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Acá anexo el código para un humanoide, se cambian los ángulos de rotación para establecer el giro de las diferentes partes del cuerpo

/* El código siguiente representa a un humanoide que puede girar el brazo y la pierna al cambiar los valores de
los ángulos de rotación*/
#include
#include
static int posx = 0;
static int posy = 0;
static int posz = 0;
/*Creación del Módulo de la cabeza*/
static int posicion_cuello = 0;
/*Creación del Módulo de brazo derecho*/
static int homdx = 0;
static int homdy = 0;
static int homdz = 0;
static int cododerz = 0;
/*Creación del Módulo de brazo izquierdo*/
static int hombrox = 0;
static int hombroy = 0;
static int hombroz = 0;
static int codoizqz = 0;
/*Creación del Módulo de pierna derecha*/
static int muslox = 0;
static int musloy = 0;
static int musloz = 0;
static int rodilla_dx = 0;
static int pie_dy = 0;
/*Creación del Módulo de pierna izquierda*/
static int muslo_ix = 0;
static int muslo_iy = 0;
static int muslo_iz = 0;
static int rodilla_ix = 0;
static int pieizqy = 0;

//inicialización de los comandos grpaficos de GLUT
void init(void)
{
glClearColor (0.0, 0.0, 0.0, 0.0);
glShadeModel (GL_FLAT);
}
void solido(void)
{
glBegin(GL_QUADS);
glColor3f (0.0, 1.0, 1.0);
glVertex3f(0.5,0.5,0.5);//v1
glVertex3f(-0.5,0.5,0.5);//v2
glVertex3f(-0.5,-0.5,0.5);//v3
glVertex3f(0.5,-0.5,0.5);//v4
glEnd();
glBegin(GL_QUADS);
glColor3f (1.0, 0.0, 1.0);
glVertex3f(-0.5,0.5,-0.5);//v5
glVertex3f( 0.5,0.5,-0.5);//v6
glVertex3f(0.5,-0.5,-0.5);//v7
glVertex3f(-0.5,-0.5,-0.5);//v8
glEnd();
glBegin(GL_QUADS);
glColor3f (0.0, 0.0, 1.0);
glVertex3f(-0.5,0.5,0.5);//v2
glVertex3f(-0.5,0.5,-0.5);//v5
glVertex3f(-0.5,-0.5,-0.5);//v8
glVertex3f(-0.5,-0.5,0.5);//v3
glEnd();
glBegin(GL_QUADS);
glColor3f (1.0, 0.0, 1.0);
glVertex3f(0.5,0.5,0.5);//v1
glVertex3f(0.5,-0.5,0.5);//v4
glVertex3f( 0.5,-0.5,-0.5);//v7
glVertex3f(0.5,0.5,-0.5);//v6
glEnd();
glBegin(GL_QUADS);
glColor3f (0.0, 0.0, 1.0);
glVertex3f(-0.5,0.5,-0.5);//v5
glVertex3f(-0.5,0.5,0.5);//v2
glVertex3f(0.5,0.5,0.5);//v1
glVertex3f( 0.5,0.5,-0.5);//v6
glEnd();
glBegin(GL_QUADS);
glColor3f (1.0, 1.0, 1.0);
glVertex3f(0.5,-0.5,-0.5);//v7
glVertex3f(-0.5,-0.5,-0.5);//v8
glVertex3f(-0.5,-0.5,0.5);//v3
glVertex3f(0.5,-0.5,0.5);//v4
glEnd();
}

void hueco(void)
{
glBegin(GL_LINE_LOOP);
glColor3f (1.0, 0.0, 0.0);
glVertex3f(0.5,0.5,0.5);//v1
glVertex3f(-0.5,0.5,0.5);//v2
glVertex3f(-0.5,-0.5,0.5);//v3
glVertex3f(0.5,-0.5,0.5);//v4
glEnd();
glBegin(GL_LINE_LOOP);
glColor3f (0.0, 0.0, 1.0);
glVertex3f(-0.5,0.5,-0.5);//v5
glVertex3f( 0.5,0.5,-0.5);//v6
glVertex3f(0.5,-0.5,-0.5);//v7
glVertex3f(-0.5,-0.5,-0.5);//v8
glEnd();
glBegin(GL_LINE_LOOP);
glColor3f (0.0, 0.0, 1.0);
glVertex3f(-0.5,0.5,0.5);//v2
glVertex3f(-0.5,0.5,-0.5);//v5
glVertex3f(-0.5,-0.5,-0.5);//v8
glVertex3f(-0.5,-0.5,0.5);//v3
glEnd();
glBegin(GL_LINE_LOOP);
glColor3f (0.0, 0.0, 1.0);
glVertex3f(0.5,0.5,0.5);//v1
glVertex3f(0.5,-0.5,0.5);//v4
glVertex3f( 0.5,-0.5,-0.5);//v7
glVertex3f(0.5,0.5,-0.5);//v6
glEnd();
glBegin(GL_LINE_LOOP);
glColor3f (0.0, 0.0, 1.0);
glVertex3f(-0.5,0.5,-0.5);//v5
glVertex3f(-0.5,0.5,0.5);//v2
glVertex3f(0.5,0.5,0.5);//v1
glVertex3f( 0.5,0.5,-0.5);//v6
glEnd();
glBegin(GL_LINE_LOOP);
glColor3f (0.0, 0.0, 1.0);
glVertex3f(0.5,-0.5,-0.5);//v7
glVertex3f(-0.5,-0.5,-0.5);//v8
glVertex3f(-0.5,-0.5,0.5);//v3
glVertex3f(0.5,-0.5,0.5);//v4
glEnd();
}

//Creación del Módulo de torso
void torso (int posx,int posy,int posz)
{
glTranslatef(0.0,1.5,0.0);
//glScalef (0.5, 0.5, 0.5);
glRotatef(posx,1.0,0.0,0.0);
glRotatef(posy,0.0,1.0,0.0);
glRotatef(posz,0.0,0.0,1.0);
glTranslatef(0.0,0.0,0.0);
glPushMatrix();
glScalef (2.0, 3.0, 1.0);
cubohueco();
glPopMatrix();
}
void cara (int cuey)
{
glPushMatrix();
glRotatef(cuey,0.0,1.0,0.0);
glTranslatef(0.0,2.0,0.0);
cubohueco();
glPopMatrix();
}
void brazoderecho (int hombrodx,int hombrody,int hombrodz,int cododz)
{
/*brazo derecho*/
glPushMatrix();
glTranslatef(1.0,1.0,0.0);
glRotatef(hombrodx,1.0,0.0,0.0);
glRotatef(hombrody,0.0,1.0,0.0);
glRotatef(hombrodz,0.0,0.0,1.0);
glTranslatef(1.0,0.25,0.0);
glPushMatrix();
glScalef(2.0,0.5,1.0);
cubohueco();
glPopMatrix();
/*antebrazo derecho*/
glTranslatef(1.0,0.0,0.0);
glRotatef(cododz,0.0,0.0,1.0);
glTranslatef(1.0,0.0,0.0);
glPushMatrix();
glScalef(2.0,1.0,1.0);
cubohueco();
glPopMatrix();
/*mano derecha*/
glTranslatef(1.25,0.0,0.0);
glPushMatrix();
glScalef(0.5,0.5,1.0);
cubohueco();
glPopMatrix();
glPopMatrix();/*brazo derecho completo*/
}
void brazoizquierdo (int hombroix,int hombroiy,int hombroiz,int codoiz)
{
/*brazo izquierdo*/
glPushMatrix();
glTranslatef(-1.0,1.0,0.0);
glRotatef(hombroix,1.0,0.0,0.0);
glRotatef(hombroiy,0.0,1.0,0.0);
glRotatef(hombroiz,0.0,0.0,1.0);
glTranslatef(-1.0,0.25,0.0);
glPushMatrix();
glScalef(2.0,0.5,1.0);
cubohueco();
glPopMatrix();
/*antebrazo izquierdo*/
glTranslatef(-1.0,0.0,0.0);
glRotatef(codoiz,0.0,0.0,1.0);
glTranslatef(-1.0,0.0,0.0);
glPushMatrix();
glScalef(2.0,1.0,1.0);
cubohueco();
glPopMatrix();
/*mano derecha*/
glTranslatef(-1.25,0.0,0.0);
glPushMatrix();
glScalef(0.5,0.5,1.0);
cubohueco();
glPopMatrix();
glPopMatrix();/*brazo izquierdo completo*/
}
void piernaderecha(int muslodx,int muslody,int muslodz,int rodilladx,int piedy)
{
/*muslo derecho*/
glPushMatrix();
glTranslatef(0.665,-1.5,0.0);
glRotatef(muslodx,1.0,0.0,0.0);
glRotatef(muslody,0.0,1.0,0.0);
glRotatef(muslodz,0.0,0.0,1.0);
glTranslatef(0.0,-1.2,0.0);
glPushMatrix();
glScalef(0.68,2.4,1.0);
cubohueco();
glPopMatrix();
/*pantorrilla derecha*/
glTranslatef(0.0,-1.2,0.0);
glRotatef(rodilladx,1.0,0.0,0.0);
glTranslatef(0.0,-1.2,0.0);
glPushMatrix();
glScalef(1.0,2.4,1.0);
cubohueco();
glPopMatrix();
/*pie derecho*/
glTranslatef(0.0,0.-1.25,0.0);
glRotatef(piedy,0.0,1.0,0.0);
glTranslatef(0.25,-0.35,0.0);
glPushMatrix();
glScalef(1.5,0.75,1.0);
cubohueco();
glPopMatrix();
glPopMatrix();/*pie derecho completo*/
}
void piernaizquierda(int musloix,int musloiy,int musloiz,int rodillaix,int pieiy)
{
/*muslo izquierdo*/
glPushMatrix();
glTranslatef(-0.665,-1.5,0.0);
glRotatef(musloix,1.0,0.0,0.0);
glRotatef(musloiy,0.0,1.0,0.0);
glRotatef(musloiz,0.0,0.0,1.0);
glTranslatef(0.0,-1.2,0.0);
glPushMatrix();
glScalef(0.68,2.4,1.0);
cubohueco();
glPopMatrix();
/*pantorrilla izquierda*/
glTranslatef(0.0,-1.2,0.0);
glRotatef(rodillaix,1.0,0.0,0.0);
glTranslatef(0.0,-1.2,0.0);
glPushMatrix();
glScalef(1.0,2.4,1.0);
cubohueco();
glPopMatrix();
/*pie izquierdo*/
glTranslatef(0.0,0.-1.25,0.0);
glRotatef(pieiy,0.0,1.0,0.0);
glTranslatef(-0.25,-0.35,0.0);
glPushMatrix();
glScalef(1.5,0.75,1.0);
cubohueco();
glPopMatrix();
glPopMatrix();/*pierna izquierda completo*/
}
void humanoide (int px,int py,int pz,int cy,int hdx,int hdy,int hdz,int cdz,int hix,int hiy,int hiz,int ciz,
int mdx,int mdy,int mdz,int rdx,int pdy,int mix,int miy,int miz,int rix,int piy)
{
torso(px,py,pz);
cara(cy);
brazoderecho(hdx,hdy,hdz,cdz);
brazoizquierdo(hix,hiy,hiz,ciz);
piernaderecha(mdx,mdy,mdz,rdx,pdy);
piernaizquierda(mix,miy,miz,rix,piy);
}
void display(void)
{
glClear (GL_COLOR_BUFFER_BIT);
glColor3f (1.0, 1.0, 1.0);
glLoadIdentity ();
gluLookAt (1.0,0.0,7.5,0.0, 0.0, 0.0, 6.0, 1.0, 0.0);
glPushMatrix();
humanoide(posx,posy,posz,posicion_cuello,
homdx,homdy,homdz,cododerz,
hombrox,hombroy,hombroz,codoizqz,
muslox,musloy,musloz,rodilla_dx,pie_dy,
muslo_ix,muslo_iy,muslo_iz,rodilla_ix,pieizqy);
glPopMatrix();
glFlush ();
}
void reshape (int w, int h)
{
glViewport (0, 0, (GLsizei) w, (GLsizei) h);
glMatrixMode (GL_PROJECTION);
glLoadIdentity ();
glFrustum (-1.0, 1.0, -1.0, 1.0, 1.5, 20.0);
glMatrixMode (GL_MODELVIEW);
}
/* ARGSUSED1 */
void keyboard(unsigned char key, int x, int y)
{
switch (key) {
case 27:
exit(0);
break;
}
}

//Función principal que genera a la figura
int main(int argc, char** argv)
{
glutInit(&argc, argv);
glutInitDisplayMode (GLUT_SINGLE, GLUT_RGB);
glutInitWindowSize (800, 800);
glutInitWindowPosition (90, 90);
glutCreateWindow (argv[0]);
init ();
glutDisplayFunc(display);
glutReshapeFunc(reshape);
glutKeyboardFunc(keyboard);
glutMainLoop();
return 0;
}