public LightwaveObject[] okolica; //objekti za okolico robota
public Robot(int rot1, int rot2, int rot3, int rot4, int rot5, int rot6)
{
rotacija1 = rot1;
rotacija2 = rot2;
rotacija3 = rot3;
rotacija4 = rot4;
rotacija5 = rot5;
rotacija6 = rot6;
string dir = Environment.CurrentDirectory;
dir = dir.Remove(dir.IndexOf("bin")) + "ModelsLWO\\"; //pot do modelov
robot_model = new LightwaveObject[10];
okolica = new LightwaveObject[10];
// od tu pa do konca catch zakomentiraj če ne dela model robota :)
try
{
robot_model[0] = LightwaveObject.LoadObject(dir + "MH6_base.lwo"); //poizkusi naložit modele
robot_model[1] = LightwaveObject.LoadObject(dir + "MH6_saxis.lwo");
robot_model[2] = LightwaveObject.LoadObject(dir + "MH6_laxis.lwo");
robot_model[3] = LightwaveObject.LoadObject(dir + "MH6_uaxis.lwo");
robot_model[4] = LightwaveObject.LoadObject(dir + "MH6_raxis.lwo");
robot_model[5] = LightwaveObject.LoadObject(dir + "MH6_baxis.lwo");
robot_model[6] = LightwaveObject.LoadObject(dir + "MH6_taxis.lwo");
robot_model[7] = LightwaveObject.LoadObject(dir + "TOOL3.lwo");
// okolica
okolica[0] = LightwaveObject.LoadObject(dir + "Okolica\\Barrel_6.lwo");
okolica[1] = LightwaveObject.LoadObject(dir + "Okolica\\Aframe.lwo");
okolica[2] = LightwaveObject.LoadObject(dir + "Okolica\\floor.lwo");
modelOK = true;
}
catch
{
modelOK = false; //če so napake to definiraj s to spremenljivko
}
}
public void risi_model(LightwaveObject model)
{
for (int l = 0; l < model.Layers.Count; l++)
{
Layer layer = model.Layers[l];
Surface s = new Surface();
for (int i = 0; i < layer.Polygons.Count; i++)
{
Polygon poly = layer.Polygons[i];
GL.Begin(BeginMode.Polygon);
s = poly.SurfaceReference;
GL.Color3(s.color.Red, s.color.Green, s.color.Blue);
for (int j = 0; j < poly.Vertices.Count; j++)
{
Lightwave.Point p = layer.Points[(int)poly.Vertices[j].Index];
GL.Normal3(poly.Vertices[j].normal_x, poly.Vertices[j].normal_y, poly.Vertices[j].normal_z);
GL.Vertex3(p.position_x, p.position_y, p.position_z);
}
GL.End();
}
}
}
