?? robot.cpp
字號:
"OpenGL", // Class Name
title, // Window Title
dwStyle | // Defined Window Style
WS_CLIPSIBLINGS | // Required Window Style
WS_CLIPCHILDREN, // Required Window Style
0, 0, // Window Position
WindowRect.right-WindowRect.left, // Calculate Window Width
WindowRect.bottom-WindowRect.top, // Calculate Window Height
NULL, // No Parent Window
hMenu, // No Menu
hInstance, // Instance
NULL))) // Dont Pass Anything To WM_CREATE
{
KillGLWindow(); // Reset The Display
MessageBox(NULL,"Window Creation Error.","ERROR",MB_OK|MB_ICONEXCLAMATION);
return FALSE; // Return FALSE
}
static PIXELFORMATDESCRIPTOR pfd= // pfd Tells Windows How We Want Things To Be
{
sizeof(PIXELFORMATDESCRIPTOR), // Size Of This Pixel Format Descriptor
1, // Version Number
PFD_DRAW_TO_WINDOW | // Format Must Support Window
PFD_SUPPORT_OPENGL | // Format Must Support OpenGL
PFD_DOUBLEBUFFER, // Must Support Double Buffering
PFD_TYPE_RGBA, // Request An RGBA Format
bits, // Select Our Color Depth
0, 0, 0, 0, 0, 0, // Color Bits Ignored
0, // No Alpha Buffer
0, // Shift Bit Ignored
0, // No Accumulation Buffer
0, 0, 0, 0, // Accumulation Bits Ignored
16, // 16Bit Z-Buffer (Depth Buffer)
0, // No Stencil Buffer
0, // No Auxiliary Buffer
PFD_MAIN_PLANE, // Main Drawing Layer
0, // Reserved
0, 0, 0 // Layer Masks Ignored
};
if (!(hDC=GetDC(hWnd))) // Did We Get A Device Context?
{
KillGLWindow(); // Reset The Display
MessageBox(NULL,"Can't Create A GL Device Context.","ERROR",MB_OK|MB_ICONEXCLAMATION);
return FALSE; // Return FALSE
}
if (!(PixelFormat=ChoosePixelFormat(hDC,&pfd))) // Did Windows Find A Matching Pixel Format?
{
KillGLWindow(); // Reset The Display
MessageBox(NULL,"Can't Find A Suitable PixelFormat.","ERROR",MB_OK|MB_ICONEXCLAMATION);
return FALSE; // Return FALSE
}
if(!SetPixelFormat(hDC,PixelFormat,&pfd)) // Are We Able To Set The Pixel Format?
{
KillGLWindow(); // Reset The Display
MessageBox(NULL,"Can't Set The PixelFormat.","ERROR",MB_OK|MB_ICONEXCLAMATION);
return FALSE; // Return FALSE
}
if (!(hRC=wglCreateContext(hDC))) // Are We Able To Get A Rendering Context?
{
KillGLWindow(); // Reset The Display
MessageBox(NULL,"Can't Create A GL Rendering Context.","ERROR",MB_OK|MB_ICONEXCLAMATION);
return FALSE; // Return FALSE
}
if(!wglMakeCurrent(hDC,hRC)) // Try To Activate The Rendering Context
{
KillGLWindow(); // Reset The Display
MessageBox(NULL,"Can't Activate The GL Rendering Context.","ERROR",MB_OK|MB_ICONEXCLAMATION);
return FALSE; // Return FALSE
}
ShowWindow(hWnd,SW_SHOW); // Show The Window
SetForegroundWindow(hWnd); // Slightly Higher Priority
SetFocus(hWnd); // Sets Keyboard Focus To The Window
ReSizeGLScene(width, height); // Set Up Our Perspective GL Screen
if (!InitGL()) // Initialize Our Newly Created GL Window
{
KillGLWindow(); // Reset The Display
MessageBox(NULL,"Can't Activate The GL Rendering Context.","ERROR",MB_OK|MB_ICONEXCLAMATION);
return FALSE; // Return FALSE
}
return TRUE; // Success
}
LRESULT CALLBACK WndProc( HWND hWnd, // Handle For This Window
UINT uMsg, // Message For This Window
WPARAM wParam, // Additional Message Information
LPARAM lParam) // Additional Message Information
{
HMENU hMenu;
switch (uMsg) // Check For Windows Messages
{
case WM_ACTIVATE: // Watch For Window Activate Message
{
if (!HIWORD(wParam)) // Check Minimization State
{
active=TRUE; // Program Is Active
}
else
{
active=FALSE; // Program Is No Longer Active
}
return 0; // Return To The Message Loop
}
case WM_COMMAND:
{
hMenu = GetMenu(hWnd);
switch(wParam)
{
case ID_GET_Q1:
{
int t;
t=q1/360;
q1=q1-t*360;
MessageBoxPrintf(TEXT("繞基座旋轉的角度值"),TEXT("%f"),q1);
return(0);
}
case ID_GET_q2:
{
int t;
t=q2/360;
q2=q2-t*360;
MessageBoxPrintf(TEXT("繞關節1旋轉的角度值"),TEXT("%f"),q2);
return(0);
}
case ID_GET_q3:
{
int t;
t=q3/360;
q3=q3-t*360;
MessageBoxPrintf(TEXT("繞關節3旋轉的角度值"),TEXT("%f"),q3);
return(0);
}
case ID_GET_q4:
{
int t;
t=q4/360;
q4=q4-t*360;
MessageBoxPrintf(TEXT("繞手坐標系x軸旋轉的角度值"),TEXT("%f"),q4);
return(0);
}
case ID_GET_q5:
{
int t;
t=q5/360;
q5=q5-t*360;
MessageBoxPrintf(TEXT("繞手坐標系y軸旋轉的角度值"),TEXT("%f"),q5);
return(0);
}
case ID_GET_q6:
{
int t;
t=q6/360;
q6=q6-t*360;
MessageBoxPrintf(TEXT("繞手坐標系z軸旋轉的角度值"),TEXT("%f"),q6);
return(0);
}
case ID_CAL_MATRIX: //繞基座旋轉
{
float theta;
const float pi=3.1415926;
theta=q1*pi/180;
float M[3][3];
CalMatrixY(M,theta);
MessageBoxPrintf(TEXT("繞基座旋轉的變換矩陣"),TEXT("%f %f %f\n%f %f %f\n%f %f %f"),M[0][0],M[0][1],M[0][2],M[1][0],M[1][1],M[1][2],M[2][0],M[2][1],M[2][2]);
return(0);
}
case ID_CAL_MATRIX2: //繞關節1旋轉
{
float theta;
const float pi=3.1415926;
theta=q2*pi/180;
float M[3][3];
CalMatrixZ(M,theta);
MessageBoxPrintf(TEXT("繞關節1旋轉的變換矩陣"),TEXT("%f %f %f\n%f %f %f\n%f %f %f"),M[0][0],M[0][1],M[0][2],M[1][0],M[1][1],M[1][2],M[2][0],M[2][1],M[2][2]);
return(0);
}
case ID_CAL_MATRIX3: //繞關節3旋轉
{
float theta;
theta=q3*pi/180;
float M[3][3];
CalMatrixZ(M,theta);
MessageBoxPrintf(TEXT("繞關節3旋轉的變換矩陣"),TEXT("%f %f %f\n%f %f %f\n%f %f %f"),M[0][0],M[0][1],M[0][2],M[1][0],M[1][1],M[1][2],M[2][0],M[2][1],M[2][2]);
return(0);
}
case ID_CAL_TRANSMATRIX: //計算坐標變換矩陣
{
int i,j;
float M1[3][3],M2[3][3],M3[3][3];
float RotateMatrix[3][3];
float AidedMatrix[3][3];//輔助矩陣
for(i=0;i<3;i++)
for(j=0;j<3;j++)
{
AidedMatrix[i][j]=0.0;
RotateMatrix[i][j]=0.0;
}
CalMatrixY(M1,q1*pi/180);
CalMatrixZ(M2,q2*pi/180);
CalMatrixZ(M3,q3*pi/180);
MatrixMultiply(M1,M2,AidedMatrix);
MatrixMultiply(AidedMatrix,M3,RotateMatrix);//相乘次序:M3M2M1
MessageBoxPrintf(TEXT("旋轉變換矩陣"),TEXT("%f %f %f\n%f %f %f\n%f %f %f"),RotateMatrix[0][0],RotateMatrix[0][1],RotateMatrix[0][2],RotateMatrix[1][0],RotateMatrix[1][1],RotateMatrix[1][2],RotateMatrix[2][0],RotateMatrix[2][1],RotateMatrix[2][2]);
return(0);
}
}
break;
}
case WM_SYSCOMMAND: // Intercept System Commands
{
switch (wParam) // Check System Calls
{
case SC_SCREENSAVE: // Screensaver Trying To Start?
case SC_MONITORPOWER: // Monitor Trying To Enter Powersave?
return 0; // Prevent From Happening
}
break; // Exit
}
case WM_CLOSE: // Did We Receive A Close Message?
{
PostQuitMessage(0); // Send A Quit Message
return 0; // Jump Back
}
case WM_KEYDOWN: // Is A Key Being Held Down?
{
keys[wParam] = TRUE; // If So, Mark It As TRUE
return 0; // Jump Back
}
case WM_KEYUP: // Has A Key Been Released?
{
keys[wParam] = FALSE; // If So, Mark It As FALSE
return 0; // Jump Back
}
case WM_LBUTTONDOWN:
{
return(0);
}
case WM_SIZE: // Resize The OpenGL Window
{
ReSizeGLScene(LOWORD(lParam),HIWORD(lParam)); // LoWord=Width, HiWord=Height
return 0; // Jump Back
}
}
// Pass All Unhandled Messages To DefWindowProc
return DefWindowProc(hWnd,uMsg,wParam,lParam);
}
int WINAPI WinMain( HINSTANCE hInstance, // Instance
HINSTANCE hPrevInstance, // Previous Instance
LPSTR lpCmdLine, // Command Line Parameters
int nCmdShow) // Window Show State
{
MSG msg; // Windows Message Structure
BOOL done=FALSE;
if (!CreateGLWindow("Unimation Puma560 機器人動力學仿真與軌跡規劃",640,480,16,false))
{
return 0; // Quit If Window Was Not Created
}
while(!done) // Loop That Runs While done=FALSE
{
if (PeekMessage(&msg,NULL,0,0,PM_REMOVE)) // Is There A Message Waiting?
{
if (msg.message==WM_QUIT) // Have We Received A Quit Message?
{
done=TRUE; // If So done=TRUE
}
else // If Not, Deal With Window Messages
{
TranslateMessage(&msg); // Translate The Message
DispatchMessage(&msg); // Dispatch The Message
}
}
else // If There Are No Messages
{
// Draw The Scene. Watch For ESC Key And Quit Messages From DrawGLScene()
if (active) // Program Active?
{
if (keys[VK_ESCAPE]) // Was ESC Pressed?
{
done=TRUE; // ESC Signalled A Quit
}
else // Not Time To Quit, Update Screen
{
DrawGLScene(); // Draw The Scene
SwapBuffers(hDC); // Swap Buffers (Double Buffering)
}
}
//////////////////////////////////////////////////////////////////////////////
//////////////// 響應鍵盤動作 //////////////////////////////
if(keys[VK_LEFT])//連桿1左右旋轉（y軸）
{
q1-=1.5f;
}
if(keys[VK_RIGHT])
{
q1+=1.5f;
}
//////////////////////連桿2繞z軸旋轉
if(keys[VK_PRIOR])
{
q2+=2.0f;
}
if(keys[VK_NEXT])
{
q2-=2.0f;
}
///////////////////////////連桿4繞z軸旋轉
if(keys[VK_UP])
{
q3+=1.5f;
}
if(keys[VK_DOWN])
{
q3-=1.5f;
}
////////////////////////手坐標系的旋轉
if(keys[VK_MULTIPLY])//繞y軸
{
q4+=1.5f;
}
if(keys[VK_DIVIDE])//繞x軸
{
q5+=1.5f;
}
if(keys[VK_SUBTRACT])//繞z軸
{
q6+=1.5f;
}
if(keys[VK_HOME])
{
q1=q2=q3=0;
q4=0.0f;
q5=q6=0.0f;
}
}
}
KillGLWindow(); // Kill The Window
return (msg.wParam); // Exit The Program
}
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