void DrawFigures()
{
GL.glEnable(GL.GL_COLOR_MATERIAL);
GL.glEnable(GL.GL_LIGHT0);
GL.glEnable(GL.GL_LIGHTING);
//!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
GL.glRotatef(ROBOT_angle, 0, 0, 1);
GL.glCallList(ROBOT_LIST);
//!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
// saw
GL.glLineStipple(1, 0x1243);
GL.glLineWidth(3);
GL.glEnable(GL.GL_LINE_STIPPLE);
GL.glColor3f(1, 1, 0); //yellow
GL.glBegin(GL.GL_LINES);
float angle;
for (int i = 0; i <= 9; i++)
{
angle = alpha + i * 6.283f / 10;
GL.glVertex3d(0.5f * r * Math.Cos(angle), 0.5f * r * Math.Sin(angle), 0.01f);
GL.glVertex3d(1.5f * r * Math.Cos(angle + 0.6), 1.5f * r * Math.Sin(angle + 0.6), 0.01f);
}
GL.glEnd();
GL.glLineWidth(1);
GL.glDisable(GL.GL_LINE_STIPPLE);
}
void DrawBounds()
{
if (isBounds)
{
GL.glScalef(0.99f, 0.99f, 0.99f);
GL.glLineWidth(2);
GL.glColor3f(1.0f, 0.0f, 0.0f);
GL.glDisable(GL.GL_LIGHTING);
GL.glBegin(GL.GL_LINE_LOOP);
GL.glVertex3f(-1, -1, -1);
GL.glVertex3f(1, -1, -1);
GL.glVertex3f(1, -1, 1);
GL.glVertex3f(-1, -1, 1);
GL.glEnd();
GL.glBegin(GL.GL_LINE_LOOP);
GL.glVertex3f(-1, 1, -1);
GL.glVertex3f(1, 1, -1);
GL.glVertex3f(1, 1, 1);
GL.glVertex3f(-1, 1, 1);
GL.glEnd();
GL.glBegin(GL.GL_LINES);
GL.glVertex3f(-1, -1, -1);
GL.glVertex3f(-1, 1, -1);
GL.glVertex3f(1, -1, -1);
GL.glVertex3f(1, 1, -1);
GL.glVertex3f(1, -1, 1);
GL.glVertex3f(1, 1, 1);
GL.glVertex3f(-1, -1, 1);
GL.glVertex3f(-1, 1, 1);
GL.glEnd();
GL.glScalef(1.0f / 0.99f, 1.0f / 0.99f, 1.0f / 0.99f);
}
GL.glEnable(GL.GL_COLOR_MATERIAL);
GL.glEnable(GL.GL_LIGHTING);
GL.glEnable(GL.GL_LIGHT0);
GL.glTranslatef(0.1f, 0.2f, -0.7f);
GL.glColor3f(0, 1, 0);
GLU.gluSphere(obj, 0.05, 16, 16);
GL.glTranslatef(-0.1f, -0.2f, 0.7f);
GL.glDisable(GL.GL_LIGHTING);
}
