> If you can break up your robot model into separate files (like one for the > shoulder, one > for the upper arm, one for the lower arm, etc. down to the actuators) you > could recreate > the transformations using osg::MatrixTransforms (or > PositionAttitudeTransforms) and load > the geometries as children, to end up with something like this: > > shoulderTransform -> shoulderGeometry -> upperArmTransform -> > upperArmGeometry -> ... > > You can then rotate the shoulder, the upper arm, etc and the geometry will > behave accordingly.
Ulrich, Thanks for your response. I see what you mean and I think that would work for the robot. However (what I didn't mention before) is that we also frequently import robotic end effectors which have multiple coordinate frames themselves. Some frames are purely for the robot operator to drive with, and don't necessarily have a component associated with it. I would think you could get around this somehow, but we are really looking for a straight forward conversion, and not a workaround. What is the osgrobot example? > you could also use OpenCASCADE (www.opencascade.org). It's open source and > able to read IGES/igs & STEP/stp. > > Using the functions of OpenCASCADE you may read a IGES/STEP file (and also > some other formats) using eg. STEPControl_Reader class. > The resulting faces can be triangulated using the BRepMesh::Mesh method. You > will also be able to change the triangulation (triangle size) of the cad > surface during runtime. This means you may change graphical display accuracy > vs. performance according to your needs. > > With the OpenCASCADE examples it is not too difficult to implement a new type > of osg::Geode which additionally keeps the STEP data in memory. > > Cheers, > Johannes Johannes, Thanks for the reference. I will look into OpenCASCADE. It is important to us to have control over model accuracy vs. performance as well.[/quote] ------------------ Read this topic online here: http://forum.openscenegraph.org/viewtopic.php?p=35479#35479 _______________________________________________ osg-users mailing list [email protected] http://lists.openscenegraph.org/listinfo.cgi/osg-users-openscenegraph.org
