主要学习了画空间圆柱体和空间长方形的绘制方法。

有两个surface property：'FaceColor'和'EdgeColor’;

先讲'FaceColor’，它指定了surface画出曲面的颜色，可以是[r,g,b]的一个向量，分别表示了红绿蓝的颜色配比；

也可以是'interp’，画出来是由z的值决定的渐变色，可以使用colormapeditor来调节颜色(在代码中写上colormapeditor即可唤出调色板)；

然后是'EdgeColor’，它会在曲面的表面画出网格，指定颜色的方法同上。

但是有一个疑问没有解决：就是如何只显示各个棱的网格线，而不是整个面的网格线？？这个留待后面继续摸索吧。

surface(x,y,z)函数画出来的图像如果想要平移，可以直接在带入参数时修改。比如，沿z轴正方向平移10，就是surface(x,y,z+10);

最后有一个实现视角自动旋转的小功能：

view(az,el)中，az可以调节物体旋转的角度，el调节摄像机的俯仰角度for i=1:120

view(i*1, 30);

pause(0.01);

end

代码如下:function test()

%%

clear;

clc;

clf;

z_delta = 6;

%% draw head

A = imread('head.jpg');

[x,y,z]=sphere(30);

h0=surface(x,y,z + z_delta,'EdgeColor','none');

rotate(h0, [0,0,1], 90);

set(h0,'CData',A,'FaceColor','texturemap');%texturemap纹理贴图

%% draw body

% FaceColor (orange)

face_color = 'interp'; %[1, 0.6, 0];

edge_color = 'b';

colormapeditor;% up board[x1,y1] = meshgrid(-1:0.1:1, -1:0.1:1);z1 = repmat(-1, 21, 21);h1=surface(x1,y1,z1 + z_delta, 'EdgeColor',edge_color,'FaceColor',face_color);% left boardx2 = repmat(1, 21, 21); y2 = repmat([-1:0.1:1],21,1);for i=1:21 for j=1:21 z2(i,j)=-1-(i-1)*0.25;

endendh2=surface(x2,y2,z2 + z_delta,'EdgeColor',edge_color,'FaceColor',face_color);% right boardx3 = repmat(-1, 21, 21);y3 = repmat([-1:0.1:1],21,1);for i=1:21 for j=1:21 z3(i,j)=-1-(i-1)*0.25; endendh3=surface(x3,y3,z3 + z_delta,'EdgeColor',edge_color,'FaceColor',face_color);%

front boardy4 = repmat(1, 21, 21); %#okx4 = repmat([-1:0.1:1],21,1);for i=1:21 for j=1:21 z4(i,j)=-1-(i-1)*0.25; endendh4=surface(x4,y4,z4 + z_delta,'EdgeColor',edge_color,'FaceColor',face_color);% back boardy5 = repmat(-1, 21, 21);x5 = repmat([-1:0.1:1],21,1);for

i=1:21 for j=1:21 z5(i,j)=-1-(i-1)*0.25; endendh5=surface(x5,y5,z5 + z_delta,'EdgeColor',edge_color,'FaceColor',face_color);%% draw armsrobot = robot_model();r_arm = 0.3;num_of_surf = 36;for i=2:5 if mod(i,2)==1 color_arm = 'r'; else color_arm = 'b'; end [Cylinder(i),

EndPlate1(i), EndPlate2(i)] = cylinder3(robot(i).position, robot(i+1).position, r_arm, num_of_surf, color_arm, 1, 0);endfor i=7:10 if mod(i,2)==1 color_arm = 'r'; else color_arm = 'b'; end [Cylinder(i), EndPlate1(i), EndPlate2(i)] = cylinder3(robot(i).position,

robot(i+1).position, r_arm, num_of_surf, color_arm, 1, 0);end%% rotate the angle of viewgrid on;axis equal;axis fill;for i=1:120 view(i*1, 30); pause(0.01);endend下面是由两个点画出一个空间圆柱体的代码，从CSDN上下载的别人的程序，就拿来直接用于画胳膊了。function [Cylinder, EndPlate1, EndPlate2] = cylinder3(X1,X2,r,n,cyl_color,closed,lines)

%

% This function constructs a cylinder connecting two center points

%

% Usage :

% [Cylinder EndPlate1 EndPlate2] = cylinder3(X1+20,X2,r,n,'r',closed,lines)

%

% Cylinder-------Handle of the cylinder

% EndPlate1------Handle of the Starting End plate

% EndPlate2------Handle of the Ending End plate

% X1 and X2 are the 3x1 vectors of the two points

% r is the radius of the cylinder

% n is the no. of elements on the cylinder circumference (more--> refined)

% cyl_color is the color definition like 'r','b',[0.52 0.52 0.52]

% closed=1 for closed cylinder or 0 for hollow open cylinder

% lines=1 for displaying the line segments on the cylinder 0 for only

% surface

%

% Typical Inputs

% X1=[10 10 10];

% X2=[35 20 40];

% r=1;

% n=20;

% cyl_color='b';

% closed=1;

%

% NOTE: There is a MATLAB function "cylinder" to revolve a curve about an

% axis. This "Cylinder" provides more customization like direction and etc

%%%%%%%%%%

if (X1(1) > X2(1))

tmpX = X1; X1 = X2; X2 = tmpX;

end

% Calculating the length of the cylinder

length_cyl=norm(X2-X1);

% Creating a circle in the YZ plane

t=linspace(0,2*pi,n)';

x2=r*cos(t);

x3=r*sin(t);

% Creating the points in the X-Direction

x1=[0 length_cyl];

% Creating (Extruding) the cylinder points in the X-Directions

xx1=repmat(x1,length(x2),1);

xx2=repmat(x2,1,2);

xx3=repmat(x3,1,2);

% Drawing two filled cirlces to close the cylinder

if closed==1

hold on

EndPlate1=fill3(xx1(:,1),xx2(:,1),xx3(:,1),'r');

EndPlate2=fill3(xx1(:,2),xx2(:,2),xx3(:,2),'r');

end

% Plotting the cylinder along the X-Direction with required length starting

% from Origin

Cylinder=mesh(xx1,xx2,xx3);

% Defining Unit vector along the X-direction

unit_Vx=[1 0 0];

% Calulating the angle between the x direction and the required direction

% of cylinder through dot product

angle_X1X2=acos( dot( unit_Vx,(X2-X1) )/( norm(unit_Vx)*norm(X2-X1)) )*180/pi;

% Finding the axis of rotation (single rotation) to roate the cylinder in

% X-direction to the required arbitrary direction through cross product

axis_rot=cross([1 0 0],(X2-X1) );

% Rotating the plotted cylinder and the end plate circles to the required

% angles

if angle_X1X2~=0 % Rotation is not needed if required direction is along X

rotate(Cylinder,axis_rot,angle_X1X2,[0 0 0])

if closed==1

rotate(EndPlate1,axis_rot,angle_X1X2,[0 0 0])

rotate(EndPlate2,axis_rot,angle_X1X2,[0 0 0])

end

end

% Till now cylinder has only been aligned with the required direction, but

% position starts from the origin. so it will now be shifted to the right

% position

if closed==1

set(EndPlate1,'XData',get(EndPlate1,'XData')+X1(1))

set(EndPlate1,'YData',get(EndPlate1,'YData')+X1(2))

set(EndPlate1,'ZData',get(EndPlate1,'ZData')+X1(3))

set(EndPlate2,'XData',get(EndPlate2,'XData')+X1(1))

set(EndPlate2,'YData',get(EndPlate2,'YData')+X1(2))

set(EndPlate2,'ZData',get(EndPlate2,'ZData')+X1(3))

end

set(Cylinder,'XData',get(Cylinder,'XData')+X1(1))

set(Cylinder,'YData',get(Cylinder,'YData')+X1(2))

set(Cylinder,'ZData',get(Cylinder,'ZData')+X1(3))

% Setting the color to the cylinder and the end plates

set(Cylinder,'FaceColor',cyl_color)

if closed==1

set([EndPlate1 EndPlate2],'FaceColor',cyl_color)

else

EndPlate1=[];

EndPlate2=[];

end

% If lines are not needed making it disapear

if lines==0

set(Cylinder,'EdgeAlpha',0)

end