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);
}
public Robot(DH dh)
{
DHTable = dh;
Color = ColorToVector(System.Drawing.Color.Black);
}
public Robot()
{
DHTable = new DH();
Color = ColorToVector(System.Drawing.Color.Black);
}