public void display() //robot hand display
{
Gl.glClear(Gl.GL_COLOR_BUFFER_BIT | Gl.GL_DEPTH_BUFFER_BIT); //clean colors and depth
Gl.glLoadIdentity(); //Loading the identity matrix
Glu.gluLookAt(0.0f, 2.0f, 10.0f, // eye position - point (0,2,10)
0.0f, 2.0f, 0.8f, // robot arm position - point (0,2.0,0)
0.0f, 1.0f, 0.0f); // camera location
Gl.glColor3f(1.0f, 0.0f, 0.0f); //Apply color to the base - red
Gl.glRotatef(theta[0], 0.0f, 1.0f, 0.0f); //rotate the base along the y axis
baze();
Gl.glTranslatef(0.0f, Bazes_platums, 0.0f);
Gl.glRotatef(theta[1], 1.0f, 0.0f, 0.0f); //rotate the upper arm along the x axis
Gl.glColor3f(1.0f, 1.0f, 0.0f); //Apply color to the upper hand - yellow
Augsheja_roka();
Gl.glTranslatef(0.0f, Augshejas_rokas_platums, 0.0f);
Gl.glRotatef(theta[2], 1.0f, 0.0f, 0.0f); //rotate the lower arm along the x axis
Gl.glColor3f(0.0f, 1.0f, 0.0f); //Apply color to the lower hand - green
Apaksheja_roka();
Gl.glPushMatrix();
Gl.glTranslatef(0.0f, Apakshejas_rokas_platums, 0.25f);
Gl.glRotatef(theta[3], 1.0f, 0.0f, 0.0f); //rotate the upper fingers along the x axis
Gl.glColor3f(1.0f, 0.0f, 0.0f); //Apply color to the upper fingers - red
augshejie_pirksti(0.28f);
augshejie_pirksti(0.08f);
augshejie_pirksti(-0.1f);
augshejie_pirksti(-0.3f);
Gl.glTranslatef(0.0f, Augshejo_pirkstu_platums, 0.0f);
Gl.glRotatef(theta[4], 1.0f, 0.0f, 0.0f); //rotate the lower fingers along the x axis
Gl.glColor3f(1.0f, 1.0f, 0.0f); //Apply color to the lower fingers - yellow
apakshejie_pirksti(0.28f);
apakshejie_pirksti(0.08f);
apakshejie_pirksti(-0.1f);
apakshejie_pirksti(-0.3f);
Gl.glPopMatrix();
Gl.glTranslatef(0.15f, 3.0f, -0.25f);
Gl.glRotatef(theta[5], 1.0f, 0.0f, 0.0f); //rotate the upper thumb along the x-axis
Gl.glColor3f(1.0f, 0.0f, 0.0f); //Apply color to the upper thumb - red
augshejs_ikshkis(0.10f);
Gl.glTranslatef(0.0f, 0.4f, 0.0f);
Gl.glRotatef(theta[6], 1.0f, 0.0f, 0.0f); //rotate the lower thumb along the x axis
Gl.glColor3f(1.0f, 1.0f, 0.0f); //Apply color to the lower part of the thumb - yellow
apakshejs_ikshkis(0.10f);
Gl.glFlush();
SK.Invalidate();
}
