Beispiel #1
0
        protected override void OnLoad(EventArgs e)
        {
            base.OnLoad(e);

            GL.Enable(EnableCap.DepthTest);  // Sprawdzaj które obiekty powinny być wyświetlane przed innymi - depthtest
            GL.ClearColor(Color.WhiteSmoke); // ustaw kolor tła

            // Dodawanie elementów sceny
            DrawList.Add(new CS());
            DrawList[DrawList.Count - 1].Scale = new Vector3((float)(150 / 10.0));

            DrawList.Add(new Ground(Color.GhostWhite, 150));

            // Dodawanie robotów

            //DH dh = new DH();
            //dh.Add(new Revolute(90, 0, 0, 0));
            //dh.Add(new Revolute(0, 0, 0, 0));
            //dh.Add(new Revolute(0, 5, 0, 0));
            //dh.Add(new Revolute(0, 5, 0, 0));

            //Robot SimpleArm = new Robot(dh);
            //SimpleArm.Position.X = 10.0f;
            //SimpleArm.Position.Y = 23.0f;
            //SimpleArm.Rotation.Z = 1f;
            //DrawList.Add(SimpleArm);

            DH dhPuma = new DH();

            dhPuma.Add(new Revolute(0, 0, 0, q[0]));
            dhPuma.Add(new Revolute(-90, 0, 0, q[1]));
            dhPuma.Add(new Revolute(0, 2, 0, q[2]));
            dhPuma.Add(new Joint(-90, 0, 0, 90));
            dhPuma.Add(new Joint(90, 0, 0, 0));
            dhPuma.Add(new Translational(0, 0, q[3], 0));
            dhPuma.Add(new Joint(-90, 0, 0, -90));
            dhPuma.Add(new Revolute(-90, 0, 0, q[4]));
            dhPuma.Add(new Joint(0, 2, 0, 0));


            Puma5230_Arm = new Robot(dhPuma);
            DrawList.Add(Puma5230_Arm);
        }
Beispiel #2
0
 public Robot(DH dh)
 {
     DHTable = dh;
     Color   = ColorToVector(System.Drawing.Color.Black);
 }
Beispiel #3
0
 public Robot()
 {
     DHTable = new DH();
     Color   = ColorToVector(System.Drawing.Color.Black);
 }