基于ＯpenGL对类人机器人走步进行仿真，同时可仿人进行转身、扭头等动作-Based simulation, OpenGL on humanoid robots walking humanoid turned, he turned action

运用正反向动力学来坐上楼梯动画，包括骨骼，蒙皮。(The implementation of an OpenGL based C++ program to animate a humanoid walking up stairs and across an incline. Forward kinematics is used to walk up stairs, by setting the root to the torso when lifting the leg and to the f