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rm501.c
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/*
* rm501.c - Mitsubishi RM-501 Movemaster II Robot Simulator
*
* Copyright (C) 2013-2022 Jakob Flierl <[email protected]>
*
* This library is free software; you can redistribute it and/or
* modify it under the terms of the GNU Lesser General Public
* License as published by the Free Software Foundation:
* version 2.1 of the License.
*
* This library is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
* Lesser General Public License for more details.
*
* You should have received a copy of the GNU Lesser General Public
* License along with this library; if not, write to the Free Software
* Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston,
* MA 02110-1301 USA
*/
#define PROGRAM_VERSION "0.0.1"
// sudo apt-get -y install libsdl2-dev libsdl2-ttf-dev
// for joystick access: sudo usermod -aG input $USER
//#define HAVE_SDL // working
#ifdef HAVE_SDL
#define HAVE_AUDIO // working, requires HAVE_SDL
#define HAVE_JOYSTICK // working, requires HAVE_SDL
//#define HAVE_PNG // working, requires HAVE_SDL
#define ENABLE_FPS_LIMIT // working, requires HAVE_SDL
#ifdef ENABLE_FPS_LIMIT
#define DEFAULT_FPS 30
#endif
#endif
//#define HAVE_SPACENAV // working
//#define HAVE_HAL // partially working
//#define HAVE_NCURSES // unfinished
//#define HAVE_SERIAL // unfinished
//#define HAVE_MQTT // unfinished
//#define HAVE_ZMQ // unfinished
//#define HAVE_TRAJGEN // unfinished
// see http://www2.ece.ohio-state.edu/~zheng/ece5463/proj2/5463-Project-2-FA2015.pdf
#define PROJ2
// see http://www2.ece.ohio-state.edu/~zheng/ece5463/proj3/5463-Project-3-FA2015.pdf
#define PROJ3
#include <stdio.h>
#include <stdarg.h>
#include <stdlib.h> // EXIT_SUCCESS
#include <stdbool.h> // for bool, true, false
#include <stdint.h>
#include <inttypes.h>
#include <string.h> // memcpy()
#include <signal.h> // sigaction(), sigsuspend(), sig*()
#ifdef __MINW32__
#define _USE_MATH_DEFINES 1
#endif
#include <math.h>
#ifdef HAVE_ZMQ
#include <zmq.h>
#endif
#ifdef HAVE_MQTT
#include "mqtt_handler.h"
#endif
#ifdef HAVE_SDL
#include <GL/glu.h>
#include <GL/glext.h>
#include <SDL2/SDL.h>
#include <SDL2/SDL_ttf.h>
#include <SDL2/SDL_opengl.h>
#include <SDL2/SDL_image.h>
#endif
#ifdef HAVE_NCURSES
#include <ncursesw/curses.h>
#include <sys/ioctl.h>
#include <unistd.h>
#endif
#ifdef HAVE_SPACENAV
#include <linux/input.h>
#include <unistd.h>
#include <sys/types.h>
#include <sys/stat.h>
#include <fcntl.h>
#endif
#ifdef HAVE_SERIAL
#include <libserialport.h>
#endif
#ifdef HAVE_SDL
#ifdef HAVE_PNG
#include "savepng.h"
#include "savepng.c"
#endif
#endif
#ifdef HAVE_TRAJGEN
#include "trajgen.h"
#endif
volatile int done = 0; // SIGINT or user exit requested
#ifdef HAVE_HAL
int do_hal = 0;
#include "hal.h"
#define MODULE_NAME "rm501"
char *modname = MODULE_NAME;
typedef struct
{
hal_float_t *axis[5];
} hal_t;
int hal_comp_id;
hal_t *hal_pos_data;
#endif
#ifdef HAVE_SDL
int view_mode = 0;
int width = 640, height = 480;
TTF_Font *sdl_font;
SDL_Window *sdl_window;
SDL_Renderer *sdl_renderer;
#ifdef HAVE_AUDIO
int do_audio = 0;
double MIDDLE_C[5];
int middle_c_dist[5];
#endif
#endif
#ifdef HAVE_NCURSES
WINDOW *menubar, *messagebar;
#endif
#ifdef HAVE_SDL
#ifdef HAVE_PNG
SDL_Surface *png_shot;
#endif
#endif
#ifdef HAVE_JOYSTICK
SDL_Joystick *joy = NULL;
const int JOYSTICK_DEAD_ZONE = 2500;
#endif
#ifdef HAVE_ZMQ
int do_zmq = 0;
#endif
#ifdef HAVE_MQTT
int do_mqtt = 0;
#endif
#ifdef HAVE_TRAJGEN
int do_trajgen_test = 0;
real_t tg_speed;
real_t tg_accel;
real_t tg_blending;
unsigned tg_n_joints;
trajgen_t tg_tg;
trajgen_config_t tg_cfg;
pose_t tg_last_pose;
char tg_err_str[1024];
double rnd()
{
return ((double)rand()) / RAND_MAX;
}
double roundd(double v, unsigned digits)
{
for (unsigned i = 0; i < digits; i++)
v *= 10.;
v = round(v);
for (unsigned i = 0; i < digits; i++)
v /= 10.;
return v;
}
double randpos(double max)
{
return roundd(max * ((rnd() * 2) - 1), 2);
}
void tg_echk(unsigned errnom)
{
if (errnom)
{
fprintf(stderr, "tg error: %s\n", trajgen_errstr(tg_tg.last_error.errnom, tg_err_str, 1024));
exit(1); // XXX
}
}
void tg_init(real_t max_speed, real_t max_accel, real_t sample_frequency,
unsigned interpolation_rate, unsigned max_joints)
{
memset(tg_err_str, 0, sizeof(tg_err_str));
memset(&tg_last_pose, 0, sizeof(pose_t));
memset(&tg_tg, 0, sizeof(trajgen_t));
memset(&tg_cfg, 0, sizeof(trajgen_config_t));
tg_n_joints = max_joints > TG_MAX_JOINTS ? TG_MAX_JOINTS : max_joints;
memset(&tg_cfg, 0, sizeof(trajgen_config_t));
tg_cfg.number_of_used_joints = tg_n_joints;
tg_cfg.max_coord_velocity = max_speed;
tg_cfg.max_coord_acceleration = max_accel;
tg_cfg.sample_interval = 1.0 / sample_frequency;
tg_cfg.interpolation_rate = interpolation_rate;
pose_set_all(&tg_cfg.max_manual_velocities, max_speed);
pose_set_all(&tg_cfg.max_manual_accelerations, max_accel);
for (unsigned i = 0; i < tg_n_joints; i++)
{
tg_cfg.joints[i].max_velocity = max_speed;
tg_cfg.joints[i].max_acceleration = max_speed;
}
tg_echk(trajgen_initialize(&tg_tg, tg_cfg));
}
void tg_line(double x, double y, double z)
{
pose_t p;
p.x = isnan(x) ? tg_last_pose.x : x;
p.y = isnan(y) ? tg_last_pose.y : y;
p.z = isnan(z) ? tg_last_pose.z : z;
tg_last_pose = p;
fprintf(stderr, "# line {x:%.6g, y:%.6g, z:%.6g, v:%.6g, a:%.6g, tol:%.6g }\n", p.x, p.y, p.z, tg_speed, tg_accel, tg_blending);
tg_echk(trajgen_add_line(p, tg_speed, tg_accel));
}
#endif // HAVE_TRAJGEN
typedef struct
{
double d1, d5, a2, a3; // dh parameters
struct joint_s
{
double pos;
double vel;
double min;
double max;
#ifdef PROJ2
double tar;
#endif
} j[5]; // joints
struct cart_s
{
double vel;
} cart[6]; // cartesian coordinates
double t[16]; // tool matrix
int err; // error a to joint number if inverse kinematics fails
char msg[2048]; // opt. message from inverse kinematics
#ifdef PROJ3
int proj3counter;
#endif
bool grip;
} bot_t;
#ifdef HAVE_AUDIO
short middle_c_gen()
{
double volume = 0.05;
short out = 0;
#define AXES 5
for (int i = 0; i < AXES; i++)
{
middle_c_dist[i]++; /* Take one sample */
int MIDDLE_C_SAMPLES = 44100 / MIDDLE_C[i];
if (middle_c_dist[i] >= MIDDLE_C_SAMPLES)
middle_c_dist[i] = 0;
/* Low? */
if (middle_c_dist[i] < MIDDLE_C_SAMPLES / 2)
out += -32768 * volume / AXES;
else
/* High */
out += 32767 * volume / AXES;
}
#undef AXES
return out;
}
void fill_audio(void *data, Uint8 *stream, int len)
{
short *buff;
int i;
/* Cast */
buff = (short *)stream;
len /= 2; /* Because we're now using shorts */
/* Square */
for (i = 0; i < len; i += 2)
{
buff[i] = middle_c_gen(); /* Left */
buff[i + 1] = buff[i]; /* Right, same as left */
}
}
void open_audio()
{
SDL_AudioSpec as;
/* Fill out what we want */
as.freq = 44100;
as.format = AUDIO_S16SYS;
as.channels = 2;
as.samples = 1024;
as.callback = fill_audio;
/* Get it */
SDL_OpenAudio(&as, NULL);
/* Go! */
SDL_PauseAudio(0);
}
void close_audio()
{
SDL_CloseAudio();
}
#endif // HAVE_AUDIO
#define rad2deg(rad) ((rad) * (180.0 / M_PI))
#define deg2rad(deg) ((deg) * (M_PI / 180.0))
#define sq(x) ((x) * (x))
void rotate_m_axyz(double *mat, double angle, double x, double y, double z)
{
int i;
double m[16] = {1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1};
double s = sin(deg2rad(angle));
double c = cos(deg2rad(angle));
double mag = sqrt(sq(x) + sq(y) + sq(z));
if (mag <= 1.0e-4)
{
return;
} // no rotation, leave mat as-is
x /= mag;
y /= mag;
z /= mag;
double one_c = 1.0 - c;
#define M(row, col) m[col * 4 + row]
M(0, 0) = (one_c * sq(x)) + c;
M(0, 1) = (one_c * x * y) - z * s;
M(0, 2) = (one_c * z * x) + y * s;
M(1, 0) = (one_c * x * y) + z * s;
M(1, 1) = (one_c * sq(y)) + c;
M(1, 2) = (one_c * y * z) - x * s;
M(2, 0) = (one_c * z * x) - y * s;
M(2, 1) = (one_c * y * z) + x * s;
M(2, 2) = (one_c * sq(z)) + c;
#undef M
for (i = 0; i < 4; i++)
{
#define A(row, col) mat[(col << 2) + row]
#define B(row, col) m[(col << 2) + row]
double ai0 = A(i, 0), ai1 = A(i, 1), ai2 = A(i, 2), ai3 = A(i, 3);
A(i, 0) = ai0 * B(0, 0) + ai1 * B(1, 0) + ai2 * B(2, 0) + ai3 * B(3, 0);
A(i, 1) = ai0 * B(0, 1) + ai1 * B(1, 1) + ai2 * B(2, 1) + ai3 * B(3, 1);
A(i, 2) = ai0 * B(0, 2) + ai1 * B(1, 2) + ai2 * B(2, 2) + ai3 * B(3, 2);
A(i, 3) = ai0 * B(0, 3) + ai1 * B(1, 3) + ai2 * B(2, 3) + ai3 * B(3, 3);
#undef A
#undef B
}
}
#define RPY_P_FUZZ (0.000001)
int pmMatRpyConvert(double m[], double *r, double *p, double *y)
{
*p = atan2(-m[2], sqrt(sq(m[0]) + sq(m[1])));
if (fabs(*p - (2 * M_PI)) < RPY_P_FUZZ)
{
*r = atan2(m[4], m[5]);
*p = (2 * M_PI);
*y = 0.0;
}
else if (fabs(*p + (2 * M_PI)) < RPY_P_FUZZ)
{
*r = -atan2(m[6], m[5]);
*p = -(2 * M_PI);
*y = 0.0;
}
else
{
*r = atan2(m[6], m[10]);
*y = atan2(m[1], m[0]);
}
return 0;
}
int kins_fwd(bot_t *bot)
{
double tr1 = deg2rad(bot->j[0].pos);
double tr2 = deg2rad(bot->j[1].pos);
double tr3 = deg2rad(bot->j[2].pos);
double tr4 = deg2rad(bot->j[3].pos);
double tr5 = deg2rad(bot->j[4].pos);
double C234 = cos(tr2 + tr3 + tr4);
double S234 = sin(tr2 + tr3 + tr4);
double C23 = cos(tr2 + tr3);
double S23 = sin(tr2 + tr3);
double S1 = sin(tr1);
double C1 = cos(tr1);
double S2 = sin(tr2);
double C2 = cos(tr2);
double S5 = sin(tr5);
double C5 = cos(tr5);
double px = C1 * (bot->d5 * S234 + bot->a3 * C23 + bot->a2 * C2);
double py = S1 * (bot->d5 * S234 + bot->a3 * C23 + bot->a2 * C2);
double pz = bot->d1 - bot->d5 * C234 + bot->a3 * S23 + bot->a2 * S2;
bot->t[0] = C1 * C5 * C234 - S1 * S5;
bot->t[1] = C5 * S234;
bot->t[2] = -S1 * C5 * C234 - C1 * S5;
bot->t[3] = 0;
bot->t[4] = -C1 * S234;
bot->t[5] = C234;
bot->t[6] = S1 * S234;
bot->t[7] = 0;
bot->t[8] = S1 * C5 + C1 * C234 * S5;
bot->t[9] = S5 * S234;
bot->t[10] = C1 * C5 - S1 * C234 * S5;
bot->t[11] = 0;
bot->t[12] = px;
bot->t[13] = pz;
bot->t[14] = py;
bot->t[15] = 1;
return 0;
}
int kins_inv(bot_t *bot)
{
double nx = -bot->t[0], ny = bot->t[2];
double ox = bot->t[8], oy = -bot->t[10];
double ax = -bot->t[4], ay = bot->t[6], az = -bot->t[5];
double px = bot->t[12];
double pz = bot->t[13];
double py = bot->t[14];
double th1;
if (py == 0 && px == 0)
{ // point on the Z0 axis
if (ay == 0 && ax == 0)
{ // wrist pointing straight up/down
th1 = 0;
}
else
{
th1 = atan2(ay, ax);
}
}
else
{
th1 = atan2(py, px);
}
double c1 = cos(th1);
double s1 = sin(th1);
double t234 = atan2(c1 * ax + s1 * ay, -az);
double c234 = cos(t234);
double s234 = sin(t234);
// joint 3 - elbow
double tp1 = c1 * px + s1 * py - bot->d5 * s234;
double tp2 = pz - bot->d1 + bot->d5 * c234;
double c3 = (sq(tp1) + sq(tp2) - sq(bot->a3) - sq(bot->a2)) / (2 * bot->a2 * bot->a3);
double s3 = -sqrt(1 - sq(c3));
double th3 = atan2(s3, c3);
// joint 2 - shoulder
double num = tp2 * (bot->a3 * c3 + bot->a2) - bot->a3 * s3 * tp1;
double den = tp1 * (bot->a3 * c3 + bot->a2) + bot->a3 * s3 * tp2;
double th2 = atan2(num, den);
// joint 4 - pitch
double th4 = (t234 - th3 - th2);
// joint 5 - roll
double th5 = atan2(s1 * nx - c1 * ny, s1 * ox - c1 * oy);
char msg[5][256];
double th[] = {th1, th2, th3, th4, th5};
int i;
bot->err = 0;
for (i = 0; i < 5; i++)
{
#ifdef KINS_INV_IGNORE_LIMITS
if (!isnan(th[i]))
{
#else
if (!isnan(th[i]) && th[i] >= deg2rad(bot->j[i].min) && th[i] <= deg2rad(bot->j[i].max))
{
#endif
bot->j[i].pos = rad2deg(th[i]);
}
else
{
bot->err |= (1 << i);
}
// pretty print results
if (isnan(th[i]))
{
snprintf(msg[i], sizeof(msg[i]), "%7s ", "nan");
}
else if (th[i] < deg2rad(bot->j[i].min))
{
snprintf(msg[i], sizeof(msg[i]), "%7.2fv", rad2deg(th[i]));
}
else if (th[i] > deg2rad(bot->j[i].max))
{
snprintf(msg[i], sizeof(msg[i]), "%7.2f^", rad2deg(th[i]));
}
else
{
snprintf(msg[i], sizeof(msg[i]), "%7.2f ", rad2deg(th[i]));
}
}
snprintf(bot->msg, sizeof(bot->msg), "kin_inv(%d): %s %s %s %s %s", bot->err, msg[0], msg[1], msg[2], msg[3], msg[4]);
return bot->err;
}
#ifdef HAVE_SDL
void cross(float th, float l)
{
glLineWidth(th);
glBegin(GL_LINES);
glColor3f(1, 0, 0);
glVertex3f(0, 0, 0);
glVertex3f(l, 0, 0);
glColor3f(0, 1, 0);
glVertex3f(0, 0, 0);
glVertex3f(0, l, 0);
glColor3f(0, 0, 1);
glVertex3f(0, 0, 0);
glVertex3f(0, 0, l);
glEnd();
glLineWidth(1);
}
#endif
#ifdef HAVE_SDL
unsigned int power_two_floor(unsigned int val)
{
unsigned int power = 2, nextVal = power * 2;
while ((nextVal *= 2) <= val)
power *= 2;
return power * 2;
}
void text(int x, int y, TTF_Font *font, const char *format, ...)
{
char buffer[256];
va_list args;
if (!font)
{
return;
}
va_start(args, format);
vsnprintf(buffer, 255, format, args);
SDL_Color col = {255, 255, 255};
SDL_Surface *msg = TTF_RenderText_Blended(font, buffer, col);
GLuint tex;
int texture_format;
glEnable(GL_TEXTURE_2D);
glGenTextures(1, &tex);
glBindTexture(GL_TEXTURE_2D, tex);
// Avoid mipmap filtering
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_LINEAR);
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_LINEAR);
int w = power_two_floor(msg->w) * 2;
int h = power_two_floor(msg->h) * 2;
// Create a surface to the correct size in RGB format, and copy the old image
SDL_Surface *s = SDL_CreateRGBSurface(0, w, h, 32, 0x00ff0000, 0x0000ff00, 0x000000ff, 0xff000000);
SDL_BlitSurface(msg, NULL, s, NULL);
int colors = s->format->BytesPerPixel;
if (colors == 4)
{ // alpha
if (s->format->Rmask == 0x000000ff)
texture_format = GL_RGBA;
else
texture_format = GL_BGRA;
}
else
{ // no alpha
if (s->format->Rmask == 0x000000ff)
texture_format = GL_RGB;
else
texture_format = GL_BGR;
}
glTexImage2D(GL_TEXTURE_2D, 0, colors, w, h, 0, texture_format,
GL_UNSIGNED_BYTE, s->pixels);
int z = 1;
glBegin(GL_QUADS);
{
glTexCoord2d(0, 0);
glVertex3f(x, y, z);
glTexCoord2d(1, 0);
glVertex3f(x + s->w, y, z);
glTexCoord2d(1, 1);
glVertex3f(x + s->w, y + s->h, z);
glTexCoord2d(0, 1);
glVertex3f(x, y + s->h, z);
}
glEnd();
glDisable(GL_TEXTURE_2D);
glDeleteTextures(1, &tex);
SDL_FreeSurface(s);
SDL_FreeSurface(msg);
va_end(args);
}
void text_matrix(int x, int y, double m[])
{
int i, j;
for (i = 0; i < 4; i++)
{
for (j = 0; j < 4; j++)
{
text(x + 75 * i, y + TTF_FontHeight(sdl_font) * j, sdl_font, "%8.2f", m[4 * i + j]);
}
}
}
void cube(GLfloat dSize, int wire)
{
float size = dSize * 0.5;
#define V(a, b, c) glVertex3d(a size, b size, c size);
#define N(a, b, c) glNormal3d(a, b, c);
if (wire)
{
glBegin(GL_LINE_LOOP);
N(1.0, 0.0, 0.0);
V(+, -, +);
V(+, -, -);
V(+, +, -);
V(+, +, +);
glEnd();
glBegin(GL_LINE_LOOP);
N(0.0, 1.0, 0.0);
V(+, +, +);
V(+, +, -);
V(-, +, -);
V(-, +, +);
glEnd();
glBegin(GL_LINE_LOOP);
N(0.0, 0.0, 1.0);
V(+, +, +);
V(-, +, +);
V(-, -, +);
V(+, -, +);
glEnd();
glBegin(GL_LINE_LOOP);
N(-1.0, 0.0, 0.0);
V(-, -, +);
V(-, +, +);
V(-, +, -);
V(-, -, -);
glEnd();
glBegin(GL_LINE_LOOP);
N(0.0, -1.0, 0.0);
V(-, -, +);
V(-, -, -);
V(+, -, -);
V(+, -, +);
glEnd();
glBegin(GL_LINE_LOOP);
N(0.0, 0.0, -1.0);
V(-, -, -);
V(-, +, -);
V(+, +, -);
V(+, -, -);
glEnd();
}
else
{
glBegin(GL_QUADS);
N(1.0, 0.0, 0.0);
V(+, -, +);
V(+, -, -);
V(+, +, -);
V(+, +, +);
N(0.0, 1.0, 0.0);
V(+, +, +);
V(+, +, -);
V(-, +, -);
V(-, +, +);
N(0.0, 0.0, 1.0);
V(+, +, +);
V(-, +, +);
V(-, -, +);
V(+, -, +);
N(-1.0, 0.0, 0.0);
V(-, -, +);
V(-, +, +);
V(-, +, -);
V(-, -, -);
N(0.0, -1.0, 0.0);
V(-, -, +);
V(-, -, -);
V(+, -, -);
V(+, -, +);
N(0.0, 0.0, -1.0);
V(-, -, -);
V(-, +, -);
V(+, +, -);
V(+, -, -);
glEnd();
}
#undef V
#undef N
}
GLUquadricObj *create_quadric(int wire)
{
GLUquadricObj *qobj = gluNewQuadric();
if (!wire)
{
gluQuadricDrawStyle(qobj, GLU_FILL);
}
else
{
gluQuadricDrawStyle(qobj, GLU_LINE);
}
return qobj;
}
void cylinder(int wire, double BASE, double TOP, double HEIGHT, double SLICES, double STACKS)
{
GLUquadricObj *QUAD = create_quadric(wire);
gluCylinder(QUAD, BASE, TOP, HEIGHT, SLICES, STACKS);
if (!wire)
{
glRotatef(180, 1, 0, 0);
gluDisk(QUAD, 0.0, BASE, SLICES, 1);
glRotatef(180, 1, 0, 0);
glTranslatef(0.0, 0.0, HEIGHT);
gluDisk(QUAD, 0.0, TOP, SLICES, 1);
}
gluDeleteQuadric(QUAD);
}
void draw_bot(int wire, bot_t *bot)
{
glPushMatrix(); // 1
glTranslatef(0.0, bot->d1, 0.0);
cross(4, 1);
if (!wire)
{
glPolygonMode(GL_FRONT_AND_BACK, GL_FILL);
}
else
{
glPolygonMode(GL_FRONT_AND_BACK, GL_LINE);
}
// link1 - base
glColor3f(0.25, 0.25, 0.25);
glPushMatrix(); // 2
glTranslatef(-0.5, -1.875, 0);
glScalef(2, 0.75, 2);
cube(1.0, wire);
glPopMatrix(); // 1
glPushMatrix(); // 2
glTranslatef(0, -1.75, 0);
glScalef(1 - 0.05, 1.0 - 0.05, 1.25 - 0.05);
cube(1.0, wire);
glPopMatrix(); // 1
glPushMatrix(); // 2
glTranslatef(0.0, -1.175 - 0.65 / 2, 0);
glRotatef(-90, 1, 0, 0);
glScalef(1.0, 1.0, 1.0);
glColor3f(0.5, 0.5, 0.5);
cylinder(wire, 0.35, 0.35, 0.65, 16, 1);
glPopMatrix(); // 1
// link2 - body
glColor3f(1.0, 0.44, 0.176);
glPushMatrix(); // 2
glTranslatef(0, 0.0, 0.0);
glRotatef(bot->j[0].pos, 0.0, 1.0, 0.0);
glTranslatef(0, 0.0, 0.0);
glPushMatrix(); // 3
glTranslatef(-0.75, -0.45, 0.0);
glScalef(2.5, 0.9, 1.2);
cube(1.001, wire);
glPopMatrix(); // 2
glPushMatrix(); // 3
glRotatef(14, 0.0, 0.0, 1.0);
glTranslatef(-0.975, 0.05, 0.0);
glScalef(1.9, 0.9, 1.2);
cube(0.999, wire);
glPopMatrix(); // 2
glPushMatrix(); // 3
glTranslatef(0.0, 0, -1.2 / 2);
glRotatef(-90, 0.0, 0.0, 1.0);
glScalef(1.0, 1.0, 1.0);
cylinder(wire, 0.5, 0.5, 1.2, 16, 1);
glPopMatrix(); // 2
if (!wire)
{
glPushMatrix(); // 3
glTranslatef(0.0, 0, -1.4 / 2);
glRotatef(-90, 0.0, 0.0, 1.0);
glScalef(1.0, 1.0, 1.0);
cylinder(wire, 0.15, 0.15, 1.4, 16, 1);
glPopMatrix(); // 2
}
glColor3f(1.0, 0.44, 0.176);
glPushMatrix(); // 3
glTranslatef(0.0, 0, -bot->d5 / 2);
glRotatef(-90, 0.0, 0.0, 1.0);
glScalef(1.0, 1.0, 1.0);
cylinder(wire, 0.35, 0.35, bot->d5, 16, 1);
glPopMatrix(); // 2
// link3 - upperarm
glColor3f(1.0, 0.44, 0.176);
glRotatef(bot->j[1].pos, 0.0, 0.0, 1.0);
glPushMatrix(); // 3
glTranslatef(1.1, 0.0, 0.0);
glScalef(bot->a2, 1.0, 1.0);
cube(1.0, wire);
glPopMatrix(); // 2
if (!wire)
{
glPushMatrix(); // 3
glTranslatef(0, 0, -0.5);
glRotatef(-90, 0.0, 0.0, 1.0);
glScalef(1.0, 1.0, 1.0);
cylinder(wire, 0.5, 0.5, 1, 16, 1);
glPopMatrix(); // 2
glPushMatrix(); // 3
glTranslatef(bot->a2, 0, -0.5);
glRotatef(-90, 0.0, 0.0, 1.0);
glScalef(1.0, 1.0, 1.0);
cylinder(wire, 0.5, 0.5, 1, 16, 1);
glPopMatrix(); // 2
glPushMatrix(); // 3
glTranslatef(bot->a2, 0, -1.1 / 2);
glRotatef(-90, 0.0, 0.0, 1.0);
glScalef(1.0, 1.0, 1.0);
cylinder(wire, 0.25, 0.25, 1.1, 16, 1);
glPopMatrix(); // 2
glPushMatrix(); // 3
glTranslatef(bot->a2, 0, -1.2 / 2);
glRotatef(-90, 0.0, 0.0, 1.0);
glScalef(1.0, 1.0, 1.0);
cylinder(wire, 0.15, 0.15, 1.2, 16, 1);
glPopMatrix(); // 2
}
// link4 - forearm
glTranslatef(bot->a2, 0, 0);
glRotatef(bot->j[2].pos, 0.0, 0.0, 1.0);
glPushMatrix(); // 3
glTranslatef(0.6, 0.0, 0.0);
glScalef(1.2, 0.8, 0.9);
cube(1.0, wire);
glPopMatrix(); // 2
glPushMatrix(); // 3
glTranslatef(0, 0, -0.45);
glRotatef(-90, 0.0, 0.0, 1.0);
glScalef(1.0, 1.0, 1.0);
cylinder(wire, 0.4, 0.4, 0.9, 16, 1);
glPopMatrix(); // 2
glPushMatrix(); // 3
glTranslatef(1.2, 0, -0.45);
glRotatef(-90, 0.0, 0.0, 1.0);
glScalef(1.0, 1.0, 1.0);
cylinder(wire, 0.4, 0.4, 0.9, 16, 1);
glPopMatrix(); // 2
// link5 - wrist pitch
glColor3f(0.25, 0.25, 0.25);
glTranslatef(bot->a3, 0, 0);
glRotatef(bot->j[3].pos, 0.0, 0.0, 1.0);
glPushMatrix(); // 3
glTranslatef(0, 0, -0.6);
glRotatef(-90, 0.0, 0.0, 1.0);
cylinder(wire, 0.3, 0.3, 1.2, 22, 1);
glPopMatrix(); // 2
glColor3f(0.5, 0.5, 0.5);
// link6 - hand
glColor3f(0.25, 0.25, 0.25);
glRotatef(bot->j[4].pos, 0.0, 1.0, 0.0);
glPushMatrix(); // 3
glRotatef(90, 1.0, 0.0, 0.0);
cylinder(wire, 0.13, 0.13, 0.5, 22, 1);
glPopMatrix(); // 2
glColor3f(0.15, 0.15, 0.15);
glPushMatrix(); // 3
glTranslatef(0.0, -0.7, 0.0);
glScalef(0.5, 0.4, 0.4);
cube(1.0, wire);
glPopMatrix(); // 2
glPushMatrix(); // 3
glTranslatef(0.0, -1.02, 0.0);
glScalef(0.8, 0.25, 0.4);