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);
}
