c语言在qt环境下调用opengl es 2.0 api创建机器人手臂

#include <QtCore/QCoreApplication>
#include <windows.h>
#include <GL/GL.h>
#include <GL/GLU.h>
#include <GL/glut.h>

static int shoulder = 0, elbow = 0;
void init()
{
glClearColor(0.0,0.0,0.0,0.0);
glShadeModel(GL_FLAT);
}

void display()
{
glClear(GL_COLOR_BUFFER_BIT);
glPushMatrix();
glTranslatef(-1.0,0.0,0.0);
glRotatef((GLfloat)shoulder,0.0,0.0,1.0);
glTranslatef(1.0,0.0,0.0);
glPushMatrix();

glScalef(2.0,0.4,1.0);
glutWireCube(1.0);
glPopMatrix();
glTranslatef(1.0,0.0,0.0);
glRotatef((GLfloat)elbow,0.0,0.0,1.0);
glTranslatef(1.0,0.0,0.0);
glPushMatrix();
glScalef(2.0,0.4,1.0);
glutWireCube(1.0);
glPopMatrix();

glPopMatrix();
glutSwapBuffers();
}

void reshape(int w,int h)
{
glViewport(0,0,(GLsizei)w,(GLsizei)h);
glMatrixMode(GL_PROJECTION);
glLoadIdentity();
gluPerspective(65.0,(GLfloat)w/(GLfloat)h,1.0,20.0);
glMatrixMode(GL_MODELVIEW);
glLoadIdentity();
glTranslatef(0.0,0.0,-5.0);
}

void keyboard(unsigned char key,int x,int y)
{
switch(key)
{
case 's':
shoulder = (shoulder+5)%360;
glutPostRedisplay();
break;
case 'S':
shoulder = (shoulder-5)%360;
glutPostRedisplay();
break;
case 'e':
elbow = (elbow+5)%360;
glutPostRedisplay();
break;
case 'E':
elbow = (elbow-5)%360;
glutPostRedisplay();
break;
default:
break;
}
}

int main(int argc, char *argv[])
{
glutInit(&argc,argv);
glutInitDisplayMode(GLUT_DOUBLE | GLUT_RGB);
glutInitWindowSize(500,500);
glutInitWindowPosition(100,100);
glutCreateWindow(argv[0]);
init();
glutDisplayFunc(display);
glutReshapeFunc(reshape);
glutKeyboardFunc(keyboard);
glutMainLoop();
return 0;
}