Greetings,
One of the axis didn't show up right. Here is an update to the file.
Please add this to the 'examples' directory.
James Moliere
/* OpenSceneGraph example, OsgRobot.cpp.
*
* Permission is hereby granted, free of charge, to any person obtaining a copy
* of this software and associated documentation files (the "Software"), to deal
* in the Software without restriction, including without limitation the rights
* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
* copies of the Software, and to permit persons to whom the Software is
* furnished to do so, subject to the following conditions:
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
* THE SOFTWARE.
*/
#include <osg/Geode>
#include <osg/ShapeDrawable>
#include <osg/Material>
#include <osg/Texture2D>
#include <osgViewer/Viewer>
#include <iostream>
#include <osgDB/ReadFile>
#include <osg/Math>
#include <osg/Matrixd>
#include <osg/MatrixTransform>
#include <osg/Vec3d>
#include <iostream>
#include <osg/PositionAttitudeTransform>
float jointAngle1;
float jointAngle2;
float jointAngle3;
float jointAngle4;
float jointAngle5;
float jointAngle6;
float EndEffector;
void createAxis(osg::Transform* previousJoint);
osg::MatrixTransform* joint1;
osg::MatrixTransform* joint2;
osg::MatrixTransform* joint3;
osg::MatrixTransform* joint4;
osg::MatrixTransform* joint5;
osg::MatrixTransform* joint6;
osg::MatrixTransform* buildJoint1(osg::MatrixTransform* previousJoint);
osg::MatrixTransform* buildJoint2(osg::MatrixTransform* previousJoint);
osg::MatrixTransform* buildTube2(osg::MatrixTransform* previousJoint);
osg::MatrixTransform* buildJoint3(osg::MatrixTransform* previousJoint);
osg::MatrixTransform* buildJoint4(osg::MatrixTransform* previousJoint);
osg::MatrixTransform* buildTube5(osg::MatrixTransform* previousJoint);
osg::MatrixTransform* buildJoint5(osg::MatrixTransform* previousJoint);
osg::MatrixTransform* buildJoint6(osg::MatrixTransform* previousJoint);
osg::MatrixTransform* buildEndEffector();
osg::TessellationHints* hints = new osg::TessellationHints;
bool showAxis;
class KeyboardEventHandler : public osgGA::GUIEventHandler
{
public:
KeyboardEventHandler()
{}
static void rotate(float angle,osg::MatrixTransform *joint)
{
osg::Matrix zRot;
zRot.makeRotate(angle, 0.0,0.0,1.0);
joint->setMatrix(zRot*joint->getMatrix());
}
virtual bool handle(const osgGA::GUIEventAdapter& ea,osgGA::GUIActionAdapter&)
{
switch(ea.getEventType())
{
case(osgGA::GUIEventAdapter::KEYDOWN):
{
switch (ea.getKey())
{
case 'q':
rotate(M_PIl/180, joint1);
return true;
case 'a':
rotate(-M_PIl/180, joint1);
return true;
case 'w':
rotate(M_PIl/180, joint2);
return true;
case 's':
rotate(-M_PIl/180, joint2);
return true;
case 'e':
rotate(M_PIl/180, joint3);
return true;
case 'd':
rotate(-M_PIl/180, joint3);
return true;
case 'r':
rotate(M_PIl/180, joint4);
return true;
case 'f':
rotate(-M_PIl/180, joint4);
return true;
case 't':
rotate(M_PIl/180, joint5);
return true;
case 'g':
rotate(-M_PIl/180, joint5);
return true;
case 'y':
rotate(M_PIl/180, joint6);
return true;
case 'h':
rotate(-M_PIl/180, joint6);
return true;
}
}
default:
break;
}
//return false to allow mouse manipulation
return false;
}
};
osg::Group* createShapes()
{
osg::Group* group = new osg::Group();
osg::MatrixTransform* transform =new osg::MatrixTransform();
group->addChild(transform);
joint1 = buildJoint1(transform);
joint2 = buildJoint2(joint1);
osg::MatrixTransform* tube2= buildTube2(joint2);
joint3 = buildJoint3(tube2);
joint4 = buildJoint4(joint3);
osg::MatrixTransform *tube5 = buildTube5(joint4);
joint5 = buildJoint5(tube5);
joint6= buildJoint6(joint5);
joint6->addChild( buildEndEffector());
return group;
}
osg::MatrixTransform* buildJoint1(osg::MatrixTransform* previousJoint)
{
osg::MatrixTransform* xTransform =new osg::MatrixTransform();
previousJoint->addChild(xTransform);
float radius = 6.7640f;
float height = 45.0f;
osg::Geode* joint = new osg::Geode();
xTransform->addChild(joint);
joint->addDrawable(new osg::ShapeDrawable(new osg::Cylinder(osg::Vec3(0.0f,0.0f,height/2),radius,height),hints));
osg::MatrixTransform *zTransform = new osg::MatrixTransform();
xTransform->addChild(zTransform);
osg::Matrix zTrans=osg::Matrix::translate(0.0, 0.0, height);
osg::Matrix zRot= osg::Matrix::rotate(jointAngle1, 0.0, 0.0, 1.0);
zTransform->setMatrix(zTrans*zRot);
return zTransform;
}
osg::MatrixTransform* buildJoint2(osg::MatrixTransform* previousJoint)
{
if (showAxis)
{
createAxis(previousJoint);
}
double height = 17.6;
double radius = 4.45633;
osg::MatrixTransform* xTransform = new osg::MatrixTransform();
previousJoint->addChild(xTransform);
osg::Matrix xRot = osg::Matrix::rotate(M_PI_2, 1.0, 0.0, 0.0);
xTransform->setMatrix(xRot);
osg::Geode* joint = new osg::Geode();
joint->addDrawable(new osg::ShapeDrawable(new osg::Capsule(osg::Vec3(0.0f,0.0f,height/2),radius,height),hints));
xTransform->addChild(joint);
osg::MatrixTransform* zTransform = new osg::MatrixTransform();
osg::Matrix zTrans = osg::Matrix::translate( 0.0, 0.0, height);
osg::Matrix zRot = osg::Matrix::rotate(M_PI_2+jointAngle2, 0.0,0.0,1.0);
zTransform->setMatrix(zTrans*zRot);
xTransform->addChild(zTransform);
return zTransform;
}
osg::MatrixTransform* buildTube2(osg::MatrixTransform* previousJoint)
{
if (showAxis)
{
createAxis(previousJoint);
}
double height = 17.6;
double radius = 4.45633;
osg::MatrixTransform* xTransform = new osg::MatrixTransform();
previousJoint->addChild(xTransform);
osg::Matrix xRot = osg::Matrix::rotate(M_PI_2, 1.0,0.0,0.0);
xTransform->setMatrix(xRot);
osg::Geode* tube3 = new osg::Geode();
xTransform->addChild(tube3);
tube3->addDrawable(new osg::ShapeDrawable(new osg::Capsule(osg::Vec3(0.0f,0.0f,height/2),radius,height),hints));
osg::MatrixTransform* zTransform = new osg::MatrixTransform();
xTransform->addChild(zTransform);
osg::Matrix zTrans = osg::Matrix::translate(0,0,height);
zTransform->setMatrix(zTrans);
return zTransform;
}
osg::MatrixTransform* buildJoint3(osg::MatrixTransform* previousJoint)
{
double height =7.5;
double radius = 4.45633;
osg::Geode* joint = new osg::Geode();
osg::MatrixTransform* xTransform = new osg::MatrixTransform();
previousJoint->addChild(xTransform);
osg::Matrix xRot = osg::Matrix::rotate(-M_PI_2, 1.0, 0.0, 0.0);
xTransform->setMatrix(xRot);
osg::MatrixTransform* zCheat = new osg::MatrixTransform();
osg::Matrix zTransCheat = osg::Matrix::translate(0.0,0.0,-height);
zCheat->setMatrix(zTransCheat);
xTransform->addChild(zCheat);
osg::ShapeDrawable *shape = new osg::ShapeDrawable(new osg::Capsule(osg::Vec3(0.0f,0.0f,height/2),radius,height),hints);
joint->addDrawable(shape);
zCheat->addChild(joint);
osg::MatrixTransform* zTransform = new osg::MatrixTransform();
zCheat->addChild(zTransform);
osg::Matrix zRot = osg::Matrix::rotate((float)jointAngle3, 0.0f, 0.0f, 1.0f);
osg::Matrix zTrans = osg::Matrix::translate(0,0,0);
zTransform->setMatrix(zTrans*zRot);
if (showAxis)
{
createAxis(zTransform);
}
return zTransform;
}
osg::MatrixTransform* buildJoint4(osg::MatrixTransform* previousJoint)
{
double height = 17.5;
double radius = 2.86479;
osg::Geode* tube4 = new osg::Geode();
tube4->addDrawable(new osg::ShapeDrawable(new osg::Capsule(osg::Vec3(0.0f,0.0f,height/2),radius,height),hints));
osg::MatrixTransform* xTransform = new osg::MatrixTransform();
//if (showAxis)
//{
//createAxis(xTransform);
//}
previousJoint->addChild(xTransform);
xTransform->addChild(tube4);
osg::Matrix xRot= osg::Matrix::rotate(M_PI_2, 1,0,0);
xTransform->setMatrix(xRot);
height = 7.5;
osg::Matrix zTrans = osg::Matrix::translate(0,0,17.5);
osg::Matrix zRot = osg::Matrix::rotate(jointAngle4-M_PI_2, 0,0,1);
osg::MatrixTransform* zTransform = new osg::MatrixTransform();
zTransform->setMatrix(zTrans*zRot);
xTransform->addChild(zTransform);
return zTransform;
}
osg::MatrixTransform* buildTube5(osg::MatrixTransform* previousJoint)
{
if (showAxis)
{
createAxis(previousJoint);
}
double height = 7.5;
double radius = 2.86479;
height = 15.0;
osg::Geode* joint = new osg::Geode();
osg::ShapeDrawable *shape =new osg::ShapeDrawable(new osg::Cylinder(osg::Vec3(0.0f,0.0f,height/2),radius,height),hints);
joint->addDrawable(shape);
osg::MatrixTransform* xTransform = new osg::MatrixTransform();
previousJoint->addChild(xTransform);
xTransform->addChild(joint);
osg::MatrixTransform* zTransform = new osg::MatrixTransform();
osg::Matrix zTrans = osg::Matrix::translate(0,0,height);
zTransform->setMatrix(zTrans);
xTransform->addChild(zTransform);
return zTransform;
}
osg::MatrixTransform* buildJoint5(osg::MatrixTransform* previousJoint)
{
double radius = 2.86479;
double height = 2.86479*2;
osg::Geode* joint = new osg::Geode();
osg::ShapeDrawable *shape = new osg::ShapeDrawable(new osg::Cylinder(osg::Vec3(0.0f,0.0f,0.0f),radius,height),hints);
joint->addDrawable(shape);
osg::MatrixTransform* xTransform = new osg::MatrixTransform();
previousJoint->addChild(xTransform);
osg::Matrix xRot= osg::Matrix::rotate(-M_PI_2, 1.0,0,0);
xTransform->setMatrix(xRot);
xTransform->addChild(joint);
if (showAxis)
{
createAxis(xTransform);
}
osg::MatrixTransform* zTransform = new osg::MatrixTransform();
osg::Matrix zRot= osg::Matrix::rotate(jointAngle5, 0,0,1);
osg::Matrix zTrans = osg::Matrix::translate(0,0,0);
zTransform->setMatrix(zTrans*zRot);
xTransform->addChild(zTransform);
return zTransform;
}
osg::MatrixTransform* buildJoint6(osg::MatrixTransform* previousJoint)
{
double height = 3.0;
double radius = 1.0;
osg::Geode* joint = new osg::Geode();
joint->addDrawable(new osg::ShapeDrawable(new osg::Cylinder(osg::Vec3(0.0f,0.0f,height/2),radius,height),hints));
osg::MatrixTransform* xTransform = new osg::MatrixTransform();
osg::Matrix xRot= osg::Matrix::rotate(M_PI_2, 1.0, 0.0, 0.0);
xTransform->setMatrix(xRot);
xTransform->addChild(joint);
previousJoint->addChild(xTransform);
if (showAxis)
{
createAxis(xTransform);
}
return xTransform;
}
osg::MatrixTransform* buildEndEffector()
{
osg::MatrixTransform* mt = new osg::MatrixTransform();
osg::Matrix m;
double length = 17.0;
m.makeTranslate(0,0,length/2);
mt->setMatrix(m);
osg::Geode *geode_3 = new osg::Geode;
osg::ShapeDrawable *shape1 = new osg::ShapeDrawable(new osg::Box(osg::Vec3(-EndEffector, 0.0f, 0.0f), .5, 1.5f, length), hints);
osg::ShapeDrawable *shape2 = new osg::ShapeDrawable(new osg::Box(osg::Vec3( EndEffector, 0.0f, 0.0f), .5, 1.5f, length), hints);
shape1->setColor(osg::Vec4(0.8f, 0.8f, 0.4f, 1.0f));
shape2->setColor(osg::Vec4(0.8f, 0.8f, 0.4f, 1.0f));
geode_3->addDrawable(shape1);
geode_3->addDrawable(shape2);
mt->addChild(geode_3);
return mt;
}
void createAxis(osg::Transform* previousJoint)
{
double height = 12.0;
double radius = .5;
osg::MatrixTransform* zmt = new osg::MatrixTransform();
previousJoint->addChild(zmt);
osg::ShapeDrawable *zShape = new osg::ShapeDrawable(new osg::Cylinder(osg::Vec3(0.0f,0.0f,height/2),radius,height),hints);
osg::ShapeDrawable *zCone = new osg::ShapeDrawable(new osg::Cone(osg::Vec3(0.0f,0.0f,1.0),radius+1.0,2.0),hints);
osg::MatrixTransform* zmtCone = new osg::MatrixTransform();
osg::Geode *zgCone = new osg::Geode;
zmtCone->setMatrix( osg::Matrix::translate(0.0,0.0,height));
previousJoint->addChild(zmtCone);
zShape->setColor(osg::Vec4(0.0f, 0.0f, 1.0f, 1.0f));
zCone->setColor(osg::Vec4(0.0f, 0.0f, 1.0f, 1.0f));
osg::Geode *z = new osg::Geode;
z->addDrawable(zShape);
zgCone->addDrawable(zCone);
zmtCone->addChild(zgCone);
zmt->addChild(z);
osg::MatrixTransform* mt = new osg::MatrixTransform();
previousJoint->addChild(mt);
osg::Matrix xMatrix = osg::Matrix::rotate(-M_PI_2, 0.0, 1.0, 0.0);
mt->setMatrix(xMatrix);
osg::ShapeDrawable *xShape = new osg::ShapeDrawable(new osg::Cylinder(osg::Vec3(0.0f,0.0f,height/2),radius,height),hints);
xShape->setColor(osg::Vec4(1.0f, 0.0f, 0.0f, 1.0f));
osg::Geode *x = new osg::Geode;
x->addDrawable(xShape);
mt->addChild(x);
osg::MatrixTransform *yMt = new osg::MatrixTransform();
previousJoint->addChild(yMt);
osg::Matrix yMatrix = osg::Matrix::rotate(M_PI_2, 1.0, 0.0, 0.0);
yMt->setMatrix(yMatrix);
osg::ShapeDrawable *yShape = new osg::ShapeDrawable(new osg::Cylinder(osg::Vec3(0.0f,0.0f,height/2),radius,height),hints);
yShape->setColor(osg::Vec4(0.0f, 1.0f, 0.0f, 1.0f));
osg::Geode *y = new osg::Geode;
y->addDrawable(yShape);
yMt->addChild(y);
}
int main(int, char **)
{
hints->setDetailRatio(0.5f);
showAxis = true;
jointAngle1=0.0;
jointAngle2=0.0;
jointAngle3=0.0;
jointAngle4=0.0;
jointAngle5=0.0;
jointAngle6=0.0;
EndEffector=1.0;
osgViewer::Viewer viewer;
viewer.addEventHandler(new KeyboardEventHandler());
// add model to viewer.
viewer.setSceneData( createShapes() );
return viewer.run();
}
_______________________________________________
osg-submissions mailing list
[email protected]
http://lists.openscenegraph.org/listinfo.cgi/osg-submissions-openscenegraph.org
