public override void Run(RenderControl render) { double scale = 0.5; mRobot.AddJoint(EnumRobotJointType.Fixed, 0, 0, 200 * scale, 0); mRobot.AddJoint(EnumRobotJointType.Revolute, 0, 0, 130 * scale, 0); // Link1 mRobot.AddJoint(EnumRobotJointType.Revolute, 90, 30, 0, 180); // Link2 mRobot.AddJoint(EnumRobotJointType.Fixed, 90, 0, 480 * scale, 0); // Link3 mRobot.AddJoint(EnumRobotJointType.Revolute, 90, 0, 0, 270); mRobot.AddJoint(EnumRobotJointType.Fixed, 90, 0, 100 * scale, 0); // Link4 mRobot.AddJoint(EnumRobotJointType.Revolute, 0, 0, 380 * scale, 0); mRobot.AddJoint(EnumRobotJointType.Revolute, 270, 0, 0, 0); // Link5 mRobot.AddJoint(EnumRobotJointType.Revolute, 90, 0, 100 * scale, 0); // Link6 render.ShowSceneNode(mRobot); render.ShowSceneNode(mMotionTrail); }
public override void Run(RenderControl render) { var material = MeshStandardMaterial.Create("robot"); material.SetColor(new Vector3(0.9f)); material.SetFaceSide(EnumFaceSide.DoubleSide); material.SetOpacity(0.5f); material.SetTransparent(true); List <string> files = new List <string>(); files.Add("Base.brep"); files.Add("AXIS1.brep"); files.Add("AXIS2.brep"); files.Add("AXIS3.brep"); files.Add("AXIS4.brep"); files.Add("AXIS5.brep"); files.Add("AXIS6.brep"); var rootPath = GetResourcePath(@"models\6R\"); double scale = 1; mRobot.AddJoint(EnumRobotJointType.Fixed, 0, 0, 200 * scale, 0); mRobot.AddJoint(EnumRobotJointType.Revolute, 0, 0, 130 * scale, 0); // Link1 mRobot.AddJoint(EnumRobotJointType.Revolute, 90, 30, 0, 180, new RobotDH(90, 0, 480 * scale, 0)); // Link2 mRobot.AddJoint(EnumRobotJointType.Revolute, 90, 0, 0, 270, new RobotDH(90, 0, 100 * scale, 0)); // Link3 mRobot.AddJoint(EnumRobotJointType.Revolute, 0, 0, 380 * scale, 0); // Link4 mRobot.AddJoint(EnumRobotJointType.Revolute, 270, 0, 0, 0); // Link5 mRobot.AddJoint(EnumRobotJointType.Revolute, 90, 0, 100 * scale, 0); // Link6 mRobot.AddLink(0, BrepSceneNode.Create(BrepIO.Open(rootPath + files[0]), material, null, 0.1)); //Link1 mRobot.AddLink(1, BrepSceneNode.Create(BrepIO.Open(rootPath + files[1]), material, null, 0.1)); //Link2 mRobot.AddLink(2, BrepSceneNode.Create(BrepIO.Open(rootPath + files[2]), material, null, 0.1)); ////Link3 mRobot.AddLink(3, BrepSceneNode.Create(BrepIO.Open(rootPath + files[3]), material, null, 0.1)); //Link4 mRobot.AddLink(4, BrepSceneNode.Create(BrepIO.Open(rootPath + files[4]), material, null, 0.1)); //Link5 mRobot.AddLink(5, BrepSceneNode.Create(BrepIO.Open(rootPath + files[5]), material, null, 0.1)); //Link6 mRobot.AddLink(6, BrepSceneNode.Create(BrepIO.Open(rootPath + files[6]), material, null, 0.1)); mRobot.ResetInitialState(); render.ShowSceneNode(mRobot); render.ShowSceneNode(mMotionTrail); }