I drew the robot use square and sphere. To animate the robot, I used some function to be assigned via keyword actions. I added rotation and translation effect for the motion in animated robot.For every part of the robot, the program will calculate the co-ordinate and draw it over and over again.

First,the robot is divided into several parts:head,hip,two legs(each has two parts),two arms(each has two parts).Second,hierarchies are a vital tool for modeling and animation.I used the body as root,thus head,legs,and arms are its children.And the forearm is the child of its upper arm.Third,Control for each joint angle, plus global position and orientation,Recursive algorithm that descends model tree, doing transformations, pushing, popping, and drawing.

The Recursive algorithm:
-load the identity matrix
-for each internal node:
-push a new matrix onto the stack
-concatenate transformations onto current transformation matrix
-recursively descend tree
-pop matrix off of stack
-for each leaf node:
-draw the geometric primitive using the current transformation matrix

Relevant OpenGL routines:
-glPushMatrix(), glPopMatrix()
push and pop the stack. push leaves a copy of the current matrix on top of the stack
-glLoadIdentity(), glLoadMatrixd(M)
load the Identity matrix, or an arbitrary matrix, onto top of the stack
-glMultMatrixd(M)
multiply the matrix C on top of stack by M. C = CM
-glOrtho (x0,y0,x1,y1,z0,z1)
set up parallel projection matrix
-glRotatef(theta,x,y,z), glRotated(…)
axis/angle rotate. “f” and “d” take floats and doubles, respectively
-glTranslatef(x,y,z), glScalef(x,y,z)
translate, rotate.

conclusion:

Other project

• Ray tracing
• Final project-raytracing