3D运动类申明与实现

#ifndef PKM3D_H

#define PKM3D_H

#include"kinematics.h"

#include"Inventor/Qt/viewers/SoQtExaminerViewer.h"

#include"Inventor/SoInput.h"

#include"Inventor/Qt/SoQt.h"

#include"Inventor/nodes/SoSeparator.h"

#include"Inventor/nodes/SoTransform.h"

#include"Inventor/nodes/SoRotationXYZ.h"

#include"Inventor/nodes/SoRotation.h"

#include"Inventor/nodes/SoTransform.h"

#include<QWidget>

class pkm3d

{

public:

    pkm3d(QWidget *parent);

    SoQtExaminerViewer *Viewer;

    ///splane

    SoInput mySplane,myBottom;

    SoInput myX,myY,myObj;

    //SoTransform* Y_Pos0;//X轴对刀点，到达x轴对刀点按钮触发////////////////////////////////////

    SoTransform* Y_form;//x轴移动，放定时器///////////////////////////////////////

    SoTransform* Obj_form;//y轴移动

    //支链4

    SoInput myR4,myLeg4;

    SoRotationXYZ *R4_Rot;//R4转动

    SoTransform* Leg4_form;//Leg4滑动

    //支链3

    SoInput myR3,myLeg3;

    SoRotationXYZ *R3_Rot;//R3转动

    SoTransform* Leg3_form;//Leg3滑动

    //支链2

    SoInput myU2;

    SoRotationXYZ *U2_Rot;//U2转动

    //支链1

    SoInput myU1;

    SoRotationXYZ *U1_Rot;//U1转动

    ///mplane

    SoInput myMplane;

    SoRotation *Mplane_Rotp;

    SoRotation *Mplane_Rott;

    SoTransform* Mplane_form;

    //支链4

    SoInput myS42,myS4;

    SoRotationXYZ *S4_Rot;//S4转动

    SoRotationXYZ *S42_Rot;//S41转动

    //支链3

    SoInput myS3,myS32;

    SoRotationXYZ *S3_Rot;//S3转动

    SoRotationXYZ *S32_Rot;//S31转动

    //支链1

    SoInput myLeg1;

    SoRotationXYZ *Leg1_Rot;//Leg2转动

    SoInput myU12;

    SoTransform *U12_form;//U12移动

    //支链2

    SoInput myLeg2;

    SoRotationXYZ *Leg2_Rot;//Leg2转动

    SoInput myU22;

    SoTransform *U22_form;//U22移动

private:

    SoSeparator *rootSplane;

    SoSeparator *Splane;

    SoSeparator *rootBottom;

    SoTransform* bottom_Pos;

    SoSeparator *Bottom;

    SoSeparator *rootX;

    SoTransform* X_Pos;

    SoSeparator *X;

    SoSeparator *rootY;

    SoTransform* Y_Pos;

    SoSeparator *Y;

    SoSeparator *rootObj;

    SoTransform* Obj_Pos;

    SoSeparator *Obj;

    SoSeparator *rootR4;

    SoSeparator *R4;

    SoTransform* R4_Pos1;

    SoRotationXYZ *R4_Pos2;

    SoSeparator *rootLeg4;

    SoSeparator *Leg4;

    SoSeparator *rootR3;

    SoSeparator *R3;

    SoTransform* R3_Pos1;

    SoRotationXYZ *R3_Pos2;

    SoSeparator *rootLeg3;

    SoSeparator *Leg3;

    SoSeparator *rootU2;

    SoSeparator *U2;

    SoTransform* U2_Pos;

    SoSeparator *rootU1;

    SoSeparator *U1;

    SoTransform* U1_Pos;

    SoSeparator *rootMplane;

    SoSeparator *Mplane;

    SoSeparator *rootLeg1;

    SoSeparator *Leg1;

    SoTransform *Leg1_Pos;

    SoSeparator *rootU12;

    SoSeparator *U12;

    SoRotationXYZ *U12_Pos;

    SoSeparator *rootLeg2;

    SoSeparator *Leg2;

    SoTransform *Leg2_Pos1;

    SoRotationXYZ *Leg2_Pos2;

    SoSeparator *rootU22;

    SoSeparator *U22;

    SoRotationXYZ *U22_Pos;

    SoSeparator *rootS32;

    SoSeparator *S32;

    SoTransform* S32_Pos;

    SoSeparator *rootS3;

    SoSeparator *S3;

    SoSeparator *rootS42;

    SoSeparator *S42;

    SoTransform* S42_Pos;

    SoSeparator *rootS4;

    SoSeparator *S4;

};

#endif // PKM3D_H

#include "pkm3d.h"

pkm3d::pkm3d(QWidget *parent)

{

    QWidget *lhy = SoQt::init("");

    Viewer = new SoQtExaminerViewer(parent);

    rootSplane = new SoSeparator;

    rootSplane->ref();

    ///静

    Splane = new SoSeparator;

    mySplane.openFile("splane.wrl");

    Splane=SoDB::readAll(&mySplane);

    Splane->ref();

    rootSplane->addChild(Splane);

    ////bottom

    rootBottom = new SoSeparator;

    rootBottom->ref();

    Bottom = new SoSeparator;

    myBottom.openFile("bottom.wrl");

    Bottom=SoDB::readAll(&myBottom);

    Bottom->ref();

    //bottom位置

    bottom_Pos = new SoTransform;

    bottom_Pos->translation.setValue(0, -0.635f,0);

    Splane->addChild(rootBottom);

    rootBottom->addChild(bottom_Pos);

    rootBottom->addChild(Bottom);

    ////X

    rootX = new SoSeparator;

    rootX->ref();

    X = new SoSeparator;

    myX.openFile("x.wrl");

    X = SoDB::readAll(&myX);

    X->ref();

    //X位置

    X_Pos = new SoTransform;

    X_Pos->translation.setValue(0, 0.052f,0);

    Bottom->addChild(rootX);

    rootX->addChild(X_Pos);

    rootX->addChild(X);

    ////Y导轨，，实际是x轴移动

    rootY = new SoSeparator;

    rootY->ref();

    Y = new SoSeparator;

    myY.openFile("y.wrl");

    Y = SoDB::readAll(&myY);

    Y->ref();

    //Y位置

    Y_Pos = new SoTransform;

    Y_Pos->translation.setValue(0, 0.064f,0);

//    //Y对刀原点位置

//    Y_Pos0 = new SoTransform;

//    Y_Pos0->translation.setValue(0, 0.064f,0);

    //Y的移动

    Y_form = new SoTransform;

    //Y_form->translation.setValue(0, 0.064f,0);

    X->addChild(rootY);

    rootY->addChild(Y_Pos);

    rootY->addChild(Y_form);

    rootY->addChild(Y);

    ////obj

    rootObj = new SoSeparator;

    rootObj->ref();

    Obj = new SoSeparator;

    myObj.openFile("obj.wrl");

    Obj = SoDB::readAll(&myObj);

    Obj->ref();

    //Obj位置

    Obj_form = new SoTransform;

    Obj_form->translation.setValue(0, 0,0);

    //Obj移动，，，y轴移动

    Obj_form = new SoTransform;

    //Obj_form->translation.setValue(0, 0.052f,0);

    Y->addChild(rootObj);

    rootObj->addChild(Obj_form);

    rootObj->addChild(Obj);

    ///支链4

    //R4

    rootR4 = new SoSeparator;

    rootR4->ref();

    myR4.openFile("r4.wrl");

    R4=SoDB::readAll(&myR4);

    R4->ref();

    //R4位置

    R4_Pos1 = new SoTransform;

    R4_Pos1->translation.setValue(0, 0, -0.18f);

    R4_Pos2 = new SoRotationXYZ;

    R4_Pos2->axis = SoRotationXYZ::Y;

    R4_Pos2->angle = -3.1415926535;

    //R4转动轴

    R4_Rot = new SoRotationXYZ;

    R4_Rot->axis = SoRotationXYZ::X;

    R4_Rot->angle = 0;

    Splane->addChild(rootR4);

    rootR4->addChild(R4_Pos1);

    rootR4->addChild(R4_Pos2);

    rootR4->addChild(R4_Rot);

    rootR4->addChild(R4);

    //Leg4

    rootLeg4 = new SoSeparator;

    rootLeg4->ref();

    myLeg4.openFile("leg4.wrl");

    Leg4=SoDB::readAll(&myLeg4);

    Leg4->ref();

    //Leg4位置

    //Leg4移动

    Leg4_form = new SoTransform;

    Leg4_form->translation.setValue(0, -0.208f, 0);

    rootR4->addChild(rootLeg4);

    rootLeg4->addChild(Leg4_form);

    rootLeg4->addChild(Leg4);

    ///////////3支链

    //R4

    rootR3 = new SoSeparator;

    rootR3->ref();

    myR4.openFile("r3.wrl");

    R3=SoDB::readAll(&myR4);

    R3->ref();

    //R3位置

    R3_Pos1 = new SoTransform;

    R3_Pos1->translation.setValue(0, 0, 0.18f);

    R3_Pos2 = new SoRotationXYZ;

    R3_Pos2->axis = SoRotationXYZ::Y;

    R3_Pos2->angle = 0;

    //R3转动轴

    R3_Rot = new SoRotationXYZ;

    R3_Rot->axis = SoRotationXYZ::X;

    R3_Rot->angle = 0;

    Splane->addChild(rootR3);

    rootR3->addChild(R3_Pos1);

    rootR3->addChild(R3_Pos2);

    rootR3->addChild(R3_Rot);

    rootR3->addChild(R3);

    //Leg3

    rootLeg3 = new SoSeparator;

    rootLeg3->ref();

    myLeg3.openFile("leg3.wrl");

    Leg3=SoDB::readAll(&myLeg3);

    Leg3->ref();

    //Leg3位置

    //Leg3移动

    Leg3_form = new SoTransform;

    Leg3_form->translation.setValue(0, -0.208f, 0);

    rootR3->addChild(rootLeg3);

    rootLeg3->addChild(Leg3_form);

    rootLeg3->addChild(Leg3);

    ///支链2

    //U2

    rootU2 = new SoSeparator;

    rootU2->ref();

    myU2.openFile("u2.wrl");

    U2=SoDB::readAll(&myU2);

    U2->ref();

    //U2位置

    U2_Pos = new SoTransform;

    U2_Pos->translation.setValue(-0.18f, 0, 0);

    //U2转动轴

    U2_Rot = new SoRotationXYZ;

    U2_Rot->axis = SoRotationXYZ::X;

    //U2_Rot->angle = 1;

    Splane->addChild(rootU2);

    rootU2->addChild(U2_Pos);

    rootU2->addChild(U2_Rot);

    rootU2->addChild(U2);

    ///支链1

    //U1

    rootU1 = new SoSeparator;

    rootU1->ref();

    myU1.openFile("u1.wrl");

    U1=SoDB::readAll(&myU1);

    U1->ref();

    //U1位置

    U1_Pos = new SoTransform;

    U1_Pos->translation.setValue(0.18f, 0, 0);

    //U1转动轴

    U1_Rot = new SoRotationXYZ;

    U1_Rot->axis = SoRotationXYZ::X;

    //U1_Rot->angle = 1;

    Splane->addChild(rootU1);

    rootU1->addChild(U1_Pos);

    rootU1->addChild(U1_Rot);

    rootU1->addChild(U1);

    ///动平台

    rootMplane = new SoSeparator;

    rootMplane->ref();

    myMplane.openFile("mmplane.wrl");

    Mplane=SoDB::readAll(&myMplane);

    Mplane->ref();

    //mpanle移动和转动

    Mplane_form = new SoTransform;

    //Mplane_form->translation.setValue(0,-0.3f, 0 );

    Mplane_Rotp = new SoRotation;

    //Mplane_Rotp->axis = SoRotationXYZ::Z;

    //Mplane_Rotp->angle = -0.4f;//初始psi

    Mplane_Rott = new SoRotation;

    //Mplane_Rott->axis = SoRotationXYZ::X;

    //Mplane_Rott->angle = 0.4f;//初始theta

    rootSplane->addChild(rootMplane);

    rootMplane->addChild(Mplane_form);

    rootMplane->addChild(Mplane_Rotp);

    rootMplane->addChild(Mplane_Rott);

    rootMplane->addChild(Mplane);

    ////支链1

    //Leg1

    rootLeg1 = new SoSeparator;

    rootLeg1->ref();

    myLeg1.openFile("leg11.wrl");

    Leg1=SoDB::readAll(&myLeg1);

    Leg1->ref();

    //Leg1位置

    Leg1_Pos = new SoTransform;

    Leg1_Pos->translation.setValue(0.12f,0, 0 );

    //Leg1转动

    Leg1_Rot = new SoRotationXYZ;

    Leg1_Rot->axis = SoRotationXYZ::Z;

    //Leg1_Rot->angle = 0;

    rootMplane->addChild(rootLeg1);

    rootLeg1->addChild(Leg1_Pos);

    rootLeg1->addChild(Leg1_Rot);

    rootLeg1->addChild(Leg1);

    //U12

    rootU12 = new SoSeparator;

    rootU12->ref();

    myU12.openFile("U12.wrl");

    U12=SoDB::readAll(&myU12);

    U12->ref();

    //U12位置

    U12_Pos = new SoRotationXYZ;

    U12_Pos->axis = SoRotationXYZ::Y;

    U12_Pos->angle = 3.1415926535;

    //U12移动

    U12_form = new SoTransform;

    U12_form->translation.setValue(0,0.18f, 0);

    rootLeg1->addChild(rootU12);

    rootU12->addChild(U12_Pos);

    rootU12->addChild(U12_form);

    rootU12->addChild(U12);

    ////支链2

    //Leg2

    rootLeg2 = new SoSeparator;

    rootLeg2->ref();

    myLeg2.openFile("leg22.wrl");

    Leg2=SoDB::readAll(&myLeg2);

    Leg2->ref();

    //Leg2位置

    Leg2_Pos1 = new SoTransform;

    Leg2_Pos1->translation.setValue(-0.12f,0, 0 );

    Leg2_Pos2 = new SoRotationXYZ;

    Leg2_Pos2->axis = SoRotationXYZ::Y;

    Leg2_Pos2->angle = 3.1415926535;

    //Leg2转动

    Leg2_Rot = new SoRotationXYZ;

    Leg2_Rot->axis = SoRotationXYZ::Z;

    //Leg2_Rot->angle = 0.4;

    rootMplane->addChild(rootLeg2);

    rootLeg2->addChild(Leg2_Pos1);

    rootLeg2->addChild(Leg2_Pos2);

    rootLeg2->addChild(Leg2_Rot);

    rootLeg2->addChild(Leg2);

    //U22

    rootU22 = new SoSeparator;

    rootU22->ref();

    myU22.openFile("U22.wrl");

    U22=SoDB::readAll(&myU22);

    U22->ref();

    //U22位置

    U22_Pos = new SoRotationXYZ;

    U22_Pos->axis = SoRotationXYZ::Y;

    U22_Pos->angle = 3.1415926535;

    //U12移动

    U22_form = new SoTransform;

    U22_form->translation.setValue(0,0.18f, 0);

    rootLeg2->addChild(rootU22);

    rootU22->addChild(U22_Pos);

    rootU22->addChild(U22_form);

    rootU22->addChild(U22);

    ////支链3

    //S32

    rootS32 = new SoSeparator;

    rootS32->ref();

    myS32.openFile("s32.wrl");

    S32=SoDB::readAll(&myS32);

    S32->ref();

    //U2位置

    S32_Pos = new SoTransform;

    S32_Pos->translation.setValue(0, 0, 0.12f);

    //U1转动轴

    S32_Rot = new SoRotationXYZ;

    S32_Rot->axis = SoRotationXYZ::X;

    S32_Rot->angle = 0.5;

    Mplane->addChild(rootS32);

    rootS32->addChild(S32_Pos);

    rootS32->addChild(S32_Rot);

    rootS32->addChild(S32);

    //S3

    rootS3 = new SoSeparator;

    rootS3->ref();

    myS3.openFile("s3.wrl");

    S3=SoDB::readAll(&myS3);

    S3->ref();

    //S3位置

    //S3转动轴

    S3_Rot = new SoRotationXYZ;

    S3_Rot->axis = SoRotationXYZ::Z;

    S3_Rot->angle = 0.5;

    rootS32->addChild(rootS3);

    rootS3->addChild(S3_Rot);

    rootS3->addChild(S3);

    ////支链4

    //S42

    rootS42 = new SoSeparator;

    rootS42->ref();

    myS42.openFile("s42.wrl");

    S42=SoDB::readAll(&myS42);

    S42->ref();

    //U2位置

    S42_Pos = new SoTransform;

    S42_Pos->translation.setValue(0, 0,-0.12f);

    //U1转动轴

    S42_Rot = new SoRotationXYZ;

    S42_Rot->axis = SoRotationXYZ::X;

    S42_Rot->angle = 0.5;

    Mplane->addChild(rootS42);

    rootS42->addChild(S42_Pos);

    rootS42->addChild(S42_Rot);

    rootS42->addChild(S42);

    //S4

    rootS4 = new SoSeparator;

    rootS4->ref();

    myS4.openFile("s4.wrl");

    S4=SoDB::readAll(&myS4);

    S4->ref();

    //S4位置

    //S4转动轴

    S4_Rot = new SoRotationXYZ;

    S4_Rot->axis = SoRotationXYZ::Z;

    //S4_Rot->angle = 0.5;

    rootS42->addChild(rootS4);

    rootS4->addChild(S4_Rot);

    rootS4->addChild(S4);

    Viewer->setSceneGraph(rootSplane);

    Viewer->show();

    //SoQt::mainLoop();

}

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