osgrobot例子详解

最新推荐文章于 2024-11-18 12:40:01 发布

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最新推荐文章于 2024-11-18 12:40:01 发布 · 2.1k 阅读

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#matrix #float #documentation #express #exception #algorithm

本文通过osg库实现了一个机器人手臂的3D模型，详细解释了如何创建关节和连杆，通过键盘事件控制各关节旋转。每个关节由MatrixTransform表示，通过矩阵变换实现旋转和平移，模拟机器人运动。示例代码展示了如何构建和操纵机器人关节，以及添加轴线辅助视觉理解。

class KeyboardEventHandler : public osgGA::GUIEventHandler
{
public:
    KeyboardEventHandler()
    {}
    static void rotate(float angle,osg::MatrixTransform *joint)//旋转某个矩阵(在以前的基础上不断累积)
    {
        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(osg::PI/180, joint1);//正值,是逆时针(右手定则)
                    return true;
                case 'a':
                    rotate(-osg::PI/180, joint1);
                    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);

//每个关节都有一个MatrixTransform,且都是在前面的基础上添加的( addChild()),以便进行累积,即大臂动了,小臂也随之动
//且每次Z轴都是指向下一个节点方向,以便能直接translate( 0.0, 0.0, height);
    joint1 = buildJoint1(transform);
    joint2 = buildJoint2(joint1);
    osg::MatrixTransform* tube2= buildTube2(joint2);//后面用前面的,承前启后,前面的变化后,后面的也变化
    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);//xTransform表示当前位置,添加Geode后在当前处画几何体
    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);//原点在上(世界坐标系),坐标系Z上X右
    osg::Matrix zRot= osg::Matrix::rotate(jointAngle1, 0.0, 0.0, 1.0);//jointAngle1=0,旋转无效
    zTransform->setMatrix(zTrans*zRot);
    return zTransform;//zTransform为下一个关节点的位置
}

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(osg::PI_2, 1.0, 0.0, 0.0);//原点在上,坐标系Z前X右
    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(osg::PI_2+jointAngle2, 0.0,0.0,1.0);
//先zRot:原点在上(世界坐标系),坐标系Z前X上.再zTrans:原点在上前(世界坐标系),坐标系Z前X上
    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(osg::PI_2, 1.0,0.0,0.0);//原点在上前(世界坐标系),坐标系Z右X上
    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);
  &