FGFS-4.1/OpenSceneGraph
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From James Moliere, fixed display of axis

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This commit is contained in:
Robert Osfield
2008-10-29 10:12:02 +00:00
parent 5034e223ec
commit 649bc16753
1 changed files with 19 additions and 21 deletions
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40
examples/osgrobot/osgrobot.cpp
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@@ -224,12 +224,6 @@ osg::MatrixTransform* buildJoint1(osg::MatrixTransform* previousJoint)
float height = 45.0f;
osg::Geode* joint = new osg::Geode();
xTransform->addChild(joint);
//The cylinder's barycenter is the point of rotation.
//For this project, the x and y axis of rotation needs to be at the start of the cylinder and the
//axis of rotation about the z axis needs to be at the center of the cylinder.
// this is where height/2 is used -- to offset x and y axis barycenter.
// note: we did not use -height/2
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();
@@ -296,16 +290,13 @@ osg::MatrixTransform* buildJoint3(osg::MatrixTransform* previousJoint)
previousJoint->addChild(xTransform);
osg::Matrix xRot = osg::Matrix::rotate(-osg::PI_2, 1.0, 0.0, 0.0);
xTransform->setMatrix(xRot);
if (showAxis)
{
createAxis(xTransform);
}
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);
@@ -315,9 +306,12 @@ osg::MatrixTransform* buildJoint3(osg::MatrixTransform* previousJoint)
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;
@@ -325,10 +319,10 @@ osg::MatrixTransform* buildJoint4(osg::MatrixTransform* previousJoint)
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);
}
//if (showAxis)
//{
//createAxis(xTransform);
//}
previousJoint->addChild(xTransform);
xTransform->addChild(tube4);
osg::Matrix xRot= osg::Matrix::rotate(osg::PI_2, 1,0,0);
@@ -343,8 +337,13 @@ osg::MatrixTransform* buildJoint4(osg::MatrixTransform* previousJoint)
return zTransform;
}
osg::MatrixTransform* buildTube5(osg::MatrixTransform* previousJoint)
{
if (showAxis)
{
createAxis(previousJoint);
}
double height = 7.5;
double radius = 2.86479;
@@ -426,7 +425,7 @@ osg::MatrixTransform* buildEndEffector()
void createAxis(osg::Transform* previousJoint)
{
double height = 10.0;
double height = 12.0;
double radius = .5;
osg::MatrixTransform* zmt = new osg::MatrixTransform();
@@ -452,7 +451,7 @@ void createAxis(osg::Transform* previousJoint)
osg::MatrixTransform* mt = new osg::MatrixTransform();
previousJoint->addChild(mt);
osg::Matrix xMatrix = osg::Matrix::rotate(-osg::PI_2, 0.0, 1.0, 0.0);
osg::Matrix xMatrix = osg::Matrix::rotate(-M_PI_2, 0.0, 1.0, 0.0);
mt->setMatrix(xMatrix);
@@ -465,7 +464,7 @@ void createAxis(osg::Transform* previousJoint)
osg::MatrixTransform *yMt = new osg::MatrixTransform();
previousJoint->addChild(yMt);
osg::Matrix yMatrix = osg::Matrix::rotate(osg::PI_2, 1.0, 0.0, 0.0);
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);
@@ -478,7 +477,7 @@ void createAxis(osg::Transform* previousJoint)
int main(int, char **)
{
hints->setDetailRatio(0.5f);
showAxis = false;
showAxis = true;
jointAngle1=0.0;
jointAngle2=0.0;
jointAngle3=0.0;
@@ -486,7 +485,6 @@ int main(int, char **)
jointAngle5=0.0;
jointAngle6=0.0;
EndEffector=1.0;
osgViewer::Viewer viewer;
viewer.addEventHandler(new KeyboardEventHandler());