The document describes basic 3D modeling techniques using OpenGL and GLUT. It discusses wireframe and solid shapes that can be created with GLUT like cubes, spheres, cones, and teapots. More advanced shapes from the Platonic solids are also covered. The document introduces the concept of hierarchical modeling and articulated models. It provides an example of how to construct an articulated 2D arm model by applying a series of transformations to rigid parts connected by joints.
The document describes basic 3D modeling techniques using OpenGL and GLUT. It discusses wireframe and solid shapes that can be created with GLUT like cubes, spheres, cones, and teapots. More advanced shapes from the Platonic solids are also covered. The document introduces the concept of hierarchical modeling and articulated models. It provides an example of how to construct an articulated 2D arm model by applying a series of transformations to rigid parts connected by joints.
The document describes basic 3D modeling techniques using OpenGL and GLUT. It discusses wireframe and solid shapes that can be created with GLUT like cubes, spheres, cones, and teapots. More advanced shapes from the Platonic solids are also covered. The document introduces the concept of hierarchical modeling and articulated models. It provides an example of how to construct an articulated 2D arm model by applying a series of transformations to rigid parts connected by joints.
The document describes basic 3D modeling techniques using OpenGL and GLUT. It discusses wireframe and solid shapes that can be created with GLUT like cubes, spheres, cones, and teapots. More advanced shapes from the Platonic solids are also covered. The document introduces the concept of hierarchical modeling and articulated models. It provides an example of how to construct an articulated 2D arm model by applying a series of transformations to rigid parts connected by joints.
GLU Models • GLUT does not provide a Cylinder object • GLU provides so called Quadrics objects:
partial disk disk sphere cylinder Quadrics • Algebraic surface – f(x,y,z) is the sum of polynomials in x, y, z • Quadric surface – Algebraic surfaces with a degree up to 2 – Examples: x, y, xy, z², but not xy² • Quadrics: – Spheres, disks, cones – At most 2 intersections with lines – Approximate quadrics surface by polygons
gluCylinder Three steps to create a cylinder: sphere, cylinder, 1. Create a GLU quadric object disk, partial disk GLUquadricObj *p = gluNewQuadric(); 2. Set to wire frame mode gluQuadricDrawStyle(GLU__LINE); 3. Derive a cylinder object from p gluCylinder(p, base, top, height, slice, stacks);
radius radius number of number of
at z=0 at z=height lines per ring rings
Default position is with base on plane z = 0.
glutWireCone • Use glutWireCone and gluCylinder to make a lamp
z glutWireCone(base, height, slices, stacks)
y base: the width of its base height: the height of the cone slices: number of vertical lines stacks: number of horizontal lines x A polygonal approximation of a cone. Base Default position: base at z=0.
Review: Model to World Frame
Model Frame to World Frame
M=TRS In OpenGL • Appropriate transformation set up from the model frame (frame of symbols) to the world frame • Apply it to the MODELVIEW matrix BEFORE EXECUTING the code
Model Æ World
glMatrixMode(GL_MODELVIEW); /* M = T R S */ glLoadIdentity ( ); glTranslatef (....); glRotatef (...); glScalef(..); gluCylinder (.....) /* or other symbol */ Hierarchical Models
Articulated Models • Rigid parts connected by joints
• [Demo 3D Robot]
• By modeling joint angles, you can
do animations • Question is, given all the join angles, how do you draw the model? Making an Articulated Arm b
a=c a b c A B A
• A minimal 2D jointed object:
– Two pieces, A (“forearm”) and B (“upper arm”) – Attach point c on B to point a on A (“elbow”) • Desired parameters: – shoulder position S (point at which b winds up) – shoulder angle β (A and B rotate together about b) – elbow angle α (A rotates about a, which stays attached to c)
Making an Arm, step 1
a A
• Start with A and B in their untransformed configurations
(B is hiding behind A) • First apply a series of transformations to A, leaving B where it is… b a=c A Making an Arm, step 2
a A B A a
• Translate by ‐a, bringing a to the origin
• You can now see B peeking out from behind A b a=c A
Making an Arm, step 3
A B B A a a c
• Next, we rotate A by the “elbow” angle α
b a=c A Making an Arm, step 4
A AB B a c a c
• Translate A by c, bringing a and c together to
form the elbow joint
• We can regard c as the origin of the lower arm b
coordinate system, and regard A as being in this a=c coordinate system. A
Making an Arm, step 5
A B A B a c a c
• From now on, each transformation
applies to both A and B (This is important!) b • Translate by ‐a, bringing a to the origin a=c – A and B both move together, so the elbow doesn’t separate! A Making an Arm, step 6
A b B a c a=c A
• Next, rotate by the “shoulder” angle ‐β
– again, A and B rotate together b a=c A
Making an Arm, last step
b
a=c B
b A
a=c B
• Finally, translate by the shoulder
position S, bringing the arm where b we want it a=c • b is at origin of upper arm A coordinate system Note that … b
a=c A
• S, α, and β are parameters of the model
• But a, b, and c are structural constants. • Changing S, α, or β wiggles the arm • Changing a, b, or c dismembers it – (useful only in video games!)
Hierarchical Transforms b TSR‐βT‐b a=c
Upper arm B A
TcRαT‐a Apply all the way down
Lower Arm A
Apply all the way down
Hierarchical Transforms in OpenGL glLoadIdentity(); TSR‐βT‐b glPushMatrix(); __________________ Upper arm B __________________ __________________ TcRαT‐a __________________
glPushMatrix(); Lower Arm A __________________ __________________ • Down edges: __________________ • Push, transform, draw __________________ • Up edges: glPopMatrix(); • Pop. glPopMatrix();
Articulated Model Exercise
• Articulated model 40 – rigid parts connected by joints 5
20
60
• Given x, y, α, β, θ1 and θ2, draw the scooter.
Step 1 • Write functions that draw parts in default location:
DrawBody() DrawHandle() DrawWheel() DrawBrake()
40 5
20
60
Step 2 5 40
• Construct the scene graph (model as a tree)
(position in the scene) 20 Tx,y (transform handle Body 60 w.r.t. default body)
body (transform brake Handle Back Front w.r.t. default handle) Wheel Wheel handle
Lower Upper wheel Brake Brake
• Label each edge with transformation necessary to position
child with respect to parent, in parent’s default location brake Step 3 • Code it up: glMatrixMode(GL_MODELVIEW); glPushMatrix(); Tx,y glTranslatef(x, y); Body T30,20R‐α T30Rβ DrawBody(); T‐30Rβ Handle Back Front Wheel Wheel T‐35Rθ1 T‐35R-θ2 Lower Upper Brake Brake
• Down edges: Push, transform, draw. Up edges: Pop.
Back to the Robot …
Robot Guy lla l-- left r-- right lua -u- upper rua -l- lower rla --a arm rul lul --l leg
lll rll
Step 1 • Write functions that draw parts in default location
h=5, w=2 h=1, w=2 right_upper_leg(); right_lower_leg(); h=3, w=1 h=2, w=1 Step 2 • Scene Graph (Tree) (position in the scene) Tx,y Torso
Step 3 • Code it up: glMatrixMode(GL_MODELVIEW); glPushMatrix(); glTranslatef(x, y); torso(); Hands‐on Session • Download robotSkeleton.cpp from class website • Complete Steps 1, 2, 3 to draw the robot • Add Keyboard events to make robot move and increase/decrease joint angles • Add a menu that allows selection of individual joints and manipulation of joint angles (+, ‐) • Add Idle or Timer events to make robot dance
Summary • GLUT 3D Models – Cube, sphere, cone, torus, teapot – Tetr/oct/dodec/icos ‐‐ ahedron • GLU Models – Cylinder, sphere, disk, partial disk • Hierarchical Modeling – Transform each object relative to its parent – Transformation applies to parent and ALL children – Convenient for static models – Vital for animations
Watch and Clock Escapements
A Complete Study in Theory and Practice of the Lever, Cylinder and Chronometer Escapements, Together with a Brief Account of the Origin and Evolution of the Escapement in Horology
Watch and Clock Escapements
A Complete Study in Theory and Practice of the Lever, Cylinder and Chronometer Escapements, Together with a Brief Account of the Origin and Evolution of the Escapement in Horology
