard” click “Next”, under “Additional options”select “Empty project”, then click “Finish” From “Solution Explorer” window, right click on “Source Files” and chose “Add” then chose “New Item…”
- From the “Add Existing Item” window, Add files of project.
- Move the data&images folders to the folder of the visual studio project.
- Go to “Project”, then “Properties” and in the “Configuration Properties” in the left panel chose “VC++ Directories”, then from the right panel edit “Include Directories” and browse to add the path of the C:\glut\include, also edit “”Library Directories” and browse to add “C:\glut\lib”.

Implementation details

We completed the model of the Body and his parts by applying different transformations (Scaling, Rotation, Transformation).
We animated the model by animated hands, legs, parts of them and its rotated limitations.
We implement camera movements horizontally and vertically, navigate forward and backward (zoom in +, zoom out -, rotation up ↑, rotation down ↓, rotation right →, rotation left ←)
We implement the timer function to make the robot interactive without press any key.
Adding a floor below the robotic body.
Adding a texture to the floor.
Having a menu to change the texture of the floor.
Adding some objects, a scene, to the enviroment.
Making an animation for the robotic body.

Control Keys

Key	Movement type	Notes
8	Camera rotation up
2	Camera rotation down
6	Camera rotation right
4	Camera rotation left
f	move camera forward
b	move camera backward
W	Start/Stop animation
s	Shoulder Rotation	Abduction
S	Shoulder Rotation	Adduction
x	Right Shoulder Rotation in z-axis
X	Right Shoulder Rotation in z-axis
z	Left Shoulder Rotation in z-axis
Z	Left Shoulder Rotation in z-axis
l	Shoulders Rotation in y-axis
L	Shoulders Rotation in y-axis
e	elbow Rotation	Flexion
E	elbow Rotation	Extension
k	Knee rotation Leg1	Flexion
K	Knee rotation Leg1	Extension
n	Knee rotation Leg2	Flexion
N	Knee rotation Leg2	Extension
h	Hip rotation Leg1	Abduction
H	Hip rotation Leg1	Adduction
i	Hip rotation Leg2	Abduction
I	Hip rotation Leg2	Adduction
o	Right leg rotation
O	Right leg rotation
j	Left leg rotation
J	Left leg rotation

Preview (screenshots)

First model (Hand model)

Seconed model

Hands movements:

Foot movements:

Camera movements & Time Function:

Final model

Issues we faced

Dealing with glPushMatrix and glPopMatrix functions in openGl confused us.

Passed

We determine the transformation functions, current matrix and stack from the first of the code to the end and solve that.
The process of placing the objects in their location and maintainng the transformation was challenging and time consuming.
The Animation that is added to the robot was very hard as we tried to make it look as real as possible.