qt-双臂SCARA机器人动画

一、演示效果
二、核心程序
三、下载链接

在Qt + opengl中完成的双臂SCARA机器人的简单模拟。

一、演示效果

在这里插入图片描述

二、核心程序

#include "glwidget.h"#include <GL/glu.h>GLWidget::GLWidget(QWidget *parent) :QGLWidget(parent),pitch(30.0), yaw(0.0), distance(7.0)
{
}void GLWidget::initializeGL()
{glEnable(GL_DEPTH_TEST);glClearDepth(1.0);glEnable(GL_CULL_FACE);glEnable(GL_POINT_SMOOTH);glPointSize(10.0);glEnable(GL_BLEND);glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA);glHint(GL_POLYGON_SMOOTH_HINT, GL_NICEST);glHint(GL_PERSPECTIVE_CORRECTION_HINT, GL_NICEST);glClearColor(0.0, 0.0, 0.0, 0.0);
}void GLWidget::paintGL()
{glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);setView();setLight();glEnable(GL_COLOR_MATERIAL);glDisable(GL_LIGHTING);glColor4f(0.0, 0.5, 0.0, 0.5);for(int i = 0; i <= 20; ++i) {glBegin(GL_LINES);glVertex3f(-5.0+0.5*i, -5.0, 0.0); glVertex3f(-5.0+0.5*i, 5.0, 0.0);glVertex3f(-5.0, -5.0+0.5*i, 0.0); glVertex3f(5.0, -5.0+0.5*i, 0.0);glEnd();}glColor4f(0.5, 0.5, 0.0, 0.5);glBegin(GL_LINES);glVertex3f(robot->getY(), -robot->getX(), 0.0); glVertex3f(robot->getY(), -robot->getX(), robot->getZ()+0.5);glEnd();glColor4f(0.9, 0.0, 0.0, 0.5);robot->displayPath();glDisable(GL_COLOR_MATERIAL);glEnable(GL_LIGHTING);robot->display();glFlush();
}void GLWidget::resizeGL(int _w, int _h)
{w = _w; h = _h;glViewport(0.0, 0.0, w, h);setView();
}void GLWidget::setPitch(double _pitch)
{pitch = _pitch;
}void GLWidget::setYaw(double _yaw)
{yaw = _yaw;
}void GLWidget::setDistance(double _distance)
{distance = _distance;
}void GLWidget::setView()
{glMatrixMode(GL_PROJECTION);glLoadIdentity();gluPerspective(60.0, 1.0*w/h, 0.1, 100.0);glMatrixMode(GL_MODELVIEW);glLoadIdentity();gluLookAt(-distance, 0.0, 0.0,0.0, 0.0, 0.0,0.0, 0.0, 1.0);glRotatef(pitch, 0.0, -1.0, 0.0);glRotatef(yaw, 0.0, 0.0, -1.0);
}void GLWidget::setLight()
{GLfloat lamb[] = { 0.1, 0.1, 0.1, 1.0 };GLfloat ldif[] = { 1.0, 1.0, 1.0, 1.0 };GLfloat lpos[] = { -10.0, -10.0, 10.0, 1.0 };glEnable(GL_COLOR_MATERIAL);glDisable(GL_LIGHTING);glDisable(GL_LIGHT0);glColor4fv(ldif);glBegin(GL_POINTS);glVertex4fv(lpos);glEnd();glDisable(GL_COLOR_MATERIAL);glEnable(GL_LIGHTING);glEnable(GL_LIGHT0);glLightfv(GL_LIGHT0, GL_POSITION, lpos);glLightfv(GL_LIGHT0, GL_AMBIENT, lamb);glLightfv(GL_LIGHT0, GL_DIFFUSE, ldif);
}