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#ifndef DATA
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#define DATA
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struct Data
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{
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||||
float X;
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||||
float Y;
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float Z;
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float l3;
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float s;
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int O1;
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int O2;
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int O3;
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float X2;
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float Y2;
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||||
float Z2;
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||||
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||||
void Input( float x, float y, float z )
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||||
{
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||||
X = x;
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||||
Y = y;
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||||
Z = z;
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||||
}
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||||
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||||
void Input( D3DXVECTOR3 i )
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||||
{
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||||
X = i.x;
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||||
Y = i.y;
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||||
Z = i.z;
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}
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};
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||||
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||||
#endif
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+9
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Build started 14-1-2013 10:08:44.
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||||
1>Project "C:\Users\Gebruiker\Dropbox\Projecten\Visual-Studio\Projecten\Hexapod\Hexapod app\Catmull-Rom app.vcxproj" on node 2 (Build target(s)).
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||||
1>Link:
|
||||
Catmull-Rom app.vcxproj -> C:\Users\Gebruiker\Dropbox\Projecten\Visual-Studio\Projecten\Hexapod\Debug\Hexapod app.exe
|
||||
1>Done Building Project "C:\Users\Gebruiker\Dropbox\Projecten\Visual-Studio\Projecten\Hexapod\Hexapod app\Catmull-Rom app.vcxproj" (Build target(s)).
|
||||
|
||||
Build succeeded.
|
||||
|
||||
Time Elapsed 00:00:01.54
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||||
@@ -0,0 +1,31 @@
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C:\Users\Gebruiker\Dropbox\Projecten\Visual-Studio\Projecten\Hexapod\Hexapod app\Debug\DataLine.obj
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||||
C:\Users\Gebruiker\Dropbox\Projecten\Visual-Studio\Projecten\Hexapod\Hexapod app\Debug\InverseKinemetics.obj
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C:\Users\Gebruiker\Dropbox\Projecten\Visual-Studio\Projecten\Hexapod\Hexapod app\Debug\Main.obj
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||||
C:\Users\Gebruiker\Dropbox\Projecten\Visual-Studio\Projecten\Hexapod\Hexapod app\Debug\vc110.pdb
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||||
C:\Users\Gebruiker\Dropbox\Projecten\Visual-Studio\Projecten\Hexapod\Debug\Catmull-Rom app.pdb
|
||||
@@ -0,0 +1,2 @@
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||||
#v4.0:v110:false
|
||||
Debug|Win32|D:\dropbox\Dropbox\Projecten\Visual-Studio\Projecten\Hexapod\|
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||||
@@ -0,0 +1,66 @@
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||||
Build started 25-11-2013 13:59:35.
|
||||
1>Project "C:\Users\patrick\Dropbox\Projecten\Visual-Studio\Projecten\Hexapod\Hexapod app\Catmull-Rom app.vcxproj" on node 2 (Build target(s)).
|
||||
1>ClCompile:
|
||||
C:\Program Files (x86)\Microsoft Visual Studio 12.0\VC\bin\CL.exe /c /ZI /nologo /W3 /WX- /Od /Oy- /D WIN32 /D _DEBUG /D _WINDOWS /Gm /EHsc /RTC1 /MDd /GS /fp:precise /Zc:wchar_t /Zc:forScope /Fo"Debug\\" /Fd"Debug\vc120.pdb" /Gd /TP /analyze- /errorReport:prompt DataLine.h InverseKinemetics.cpp Leg.cpp Main.cpp
|
||||
Main.cpp
|
||||
1>c:\users\patrick\dropbox\projecten\visual-studio\projecten\hexapod\hexapod app\inversekinemetics.h(24): warning C4244: 'return' : conversion from 'double' to 'int', possible loss of data
|
||||
1>c:\users\patrick\dropbox\projecten\visual-studio\projecten\hexapod\hexapod app\leg.h(18): warning C4099: 'std::vector<D3DXVECTOR3,std::allocator<_Ty>>' : type name first seen using 'class' now seen using 'struct'
|
||||
with
|
||||
[
|
||||
_Ty=D3DXVECTOR3
|
||||
]
|
||||
1>c:\users\patrick\dropbox\projecten\visual-studio\projecten\hexapod\hexapod app\main.cpp(25): warning C4996: 'sprintf': This function or variable may be unsafe. Consider using sprintf_s instead. To disable deprecation, use _CRT_SECURE_NO_WARNINGS. See online help for details.
|
||||
c:\program files (x86)\microsoft visual studio 12.0\vc\include\stdio.h(356) : see declaration of 'sprintf'
|
||||
1>c:\users\patrick\dropbox\projecten\visual-studio\projecten\hexapod\hexapod app\main.cpp(26): warning C4172: returning address of local variable or temporary
|
||||
1>c:\users\patrick\dropbox\projecten\visual-studio\projecten\hexapod\hexapod app\main.cpp(303): warning C4244: 'argument' : conversion from 'float' to 'const int', possible loss of data
|
||||
1>c:\users\patrick\dropbox\projecten\visual-studio\projecten\hexapod\hexapod app\main.cpp(304): warning C4244: 'argument' : conversion from 'float' to 'const int', possible loss of data
|
||||
1>c:\users\patrick\dropbox\projecten\visual-studio\projecten\hexapod\hexapod app\main.cpp(305): warning C4244: 'argument' : conversion from 'float' to 'const int', possible loss of data
|
||||
1>c:\users\patrick\dropbox\projecten\visual-studio\projecten\hexapod\hexapod app\main.cpp(226): warning C4101: 'ps' : unreferenced local variable
|
||||
Leg.cpp
|
||||
1>c:\users\patrick\dropbox\projecten\visual-studio\projecten\hexapod\hexapod app\inversekinemetics.h(24): warning C4244: 'return' : conversion from 'double' to 'int', possible loss of data
|
||||
1>c:\users\patrick\dropbox\projecten\visual-studio\projecten\hexapod\hexapod app\leg.h(18): warning C4099: 'std::vector<D3DXVECTOR3,std::allocator<_Ty>>' : type name first seen using 'class' now seen using 'struct'
|
||||
with
|
||||
[
|
||||
_Ty=D3DXVECTOR3
|
||||
]
|
||||
1>c:\users\patrick\dropbox\projecten\visual-studio\projecten\hexapod\hexapod app\leg.cpp(36): warning C4305: '+=' : truncation from 'double' to 'float'
|
||||
1>c:\users\patrick\dropbox\projecten\visual-studio\projecten\hexapod\hexapod app\leg.cpp(38): warning C4305: '+=' : truncation from 'double' to 'float'
|
||||
1>c:\users\patrick\dropbox\projecten\visual-studio\projecten\hexapod\hexapod app\leg.cpp(129): warning C4244: 'argument' : conversion from 'float' to 'int', possible loss of data
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||||
1>c:\users\patrick\dropbox\projecten\visual-studio\projecten\hexapod\hexapod app\leg.cpp(131): warning C4018: '<' : signed/unsigned mismatch
|
||||
1>c:\users\patrick\dropbox\projecten\visual-studio\projecten\hexapod\hexapod app\leg.cpp(133): warning C4244: 'initializing' : conversion from 'float' to 'int', possible loss of data
|
||||
1>c:\users\patrick\dropbox\projecten\visual-studio\projecten\hexapod\hexapod app\leg.cpp(134): warning C4244: 'initializing' : conversion from 'float' to 'int', possible loss of data
|
||||
1>c:\users\patrick\dropbox\projecten\visual-studio\projecten\hexapod\hexapod app\leg.cpp(153): warning C4244: 'argument' : conversion from 'float' to 'int', possible loss of data
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||||
1>c:\users\patrick\dropbox\projecten\visual-studio\projecten\hexapod\hexapod app\leg.cpp(156): warning C4244: 'argument' : conversion from 'float' to 'int', possible loss of data
|
||||
1>c:\users\patrick\dropbox\projecten\visual-studio\projecten\hexapod\hexapod app\leg.cpp(159): warning C4244: 'argument' : conversion from 'float' to 'int', possible loss of data
|
||||
1>c:\users\patrick\dropbox\projecten\visual-studio\projecten\hexapod\hexapod app\leg.cpp(172): warning C4244: 'argument' : conversion from 'float' to 'int', possible loss of data
|
||||
1>c:\users\patrick\dropbox\projecten\visual-studio\projecten\hexapod\hexapod app\leg.cpp(173): warning C4244: 'argument' : conversion from 'float' to 'int', possible loss of data
|
||||
1>c:\users\patrick\dropbox\projecten\visual-studio\projecten\hexapod\hexapod app\leg.cpp(181): warning C4244: 'argument' : conversion from 'float' to 'int', possible loss of data
|
||||
1>c:\users\patrick\dropbox\projecten\visual-studio\projecten\hexapod\hexapod app\leg.cpp(182): warning C4244: 'argument' : conversion from 'float' to 'int', possible loss of data
|
||||
InverseKinemetics.cpp
|
||||
1>c:\users\patrick\dropbox\projecten\visual-studio\projecten\hexapod\hexapod app\inversekinemetics.h(24): warning C4244: 'return' : conversion from 'double' to 'int', possible loss of data
|
||||
1>c:\users\patrick\dropbox\projecten\visual-studio\projecten\hexapod\hexapod app\inversekinemetics.cpp(27): warning C4244: 'return' : conversion from 'double' to 'float', possible loss of data
|
||||
1>c:\users\patrick\dropbox\projecten\visual-studio\projecten\hexapod\hexapod app\inversekinemetics.cpp(30): warning C4244: 'return' : conversion from 'double' to 'float', possible loss of data
|
||||
1>c:\users\patrick\dropbox\projecten\visual-studio\projecten\hexapod\hexapod app\inversekinemetics.cpp(23): warning C4101: 'r' : unreferenced local variable
|
||||
1>c:\users\patrick\dropbox\projecten\visual-studio\projecten\hexapod\hexapod app\inversekinemetics.cpp(81): warning C4244: 'initializing' : conversion from 'int' to 'float', possible loss of data
|
||||
1>c:\users\patrick\dropbox\projecten\visual-studio\projecten\hexapod\hexapod app\inversekinemetics.cpp(87): warning C4244: '=' : conversion from 'float' to 'int', possible loss of data
|
||||
1>c:\users\patrick\dropbox\projecten\visual-studio\projecten\hexapod\hexapod app\inversekinemetics.cpp(88): warning C4244: '=' : conversion from 'float' to 'int', possible loss of data
|
||||
1>c:\users\patrick\dropbox\projecten\visual-studio\projecten\hexapod\hexapod app\inversekinemetics.cpp(89): warning C4244: '=' : conversion from 'float' to 'int', possible loss of data
|
||||
1>c:\users\patrick\dropbox\projecten\visual-studio\projecten\hexapod\hexapod app\inversekinemetics.cpp(91): warning C4244: 'initializing' : conversion from 'double' to 'float', possible loss of data
|
||||
1>c:\users\patrick\dropbox\projecten\visual-studio\projecten\hexapod\hexapod app\inversekinemetics.cpp(97): warning C4244: '=' : conversion from 'double' to 'float', possible loss of data
|
||||
1>c:\users\patrick\dropbox\projecten\visual-studio\projecten\hexapod\hexapod app\inversekinemetics.cpp(103): warning C4244: '=' : conversion from 'double' to 'float', possible loss of data
|
||||
DataLine.h
|
||||
Generating Code...
|
||||
1>c:\users\patrick\dropbox\projecten\visual-studio\projecten\hexapod\hexapod app\main.cpp(404): warning C4715: 'WndProc' : not all control paths return a value
|
||||
1>cl : Command line warning D9028: minimal rebuild failure, reverting to normal build
|
||||
Link:
|
||||
C:\Program Files (x86)\Microsoft Visual Studio 12.0\VC\bin\link.exe /ERRORREPORT:PROMPT /OUT:"C:\Users\patrick\Dropbox\Projecten\Visual-Studio\Projecten\Hexapod\Debug\Hexapod app.exe" /INCREMENTAL:NO /NOLOGO d3dx11d.lib kernel32.lib user32.lib gdi32.lib winspool.lib comdlg32.lib advapi32.lib shell32.lib ole32.lib oleaut32.lib uuid.lib odbc32.lib odbccp32.lib /MANIFEST /MANIFESTUAC:"level='asInvoker' uiAccess='false'" /manifest:embed /DEBUG /PDB:"C:\Users\patrick\Dropbox\Projecten\Visual-Studio\Projecten\Hexapod\Debug\Hexapod app.pdb" /SUBSYSTEM:WINDOWS /TLBID:1 /DYNAMICBASE /NXCOMPAT /IMPLIB:"C:\Users\patrick\Dropbox\Projecten\Visual-Studio\Projecten\Hexapod\Debug\Hexapod app.lib" /MACHINE:X86 Debug\DataLine.obj
|
||||
Debug\InverseKinemetics.obj
|
||||
Debug\Leg.obj
|
||||
Debug\Main.obj
|
||||
1>DataLine.obj : warning LNK4075: ignoring '/EDITANDCONTINUE' due to '/OPT:LBR' specification
|
||||
Catmull-Rom app.vcxproj -> C:\Users\patrick\Dropbox\Projecten\Visual-Studio\Projecten\Hexapod\Debug\Hexapod app.exe
|
||||
1>Done Building Project "C:\Users\patrick\Dropbox\Projecten\Visual-Studio\Projecten\Hexapod\Hexapod app\Catmull-Rom app.vcxproj" (Build target(s)).
|
||||
|
||||
Build succeeded.
|
||||
|
||||
Time Elapsed 00:00:05.64
|
||||
Binary file not shown.
@@ -0,0 +1,40 @@
|
||||
C:\USERS\GEBRUIKER\DROPBOX\PROJECTEN\VISUAL-STUDIO\PROJECTEN\HEXAPOD\HEXAPOD APP\DEBUG\VC100.PDB
|
||||
D:\DROPBOX\DROPBOX\PROJECTEN\VISUAL-STUDIO\PROJECTEN\HEXAPOD\HEXAPOD APP\DEBUG\DATALINE.OBJ
|
||||
D:\DROPBOX\DROPBOX\PROJECTEN\VISUAL-STUDIO\PROJECTEN\HEXAPOD\HEXAPOD APP\DEBUG\INVERSEKINEMETICS.OBJ
|
||||
D:\DROPBOX\DROPBOX\PROJECTEN\VISUAL-STUDIO\PROJECTEN\HEXAPOD\HEXAPOD APP\DEBUG\LEG.OBJ
|
||||
D:\DROPBOX\DROPBOX\PROJECTEN\VISUAL-STUDIO\PROJECTEN\HEXAPOD\HEXAPOD APP\DEBUG\MAIN.OBJ
|
||||
D:\DROPBOX\DROPBOX\PROJECTEN\VISUAL-STUDIO\PROJECTEN\HEXAPOD\HEXAPOD APP\DEBUG\VC100.PDB
|
||||
C:\USERS\MANGAVALK\DROPBOX\PROJECTEN\VISUAL-STUDIO\PROJECTEN\HEXAPOD\HEXAPOD APP\DEBUG\DATALINE.OBJ
|
||||
C:\USERS\MANGAVALK\DROPBOX\PROJECTEN\VISUAL-STUDIO\PROJECTEN\HEXAPOD\HEXAPOD APP\DEBUG\INVERSEKINEMETICS.OBJ
|
||||
C:\USERS\MANGAVALK\DROPBOX\PROJECTEN\VISUAL-STUDIO\PROJECTEN\HEXAPOD\HEXAPOD APP\DEBUG\LEG.OBJ
|
||||
C:\USERS\MANGAVALK\DROPBOX\PROJECTEN\VISUAL-STUDIO\PROJECTEN\HEXAPOD\HEXAPOD APP\DEBUG\MAIN.OBJ
|
||||
C:\USERS\MANGAVALK\DROPBOX\PROJECTEN\VISUAL-STUDIO\PROJECTEN\HEXAPOD\HEXAPOD APP\DEBUG\VC110.PDB
|
||||
C:\USERS\GEBRUIKER\DROPBOX\PROJECTEN\VISUAL-STUDIO\PROJECTEN\HEXAPOD\DEBUG\HEXAPOD APP.EXE
|
||||
C:\USERS\GEBRUIKER\DROPBOX\PROJECTEN\VISUAL-STUDIO\PROJECTEN\HEXAPOD\HEXAPOD APP\DEBUG\HEXAPOD APP.EXE.INTERMEDIATE.MANIFEST
|
||||
C:\USERS\GEBRUIKER\DROPBOX\PROJECTEN\VISUAL-STUDIO\PROJECTEN\HEXAPOD\DEBUG\HEXAPOD APP.PDB
|
||||
D:\DROPBOX\DROPBOX\PROJECTEN\VISUAL-STUDIO\PROJECTEN\HEXAPOD\DEBUG\HEXAPOD APP.EXE
|
||||
D:\DROPBOX\DROPBOX\PROJECTEN\VISUAL-STUDIO\PROJECTEN\HEXAPOD\HEXAPOD APP\DEBUG\HEXAPOD APP.EXE.INTERMEDIATE.MANIFEST
|
||||
D:\DROPBOX\DROPBOX\PROJECTEN\VISUAL-STUDIO\PROJECTEN\HEXAPOD\DEBUG\HEXAPOD APP.PDB
|
||||
C:\Users\MangaValk\Dropbox\Projecten\Visual-Studio\Projecten\Hexapod\Hexapod app\Debug\DataLine.obj
|
||||
C:\Users\MangaValk\Dropbox\Projecten\Visual-Studio\Projecten\Hexapod\Hexapod app\Debug\InverseKinemetics.obj
|
||||
C:\Users\MangaValk\Dropbox\Projecten\Visual-Studio\Projecten\Hexapod\Hexapod app\Debug\Leg.obj
|
||||
C:\Users\MangaValk\Dropbox\Projecten\Visual-Studio\Projecten\Hexapod\Hexapod app\Debug\Main.obj
|
||||
C:\Users\MangaValk\Dropbox\Projecten\Visual-Studio\Projecten\Hexapod\Hexapod app\Debug\cl.command.1.tlog
|
||||
C:\Users\MangaValk\Dropbox\Projecten\Visual-Studio\Projecten\Hexapod\Hexapod app\Debug\CL.read.1.tlog
|
||||
C:\Users\MangaValk\Dropbox\Projecten\Visual-Studio\Projecten\Hexapod\Hexapod app\Debug\CL.write.1.tlog
|
||||
C:\Users\MangaValk\Dropbox\Projecten\Visual-Studio\Projecten\Hexapod\Hexapod app\Debug\link-cvtres.read.1.tlog
|
||||
C:\Users\MangaValk\Dropbox\Projecten\Visual-Studio\Projecten\Hexapod\Hexapod app\Debug\link-cvtres.write.1.tlog
|
||||
C:\Users\MangaValk\Dropbox\Projecten\Visual-Studio\Projecten\Hexapod\Hexapod app\Debug\link-rc.read.1.tlog
|
||||
C:\Users\MangaValk\Dropbox\Projecten\Visual-Studio\Projecten\Hexapod\Hexapod app\Debug\link-rc.write.1.tlog
|
||||
C:\Users\MangaValk\Dropbox\Projecten\Visual-Studio\Projecten\Hexapod\Hexapod app\Debug\link.command.1.tlog
|
||||
C:\Users\MangaValk\Dropbox\Projecten\Visual-Studio\Projecten\Hexapod\Hexapod app\Debug\link.read.1.tlog
|
||||
C:\Users\MangaValk\Dropbox\Projecten\Visual-Studio\Projecten\Hexapod\Hexapod app\Debug\link.write.1.tlog
|
||||
C:\Users\MangaValk\Dropbox\Projecten\Visual-Studio\Projecten\Hexapod\Hexapod app\Debug\mt.command.1.tlog
|
||||
C:\Users\MangaValk\Dropbox\Projecten\Visual-Studio\Projecten\Hexapod\Hexapod app\Debug\mt.read.1.tlog
|
||||
C:\Users\MangaValk\Dropbox\Projecten\Visual-Studio\Projecten\Hexapod\Hexapod app\Debug\mt.write.1.tlog
|
||||
C:\Users\MangaValk\Dropbox\Projecten\Visual-Studio\Projecten\Hexapod\Hexapod app\Debug\Hexapod app.exe.intermediate.manifest
|
||||
C:\Users\MangaValk\Dropbox\Projecten\Visual-Studio\Projecten\Hexapod\Hexapod app\Debug\vc100.idb
|
||||
C:\Users\MangaValk\Dropbox\Projecten\Visual-Studio\Projecten\Hexapod\Hexapod app\Debug\vc110.idb
|
||||
C:\Users\MangaValk\Dropbox\Projecten\Visual-Studio\Projecten\Hexapod\Hexapod app\Debug\vc100.pdb
|
||||
C:\Users\MangaValk\Dropbox\Projecten\Visual-Studio\Projecten\Hexapod\Hexapod app\Debug\vc110.pdb
|
||||
C:\Users\MangaValk\Dropbox\Projecten\Visual-Studio\Projecten\Hexapod\Debug\Hexapod app.pdb
|
||||
@@ -0,0 +1,2 @@
|
||||
#v4.0:v110:false
|
||||
Debug|Win32|C:\Users\MangaValk\Dropbox\Projecten\Visual-Studio\Projecten\Hexapod\|
|
||||
Binary file not shown.
Binary file not shown.
+2
@@ -0,0 +1,2 @@
|
||||
#TargetFrameworkVersion=v4.0:PlatformToolSet=v120:EnableManagedIncrementalBuild=false:VCToolArchitecture=Native32Bit
|
||||
Debug|Win32|C:\Users\patrick\Dropbox\Projecten\Visual-Studio\Projecten\Hexapod\|
|
||||
Binary file not shown.
BIN
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@@ -0,0 +1 @@
|
||||
|
||||
@@ -0,0 +1 @@
|
||||
|
||||
@@ -0,0 +1 @@
|
||||
|
||||
@@ -0,0 +1 @@
|
||||
|
||||
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@@ -0,0 +1,134 @@
|
||||
#include "InverseKinemetics.h"
|
||||
|
||||
#pragma region Core
|
||||
void InverseKinemetics::RL3 (Data *DataLine)
|
||||
{
|
||||
float x = DataLine->X;
|
||||
float z = DataLine->Z;
|
||||
|
||||
if ((x == 0) && (z == 0))
|
||||
DataLine->l3 = 0;
|
||||
else DataLine->l3 = hypot(z, x);
|
||||
|
||||
if (x < 0)
|
||||
DataLine->l3 = DataLine->l3 * -1;
|
||||
}
|
||||
|
||||
float InverseKinemetics::O1 (Data *DataLine)
|
||||
{
|
||||
RL3(DataLine);
|
||||
|
||||
float x = DataLine->X;
|
||||
float z = DataLine->Z;
|
||||
float r;
|
||||
|
||||
if ((x != 0) & (z != 0)){
|
||||
double a = (z / x);
|
||||
return atan(a);
|
||||
}
|
||||
else
|
||||
return atan(0.0); // Math Error Protection.
|
||||
}
|
||||
|
||||
float InverseKinemetics::T1 (Data *DataLine)
|
||||
{
|
||||
float x = DataLine->X;
|
||||
float y = DataLine->Y;
|
||||
float z = DataLine->Z;
|
||||
float x2 = x * x;
|
||||
float y2 = y * y;
|
||||
float z2 = z * z;
|
||||
float l32 = DataLine->l3 * DataLine->l3;
|
||||
|
||||
DataLine->s = sqrt(x2 + y2 + z2);
|
||||
|
||||
float t1 = 0;
|
||||
|
||||
float s2 = DataLine->s * DataLine->s;
|
||||
|
||||
if ((y == 0) && (DataLine->l3 == 0))
|
||||
t1 = 0; // Math Error Protection.
|
||||
else
|
||||
t1 = (atan2(float(DataLine->l3), float(y)));
|
||||
|
||||
float a = (l1 * l1) - (l2*l2) + s2;
|
||||
float b = 2 * l1 * DataLine->s;
|
||||
float t2 = acos(a / b);
|
||||
|
||||
float ret = 0;
|
||||
|
||||
ret = t1 + abs(t2);
|
||||
|
||||
return ret;
|
||||
}
|
||||
|
||||
float InverseKinemetics::T3 (Data *DataLine)
|
||||
{
|
||||
return (acos((float)((l1*l1) + (l2*l2) - (DataLine->s*DataLine->s)) / (2 * l1 * l2)));
|
||||
}
|
||||
#pragma endregion Core
|
||||
|
||||
#define PI 3.14159265
|
||||
|
||||
void InverseKinemetics::setleg (bool Side, Data *DataLine)
|
||||
{
|
||||
error = false;
|
||||
|
||||
if (Side == 0)
|
||||
{
|
||||
float a = ((float)90 - degrees(O1(DataLine)));
|
||||
float b = ((float)180 - degrees(T1(DataLine)));
|
||||
float c = degrees(T3(DataLine));
|
||||
|
||||
if ((a >= 0) & (a <= 180)
|
||||
& (b >= 0) & (b <= 180)
|
||||
& (c >= 0) & (c <= 180))
|
||||
{
|
||||
DataLine->O1 = a;
|
||||
DataLine->O2 = b;
|
||||
DataLine->O3 = c;
|
||||
|
||||
float d = sin( (float)b*(PI/180) );
|
||||
if( d != 0 )
|
||||
DataLine->X2 = d * l1;
|
||||
else
|
||||
DataLine->X2 = 0;
|
||||
|
||||
d = cos( (float)b*(PI/180) );
|
||||
if( d != 0 )
|
||||
DataLine->Y2 = d * l1;
|
||||
else
|
||||
DataLine->Y2 = 0;
|
||||
|
||||
d = sin( (float)(a-90)*(PI/180) );
|
||||
if( d != 0 )
|
||||
DataLine->Z2 = d * abs( DataLine->X2 );
|
||||
else
|
||||
DataLine->Z2 = 0;
|
||||
}
|
||||
else
|
||||
{
|
||||
error = true;
|
||||
}
|
||||
}
|
||||
//else
|
||||
//{
|
||||
// float a = ((float)90 + degrees(O1(DataLine)));
|
||||
// float b = degrees(T1(DataLine));
|
||||
// float c = ((float)180 - degrees(T3(DataLine)));
|
||||
//
|
||||
// /*if ((a >= 0) & (a <= 180)
|
||||
// & (b >= 0) & (b <= 180)
|
||||
// & (c >= 0) & (c <= 180))
|
||||
// {*/
|
||||
// DataLine->O1 = a;
|
||||
// DataLine->O2 = b;
|
||||
// DataLine->O3 = c;
|
||||
// /*}
|
||||
// else
|
||||
// {
|
||||
// error = true;
|
||||
// }*/
|
||||
//}
|
||||
}
|
||||
|
||||
@@ -0,0 +1,39 @@
|
||||
#ifndef INVERSEKINEMETICS
|
||||
#define INVERSEKINEMETICS
|
||||
|
||||
#include <math.h>
|
||||
#include <D3DX9.h>
|
||||
#include "DataLine.h"
|
||||
|
||||
class InverseKinemetics
|
||||
{
|
||||
public:
|
||||
bool error;
|
||||
int l1;
|
||||
int l2;
|
||||
|
||||
InverseKinemetics()
|
||||
{
|
||||
error = 0;
|
||||
l1 = 10;
|
||||
l2 = 15;
|
||||
}
|
||||
|
||||
int degrees( float I )
|
||||
{
|
||||
return I * ( 180 / 3.14 );
|
||||
}
|
||||
|
||||
void RL3 (Data *DataLine);
|
||||
|
||||
float O1 (Data *DataLine);
|
||||
|
||||
float T1 (Data *DataLine);
|
||||
|
||||
float T3 (Data *DataLine);
|
||||
|
||||
void setleg (bool Side, Data *DataLine);
|
||||
|
||||
};
|
||||
|
||||
#endif
|
||||
@@ -0,0 +1,187 @@
|
||||
//Leg.cpp
|
||||
|
||||
#include "Leg.h"
|
||||
|
||||
//Initial
|
||||
Leg::Leg()
|
||||
{
|
||||
Coordinate = D3DXVECTOR3( 0, 0, 0 );
|
||||
Error = 1;
|
||||
}
|
||||
|
||||
Leg::~Leg()
|
||||
{
|
||||
|
||||
}
|
||||
|
||||
void Leg::GetHDC( HDC hdc )
|
||||
{
|
||||
HDCBuffer = hdc;
|
||||
}
|
||||
|
||||
void Leg::GetHDCSecondBuffer( HDC hdc )
|
||||
{
|
||||
HDCSecondBuffer = hdc;
|
||||
}
|
||||
|
||||
void Leg::GetPossibleMoveSpace( )
|
||||
{
|
||||
if( MoveSpaceRenderd != 1 )
|
||||
{
|
||||
InverseKinemetics IK;
|
||||
Data *D = new Data;
|
||||
|
||||
MoveSpace.clear();
|
||||
|
||||
for (float y = -25; y < 26; y += 0.05)
|
||||
{
|
||||
for (float x = -25; x < 26; x += 0.05)
|
||||
{
|
||||
/*for (int z = -25; z < 26; z++)
|
||||
{*/
|
||||
D->Input( D3DXVECTOR3( x, y, Coordinate.z ) );
|
||||
IK.setleg( 0, D );
|
||||
|
||||
if( IK.error == 0 )
|
||||
{
|
||||
MoveSpace.push_back( struct D3DXVECTOR3( x, y, 0 ));
|
||||
}
|
||||
/*}*/
|
||||
}
|
||||
}
|
||||
MoveSpaceRenderd = 1;
|
||||
}
|
||||
}
|
||||
|
||||
//Overload
|
||||
D3DXVECTOR3 operator*(const D3DXVECTOR3& a, const D3DXVECTOR3& b)
|
||||
{
|
||||
return D3DXVECTOR3(a.x * b.x, a.y * b.y, a.z * b.z);
|
||||
}
|
||||
|
||||
//Input
|
||||
void Leg::Coordinates( float ix, float iy, float iz )
|
||||
{
|
||||
Coordinate.x = ix;
|
||||
Coordinate.y = iy;
|
||||
Coordinate.z = iz;
|
||||
}
|
||||
|
||||
void Leg::Coordinates( D3DXVECTOR3 i )
|
||||
{
|
||||
Coordinate = i;
|
||||
}
|
||||
|
||||
void Leg::Offset( float ix, float iy, float iz )
|
||||
{
|
||||
OffsetVector = D3DXVECTOR3( ix, iy, iz );
|
||||
}
|
||||
|
||||
void Leg::Offset( D3DXVECTOR3 i )
|
||||
{
|
||||
OffsetVector = i;
|
||||
}
|
||||
|
||||
void Leg::Size( float ix, float iy, float iz )
|
||||
{
|
||||
SizeVector = D3DXVECTOR3( ix, iy, iz );
|
||||
}
|
||||
|
||||
void Leg::Size( D3DXVECTOR3 i )
|
||||
{
|
||||
SizeVector = i;
|
||||
}
|
||||
|
||||
//Functions
|
||||
void Leg::CalculateLegRight( )
|
||||
{
|
||||
Data *D = new Data;
|
||||
InverseKinemetics IK;
|
||||
|
||||
D->Input( Coordinate );
|
||||
|
||||
IK.setleg( 0, D );
|
||||
|
||||
Error = IK.error;
|
||||
|
||||
ModelSpaceHip = D3DXVECTOR3( 0, 0, 0 );
|
||||
ModelSpaceKnee = D3DXVECTOR3( D->X2, D->Y2*-1, D->Z2 );
|
||||
ModelSpaceFeet = Coordinate;
|
||||
}
|
||||
|
||||
void Leg::CalculateWorldSpaceLineModel( )
|
||||
{
|
||||
WorldSpaceLineModel.clear();
|
||||
WorldSpaceLineModel.push_back( ModelSpaceHip + OffsetVector );
|
||||
WorldSpaceLineModel.push_back( ( ModelSpaceKnee * SizeVector ) + OffsetVector );
|
||||
WorldSpaceLineModel.push_back( ( ModelSpaceFeet * SizeVector ) + OffsetVector );
|
||||
}
|
||||
|
||||
void Leg::PrintMoveSpaceOnWorldSpace( )
|
||||
{
|
||||
if( MoveSpaceRenderd )
|
||||
{
|
||||
HPEN pen, oldPen;
|
||||
|
||||
pen = CreatePen(PS_SOLID, 2, RGB(0, 32, 20));
|
||||
oldPen = (HPEN)SelectObject(HDCSecondBuffer, pen);
|
||||
|
||||
MoveToEx( HDCSecondBuffer, OffsetVector.x, OffsetVector.y, 0 );
|
||||
|
||||
for (int i=0; i<MoveSpace.size(); i++)
|
||||
{
|
||||
int X = OffsetVector.x+(MoveSpace[i].x*SizeVector.x);
|
||||
int Y = OffsetVector.y+(MoveSpace[i].y*SizeVector.y);
|
||||
SetPixel( HDCSecondBuffer, X, Y, RGB(0, 32, 20) );
|
||||
}
|
||||
|
||||
SelectObject(HDCSecondBuffer, oldPen);
|
||||
DeleteObject(pen);
|
||||
}
|
||||
}
|
||||
|
||||
void Leg::PrintWorldSpaceLineModel( )
|
||||
{
|
||||
HPEN pen, oldPen;
|
||||
|
||||
int Size = 15;
|
||||
|
||||
pen = CreatePen(PS_SOLID, 2, RGB(150, 150, 150));
|
||||
oldPen = (HPEN)SelectObject(HDCBuffer, pen);
|
||||
|
||||
MoveToEx( HDCBuffer, WorldSpaceLineModel[0].x,
|
||||
WorldSpaceLineModel[0].y, 0 );
|
||||
|
||||
LineTo( HDCBuffer, WorldSpaceLineModel[1].x,
|
||||
WorldSpaceLineModel[1].y);
|
||||
|
||||
LineTo( HDCBuffer, WorldSpaceLineModel[2].x,
|
||||
WorldSpaceLineModel[2].y );
|
||||
|
||||
SelectObject(HDCBuffer, oldPen);
|
||||
DeleteObject(pen);
|
||||
}
|
||||
|
||||
void Leg::Print3DLinesOnWorldSpace( )
|
||||
{
|
||||
HPEN pen, oldPen;
|
||||
|
||||
pen = CreatePen(PS_SOLID, 2, RGB(255, 0, 0));
|
||||
oldPen = (HPEN)SelectObject(HDCBuffer, pen);
|
||||
|
||||
MoveToEx( HDCBuffer, OffsetVector.x, 0, 0 );
|
||||
LineTo( HDCBuffer, OffsetVector.x, 800 );
|
||||
|
||||
SelectObject(HDCBuffer, oldPen);
|
||||
DeleteObject(pen);
|
||||
|
||||
pen = CreatePen(PS_SOLID, 2, RGB(0, 0, 255));
|
||||
oldPen = (HPEN)SelectObject(HDCBuffer, pen);
|
||||
|
||||
MoveToEx( HDCBuffer, 0, OffsetVector.y, 0 );
|
||||
LineTo( HDCBuffer, 800, OffsetVector.y );
|
||||
|
||||
SelectObject(HDCBuffer, oldPen);
|
||||
DeleteObject(pen);
|
||||
}
|
||||
|
||||
@@ -0,0 +1,70 @@
|
||||
//Leg.h
|
||||
|
||||
#ifndef LEG_H
|
||||
#define LEG_H
|
||||
|
||||
#include <Windows.h>
|
||||
#include "InverseKinemetics.h"
|
||||
#include <vector>
|
||||
#include <D3DX9.h>
|
||||
|
||||
using namespace std;
|
||||
|
||||
class Leg
|
||||
{
|
||||
public:
|
||||
//Variable
|
||||
D3DXVECTOR3 OffsetVector, SizeVector, Coordinate;
|
||||
struct vector<D3DXVECTOR3> MoveSpace;
|
||||
bool MoveSpaceRenderd;
|
||||
D3DXVECTOR3 ModelSpaceHip, ModelSpaceKnee, ModelSpaceFeet;
|
||||
vector<struct D3DXVECTOR3> WorldSpaceLineModel;
|
||||
bool Error;
|
||||
HDC HDCBuffer, HDCSecondBuffer;
|
||||
|
||||
//Initial
|
||||
Leg();
|
||||
~Leg();
|
||||
|
||||
void GetHDC( HDC hdc );
|
||||
void GetHDCSecondBuffer( HDC hdc );
|
||||
|
||||
//Input
|
||||
void Coordinates( float ix, float iy, float iz );
|
||||
void Coordinates( D3DXVECTOR3 i );
|
||||
void Offset( float ix, float iy, float iz );
|
||||
void Offset( D3DXVECTOR3 i );
|
||||
void Size( float ix, float iy, float iz );
|
||||
void Size( D3DXVECTOR3 i );
|
||||
|
||||
//Functions
|
||||
void GetPossibleMoveSpace( );
|
||||
void CalculateLegRight( );
|
||||
void CalculateWorldSpaceLineModel( );
|
||||
void PrintMoveSpaceOnWorldSpace( );
|
||||
void PrintWorldSpaceLineModel( );
|
||||
void Print3DLinesOnWorldSpace( );
|
||||
|
||||
};
|
||||
|
||||
#endif
|
||||
|
||||
/*
|
||||
Z-Axis Rotation
|
||||
|
||||
x' = x*cos q - y*sin q
|
||||
y' = x*sin q + y*cos q
|
||||
z' = z
|
||||
|
||||
X-Axis Rotation
|
||||
|
||||
y' = y*cos q - z*sin q
|
||||
z' = y*sin q + z*cos q
|
||||
x' = x
|
||||
|
||||
Y-Axis Rotation
|
||||
|
||||
z' = z*cos q - x*sin q
|
||||
x' = z*sin q + x*cos q
|
||||
y' = y
|
||||
*/
|
||||
@@ -0,0 +1,475 @@
|
||||
#include <Windows.h>
|
||||
//#include <vector>
|
||||
#include <math.h>
|
||||
#include <time.h>
|
||||
#include "string"
|
||||
#include <stdlib.h>
|
||||
#include <stdio.h>
|
||||
#include <sstream>
|
||||
#include "Leg.h"
|
||||
#include <D3DX9.h>
|
||||
using namespace std;
|
||||
|
||||
#define DRAW WM_USER + 1
|
||||
|
||||
#pragma region ConverToInt
|
||||
#ifdef UNICODE
|
||||
typedef std::wostringstream tstringstream;
|
||||
#else
|
||||
typedef std::ostringstream tstringstream;
|
||||
#endif
|
||||
|
||||
LPCTSTR convertInt(const int number)
|
||||
{
|
||||
char str[512];
|
||||
sprintf(str,"%d",number);
|
||||
return str;
|
||||
}
|
||||
#pragma endregion ConverToInt
|
||||
|
||||
#pragma region Global
|
||||
HWND ghMainWnd = 0;
|
||||
HINSTANCE ghAppInst = 0;
|
||||
bool gMouseDown = 0;
|
||||
|
||||
HDC backDC;
|
||||
HDC BackDC2;
|
||||
HBITMAP backBufferBMP;
|
||||
HBITMAP backBufferBMP2;
|
||||
int backBufferCX;
|
||||
int backBufferCY;
|
||||
|
||||
Leg *La;
|
||||
|
||||
D3DXVECTOR3 Coordinates( 10, 15, 0);
|
||||
D3DXVECTOR3 SuccessfulCoordinate;
|
||||
D3DXVECTOR3 Offset( 250, 400, 0);
|
||||
D3DXVECTOR3 Size( 15, 15, 15 );
|
||||
#pragma endregion Global
|
||||
|
||||
#pragma region OtherFunctions
|
||||
clock_t Fpres;
|
||||
bool DD ( )
|
||||
{
|
||||
clock_t t = clock();
|
||||
if ((t - Fpres) <= 200)
|
||||
return 1;
|
||||
else
|
||||
{
|
||||
Fpres = t;
|
||||
return 0;
|
||||
}
|
||||
}
|
||||
|
||||
inline void draw()
|
||||
{
|
||||
HDC winhdc = GetDC( ghMainWnd ) ;
|
||||
// Now copy the back buffer to the front buffer.
|
||||
BitBlt(
|
||||
|
||||
winhdc, // destination buffer
|
||||
0, 0, // x, y to start writing to in the destination buffer
|
||||
// counted from top left corner of dest HDC (window)
|
||||
|
||||
// Width, height to copy for
|
||||
backBufferCX, backBufferCY,
|
||||
|
||||
backDC, // SOURCE buffer. We're taking from that back canvas
|
||||
|
||||
0, 0, // x pt, y pt to START copying from
|
||||
// SOURCE. counted from top left again
|
||||
|
||||
// And we just want a straight copy.
|
||||
SRCCOPY );
|
||||
|
||||
ReleaseDC( ghMainWnd, winhdc ) ;
|
||||
}
|
||||
|
||||
inline void copybtf( HDC back, HDC front )
|
||||
{
|
||||
// copy the back buffer to the front buffer.
|
||||
BitBlt(
|
||||
|
||||
front, // destination buffer
|
||||
0, 0, // x, y to start writing to in the destination buffer
|
||||
// counted from top left corner of dest HDC (window)
|
||||
|
||||
// Width, height to copy for
|
||||
backBufferCX, backBufferCY,
|
||||
|
||||
back, // SOURCE buffer. We're taking from that back canvas
|
||||
|
||||
0, 0, // x pt, y pt to START copying from
|
||||
// SOURCE. counted from top left again
|
||||
|
||||
// And we just want a straight copy.
|
||||
SRCCOPY );
|
||||
}
|
||||
|
||||
void InitBackBuffer()
|
||||
{
|
||||
backBufferCX = 700;
|
||||
backBufferCY = 850;
|
||||
|
||||
HDC winhdc = GetDC( ghMainWnd );
|
||||
|
||||
/*
|
||||
|
||||
Imagine you have 2 things:
|
||||
- a canvas on which to draw (call this your HBITMAP)
|
||||
- set of brushes you will use to draw (call this your HDC)
|
||||
|
||||
1. HBITMAP. Canvas
|
||||
___________________
|
||||
| * |
|
||||
| * |
|
||||
| HBITMAP |
|
||||
| draw here |
|
||||
|_________________|
|
||||
|
||||
2. HDC. Set of brushes.
|
||||
<-*
|
||||
[]-*
|
||||
()-*
|
||||
|
||||
*/
|
||||
|
||||
// Create the HBITMAP "canvas", or surface on which we will draw.
|
||||
backBufferBMP = CreateCompatibleBitmap( winhdc, backBufferCX, backBufferCY );
|
||||
if(backBufferBMP == NULL)
|
||||
printf( "failed to create backBufferBMP" );
|
||||
|
||||
|
||||
// Create the HDC "device context", or collection of tools
|
||||
// and brushes that we can use to draw on our canvas
|
||||
backDC = CreateCompatibleDC( winhdc );
|
||||
if(backDC == NULL)
|
||||
printf( "failed to create the backDC" );
|
||||
|
||||
// Permanently associate the surface on which to draw
|
||||
// ("canvas") (HBITMAP), with the "set of brushes" (HDC)
|
||||
|
||||
// "select in" the backBufferBMP into the backDC
|
||||
HBITMAP oldbmp = (HBITMAP)SelectObject( backDC, backBufferBMP );
|
||||
|
||||
|
||||
// Delete the "canvas" that the backDC was
|
||||
// going to draw to. We don't care about it.
|
||||
DeleteObject( oldbmp );
|
||||
|
||||
|
||||
|
||||
/// Release the dc of the main window itself
|
||||
ReleaseDC( ghMainWnd, winhdc );
|
||||
}
|
||||
|
||||
void InitBackBuffer2()
|
||||
{
|
||||
backBufferCX = 700;
|
||||
backBufferCY = 850;
|
||||
|
||||
HDC winhdc = GetDC( ghMainWnd );
|
||||
|
||||
// Create the HBITMAP "canvas", or surface on which we will draw.
|
||||
backBufferBMP2 = CreateCompatibleBitmap( winhdc, backBufferCX, backBufferCY );
|
||||
if(backBufferBMP2 == NULL)
|
||||
printf( "failed to create backBufferBMP" );
|
||||
|
||||
|
||||
// Create the HDC "device context", or collection of tools
|
||||
// and brushes that we can use to draw on our canvas
|
||||
BackDC2 = CreateCompatibleDC( winhdc );
|
||||
if(BackDC2 == NULL)
|
||||
printf( "failed to create the backDC" );
|
||||
|
||||
// Permanently associate the surface on which to draw
|
||||
// ("canvas") (HBITMAP), with the "set of brushes" (HDC)
|
||||
|
||||
// "select in" the backBufferBMP into the backDC
|
||||
HBITMAP oldbmp = (HBITMAP)SelectObject( BackDC2, backBufferBMP2 );
|
||||
|
||||
|
||||
// Delete the "canvas" that the backDC was
|
||||
// going to draw to. We don't care about it.
|
||||
DeleteObject( oldbmp );
|
||||
|
||||
|
||||
|
||||
/// Release the dc of the main window itself
|
||||
ReleaseDC( ghMainWnd, winhdc );
|
||||
}
|
||||
|
||||
inline void ClearBackDC()
|
||||
{
|
||||
// clear by filling out the back buffer with black rectangle
|
||||
HBRUSH oldBrush = (HBRUSH)SelectObject( backDC, GetStockObject( BLACK_BRUSH ) ) ;
|
||||
Rectangle( backDC, 0, 0, backBufferCX, backBufferCY );
|
||||
SelectObject( backDC, oldBrush ) ; // put the old brush back, not bothering
|
||||
// to catch the system BLACK_BRUSH
|
||||
}
|
||||
|
||||
inline void ClearBackDC2()
|
||||
{
|
||||
// clear by filling out the back buffer with black rectangle
|
||||
HBRUSH oldBrush = (HBRUSH)SelectObject( BackDC2, GetStockObject( BLACK_BRUSH ) ) ;
|
||||
Rectangle( BackDC2, 0, 0, backBufferCX, backBufferCY );
|
||||
SelectObject( BackDC2, oldBrush ) ; // put the old brush back, not bothering
|
||||
// to catch the system BLACK_BRUSH
|
||||
}
|
||||
|
||||
#pragma endregion OtherFunctions
|
||||
|
||||
LRESULT CALLBACK
|
||||
WndProc(HWND hWnd, UINT msg, WPARAM wParam, LPARAM lParam)
|
||||
{
|
||||
HDC hdc = 0;
|
||||
PAINTSTRUCT ps;
|
||||
|
||||
int mx = LOWORD(lParam);
|
||||
int my = HIWORD(lParam);
|
||||
|
||||
D3DXVECTOR3 test;
|
||||
|
||||
switch( msg )
|
||||
{
|
||||
#pragma region CREATE
|
||||
case WM_CREATE:
|
||||
{
|
||||
La = new Leg;
|
||||
|
||||
La->Offset( Offset );
|
||||
La->Size( Size );
|
||||
|
||||
InitBackBuffer();
|
||||
|
||||
La->GetHDC( backDC );
|
||||
|
||||
InitBackBuffer2();
|
||||
|
||||
La->GetHDCSecondBuffer( BackDC2 );
|
||||
|
||||
La->GetPossibleMoveSpace();
|
||||
|
||||
La->PrintMoveSpaceOnWorldSpace();
|
||||
|
||||
PostMessage( hWnd, DRAW, wParam, lParam );
|
||||
|
||||
break;
|
||||
}
|
||||
#pragma endregion CREATE
|
||||
case DRAW:
|
||||
{
|
||||
#pragma region DRAW
|
||||
ClearBackDC();
|
||||
|
||||
copybtf( BackDC2, backDC );
|
||||
|
||||
La->Coordinates( Coordinates );
|
||||
La->CalculateLegRight();
|
||||
|
||||
if( La->Error == true )
|
||||
{
|
||||
La->Coordinates( SuccessfulCoordinate );
|
||||
La->CalculateLegRight();
|
||||
|
||||
La->CalculateWorldSpaceLineModel();
|
||||
|
||||
La->Print3DLinesOnWorldSpace();
|
||||
|
||||
La->PrintWorldSpaceLineModel();
|
||||
}
|
||||
else
|
||||
{
|
||||
La->CalculateWorldSpaceLineModel();
|
||||
|
||||
La->Print3DLinesOnWorldSpace();
|
||||
|
||||
La->PrintWorldSpaceLineModel();
|
||||
|
||||
SuccessfulCoordinate = La->Coordinate;
|
||||
}
|
||||
|
||||
|
||||
#pragma region Status
|
||||
RECT rcWind;
|
||||
POINT ptDiff;
|
||||
GetWindowRect(hWnd, &rcWind);
|
||||
ptDiff.x = (rcWind.right - rcWind.left);
|
||||
ptDiff.y = (rcWind.bottom - rcWind.top);
|
||||
|
||||
//TextOut( backDC, ptDiff.x - 44, 0, convertInt( D->O1 ), ( sizeof( convertInt( D->O1 ) ) / sizeof( char ) - 1) );
|
||||
//TextOut( backDC, ptDiff.x - 44, 20, convertInt( D->O2 ), ( sizeof( convertInt( D->O2 ) ) / sizeof( char ) - 1) );
|
||||
//TextOut( backDC, ptDiff.x - 44, 40, convertInt( D->O3 ), ( sizeof( convertInt( D->O3 ) ) / sizeof( char ) - 1) );
|
||||
TextOut( backDC, ptDiff.x - 44, 70, convertInt( Coordinates.x ), ( sizeof( convertInt( Coordinates.x ) ) / sizeof( char ) - 1) );
|
||||
TextOut( backDC, ptDiff.x - 44, 90, convertInt( Coordinates.y ), ( sizeof( convertInt( Coordinates.y ) ) / sizeof( char ) - 1) );
|
||||
TextOut( backDC, ptDiff.x - 44, 110, convertInt( Coordinates.z ), ( sizeof( convertInt( Coordinates.z ) ) / sizeof( char ) - 1) );
|
||||
//TextOut( backDC, ptDiff.x - 44, 140, convertInt( D->X2 ), ( sizeof( convertInt( D->X2 ) ) / sizeof( char ) - 1) );
|
||||
//TextOut( backDC, ptDiff.x - 44, 160, convertInt( D->Y2 ), ( sizeof( convertInt( D->Y2 ) ) / sizeof( char ) - 1) );
|
||||
//TextOut( backDC, ptDiff.x - 44, 180, convertInt( D->Z2 ), ( sizeof( convertInt( D->Z2 ) ) / sizeof( char ) - 1) );
|
||||
|
||||
#pragma endregion Status
|
||||
#pragma endregion DRAW
|
||||
break;
|
||||
}
|
||||
case WM_KEYUP:
|
||||
|
||||
#pragma region KeyMove
|
||||
if( GetAsyncKeyState( VK_UP ) == 1 )
|
||||
Coordinates.y--;
|
||||
if( GetAsyncKeyState( VK_DOWN ) == 1 )
|
||||
Coordinates.y++;
|
||||
if( GetAsyncKeyState( VK_LEFT ) == 1 )
|
||||
Coordinates.x--;
|
||||
if( GetAsyncKeyState( VK_RIGHT ) == 1 )
|
||||
Coordinates.x++;
|
||||
if( GetAsyncKeyState( VK_SUBTRACT ) == 1 )
|
||||
{
|
||||
Coordinates.z--;
|
||||
|
||||
ClearBackDC2();
|
||||
|
||||
La->MoveSpaceRenderd = 0;
|
||||
|
||||
La->GetPossibleMoveSpace();
|
||||
|
||||
La->PrintMoveSpaceOnWorldSpace();
|
||||
}
|
||||
if( GetAsyncKeyState( VK_ADD ) == 1 )
|
||||
{
|
||||
Coordinates.z++;
|
||||
|
||||
ClearBackDC2();
|
||||
|
||||
La->MoveSpaceRenderd = 0;
|
||||
|
||||
La->GetPossibleMoveSpace();
|
||||
|
||||
La->PrintMoveSpaceOnWorldSpace();
|
||||
}
|
||||
#pragma endregion KeyMove
|
||||
|
||||
PostMessage( hWnd, DRAW, wParam, lParam );
|
||||
|
||||
return 0;
|
||||
case WM_LBUTTONDOWN:
|
||||
SetCapture(hWnd);
|
||||
|
||||
gMouseDown = true;
|
||||
|
||||
break;
|
||||
case WM_RBUTTONDOWN:
|
||||
|
||||
return 0;
|
||||
case WM_MOUSEMOVE:
|
||||
if( gMouseDown )
|
||||
{
|
||||
Coordinates.x = ((float) mx - Offset.x ) / Size.x;
|
||||
Coordinates.y = ((float) my - Offset.y) / Size.y;
|
||||
PostMessage( hWnd, DRAW, wParam, lParam );
|
||||
}
|
||||
break;
|
||||
case WM_LBUTTONUP:
|
||||
ReleaseCapture();
|
||||
gMouseDown = false;
|
||||
|
||||
break;
|
||||
case WM_RBUTTONUP:
|
||||
ReleaseCapture();
|
||||
gMouseDown = false;
|
||||
|
||||
UpdateWindow (hWnd);
|
||||
|
||||
break;
|
||||
#pragma region PAINT
|
||||
case WM_PAINT:
|
||||
{
|
||||
PAINTSTRUCT ps;
|
||||
|
||||
HDC winhdc = BeginPaint(hWnd, &ps);
|
||||
|
||||
// Do nothing here. All drawing happens in draw(),
|
||||
// and you draw to the backbuffer, NOT the
|
||||
// front buffer.
|
||||
|
||||
EndPaint(hWnd, &ps);
|
||||
break;
|
||||
}
|
||||
#pragma endregion PAINT
|
||||
case WM_DESTROY:
|
||||
PostQuitMessage(0);
|
||||
break;
|
||||
default:
|
||||
return DefWindowProc(hWnd, msg, wParam, lParam);
|
||||
}
|
||||
}
|
||||
|
||||
#pragma region Functions
|
||||
|
||||
int WINAPI WinMain (HINSTANCE hInstance,
|
||||
HINSTANCE hPrevInstance,
|
||||
PSTR cmdLine,
|
||||
int showCmd)
|
||||
{
|
||||
ghAppInst = hInstance;
|
||||
|
||||
WNDCLASS wc;
|
||||
wc.style = CS_HREDRAW | CS_VREDRAW;
|
||||
wc.lpfnWndProc = WndProc;
|
||||
wc.cbClsExtra = 0;
|
||||
wc.cbWndExtra = 0;
|
||||
wc.hInstance = ghAppInst;
|
||||
wc.hIcon = ::LoadIcon(0, IDI_APPLICATION);
|
||||
wc.hCursor = ::LoadCursor(0, IDC_ARROW);
|
||||
wc.hbrBackground = (HBRUSH)(COLOR_WINDOW)+1;
|
||||
wc.lpszMenuName = 0;
|
||||
wc.lpszClassName = "Hexapod";
|
||||
|
||||
RegisterClass( &wc );
|
||||
|
||||
ghMainWnd = ::CreateWindow("Hexapod", "Hexapod FrontView",
|
||||
WS_OVERLAPPEDWINDOW, 50, 50, 700, 850, 0, 0, ghAppInst, 0);
|
||||
|
||||
if(ghMainWnd == 0)
|
||||
{
|
||||
::MessageBox(0, "CreateWindow - Failed", 0, 0);
|
||||
return false;
|
||||
}
|
||||
|
||||
ShowWindow(ghMainWnd, showCmd);
|
||||
UpdateWindow(ghMainWnd);
|
||||
|
||||
MSG msg;
|
||||
/*ZeroMemory(&msg, sizeof(MSG));
|
||||
|
||||
while( GetMessage(&msg, 0, 0, 0) )
|
||||
{
|
||||
TranslateMessage(&msg);
|
||||
DispatchMessage(&msg);
|
||||
}*/
|
||||
|
||||
while(1)
|
||||
{
|
||||
if(PeekMessage(&msg, NULL, 0, 0, PM_REMOVE))
|
||||
{
|
||||
if(msg.message == WM_QUIT)
|
||||
{
|
||||
PostQuitMessage(0);
|
||||
break;
|
||||
}
|
||||
TranslateMessage(&msg); // translates 'character' keyboard messages
|
||||
DispatchMessage(&msg); // send off to WndProc for processing
|
||||
}
|
||||
else
|
||||
{
|
||||
// could put more update code in here
|
||||
// before drawing.
|
||||
draw();
|
||||
}
|
||||
}
|
||||
|
||||
//return (int)msg.wParam;
|
||||
return 0;
|
||||
}
|
||||
|
||||
|
||||
|
||||
Binary file not shown.
Binary file not shown.
@@ -0,0 +1,18 @@
|
||||
Build started 28-2-2013 10:06:26.
|
||||
1>Project "C:\Users\MangaValk\Dropbox\Projecten\Visual-Studio\Projecten\Hexapod\Hexapod app\Catmull-Rom app.vcxproj" on node 2 (Build target(s)).
|
||||
1>ClCompile:
|
||||
C:\Program Files (x86)\Microsoft Visual Studio 11.0\VC\bin\CL.exe /c /Zi /nologo /W3 /WX- /O2 /Oi /Oy- /D WIN32 /D NDEBUG /D _WINDOWS /Gm- /EHsc /MD /GS /Gy /fp:precise /Zc:wchar_t /Zc:forScope /Fo"Release\\" /Fd"Release\vc110.pdb" /Gd /TP /analyze- /errorReport:prompt DataLine.h InverseKinemetics.cpp Leg.cpp Main.cpp
|
||||
DataLine.h
|
||||
1>DataLine.h(4): fatal error C1083: Cannot open include file: 'D3DX9.h': No such file or directory
|
||||
InverseKinemetics.cpp
|
||||
1>c:\users\mangavalk\dropbox\projecten\visual-studio\projecten\hexapod\hexapod app\InverseKinemetics.h(5): fatal error C1083: Cannot open include file: 'D3DX9.h': No such file or directory
|
||||
Leg.cpp
|
||||
1>c:\users\mangavalk\dropbox\projecten\visual-studio\projecten\hexapod\hexapod app\InverseKinemetics.h(5): fatal error C1083: Cannot open include file: 'D3DX9.h': No such file or directory
|
||||
Main.cpp
|
||||
1>c:\users\mangavalk\dropbox\projecten\visual-studio\projecten\hexapod\hexapod app\InverseKinemetics.h(5): fatal error C1083: Cannot open include file: 'D3DX9.h': No such file or directory
|
||||
Generating Code...
|
||||
1>Done Building Project "C:\Users\MangaValk\Dropbox\Projecten\Visual-Studio\Projecten\Hexapod\Hexapod app\Catmull-Rom app.vcxproj" (Build target(s)) -- FAILED.
|
||||
|
||||
Build FAILED.
|
||||
|
||||
Time Elapsed 00:00:03.58
|
||||
Binary file not shown.
@@ -0,0 +1,25 @@
|
||||
C:\USERS\GEBRUIKER\DROPBOX\PROJECTEN\VISUAL-STUDIO\PROJECTEN\HEXAPOD\HEXAPOD APP\RELEASE\MAIN.OBJ
|
||||
C:\USERS\GEBRUIKER\DROPBOX\PROJECTEN\VISUAL-STUDIO\PROJECTEN\HEXAPOD\HEXAPOD APP\RELEASE\LEG.OBJ
|
||||
C:\USERS\GEBRUIKER\DROPBOX\PROJECTEN\VISUAL-STUDIO\PROJECTEN\HEXAPOD\HEXAPOD APP\RELEASE\INVERSEKINEMETICS.OBJ
|
||||
C:\USERS\GEBRUIKER\DROPBOX\PROJECTEN\VISUAL-STUDIO\PROJECTEN\HEXAPOD\HEXAPOD APP\RELEASE\DATALINE.OBJ
|
||||
C:\USERS\GEBRUIKER\DROPBOX\PROJECTEN\VISUAL-STUDIO\PROJECTEN\HEXAPOD\HEXAPOD APP\RELEASE\VC100.PDB
|
||||
C:\USERS\GEBRUIKER\DROPBOX\PROJECTEN\VISUAL-STUDIO\PROJECTEN\HEXAPOD\RELEASE\HEXAPOD APP.EXE
|
||||
C:\USERS\GEBRUIKER\DROPBOX\PROJECTEN\VISUAL-STUDIO\PROJECTEN\HEXAPOD\HEXAPOD APP\RELEASE\HEXAPOD APP.EXE.INTERMEDIATE.MANIFEST
|
||||
C:\USERS\GEBRUIKER\DROPBOX\PROJECTEN\VISUAL-STUDIO\PROJECTEN\HEXAPOD\RELEASE\HEXAPOD APP.PDB
|
||||
C:\Users\Gebruiker\Dropbox\Projecten\Visual-Studio\Projecten\Hexapod\Hexapod app\Release\DataLine.obj
|
||||
C:\Users\Gebruiker\Dropbox\Projecten\Visual-Studio\Projecten\Hexapod\Hexapod app\Release\InverseKinemetics.obj
|
||||
C:\Users\Gebruiker\Dropbox\Projecten\Visual-Studio\Projecten\Hexapod\Hexapod app\Release\Leg.obj
|
||||
C:\Users\Gebruiker\Dropbox\Projecten\Visual-Studio\Projecten\Hexapod\Hexapod app\Release\Main.obj
|
||||
C:\Users\Gebruiker\Dropbox\Projecten\Visual-Studio\Projecten\Hexapod\Hexapod app\Release\cl.command.1.tlog
|
||||
C:\Users\Gebruiker\Dropbox\Projecten\Visual-Studio\Projecten\Hexapod\Hexapod app\Release\CL.read.1.tlog
|
||||
C:\Users\Gebruiker\Dropbox\Projecten\Visual-Studio\Projecten\Hexapod\Hexapod app\Release\CL.write.1.tlog
|
||||
C:\Users\Gebruiker\Dropbox\Projecten\Visual-Studio\Projecten\Hexapod\Hexapod app\Release\link.command.1.tlog
|
||||
C:\Users\Gebruiker\Dropbox\Projecten\Visual-Studio\Projecten\Hexapod\Hexapod app\Release\link.read.1.tlog
|
||||
C:\Users\Gebruiker\Dropbox\Projecten\Visual-Studio\Projecten\Hexapod\Hexapod app\Release\link.write.1.tlog
|
||||
C:\Users\Gebruiker\Dropbox\Projecten\Visual-Studio\Projecten\Hexapod\Hexapod app\Release\mt.command.1.tlog
|
||||
C:\Users\Gebruiker\Dropbox\Projecten\Visual-Studio\Projecten\Hexapod\Hexapod app\Release\mt.read.1.tlog
|
||||
C:\Users\Gebruiker\Dropbox\Projecten\Visual-Studio\Projecten\Hexapod\Hexapod app\Release\mt.write.1.tlog
|
||||
C:\Users\Gebruiker\Dropbox\Projecten\Visual-Studio\Projecten\Hexapod\Hexapod app\Release\Hexapod app.exe.intermediate.manifest
|
||||
C:\Users\Gebruiker\Dropbox\Projecten\Visual-Studio\Projecten\Hexapod\Hexapod app\Release\vc100.pdb
|
||||
C:\Users\Gebruiker\Dropbox\Projecten\Visual-Studio\Projecten\Hexapod\Release\Hexapod app.pdb
|
||||
C:\Users\Gebruiker\Dropbox\Projecten\Visual-Studio\Projecten\Hexapod\Release\Hexapod app.exe
|
||||
+10
@@ -0,0 +1,10 @@
|
||||
<?xml version='1.0' encoding='UTF-8' standalone='yes'?>
|
||||
<assembly xmlns='urn:schemas-microsoft-com:asm.v1' manifestVersion='1.0'>
|
||||
<trustInfo xmlns="urn:schemas-microsoft-com:asm.v3">
|
||||
<security>
|
||||
<requestedPrivileges>
|
||||
<requestedExecutionLevel level='asInvoker' uiAccess='false' />
|
||||
</requestedPrivileges>
|
||||
</security>
|
||||
</trustInfo>
|
||||
</assembly>
|
||||
@@ -0,0 +1,2 @@
|
||||
#v4.0:v110:false
|
||||
Release|Win32|C:\Users\MangaValk\Dropbox\Projecten\Visual-Studio\Projecten\Hexapod\|
|
||||
Whitespace-only changes.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
@@ -0,0 +1 @@
|
||||
|
||||
@@ -0,0 +1 @@
|
||||
|
||||
Binary file not shown.
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Binary file not shown.
Binary file not shown.
Binary file not shown.
@@ -0,0 +1,60 @@
|
||||
//VectorStructure.h
|
||||
|
||||
#ifndef VectorStructure_H
|
||||
#define VectorStructure_H
|
||||
|
||||
#pragma region VectorStruct
|
||||
/*struct Vector3D
|
||||
{
|
||||
float X;
|
||||
float Y;
|
||||
float Z;
|
||||
|
||||
Vector3D()
|
||||
{
|
||||
X = 0;
|
||||
Y = 0;
|
||||
Z = 0;
|
||||
}
|
||||
|
||||
Vector3D( float x, float y, float z )
|
||||
{
|
||||
X = x;
|
||||
Y = y;
|
||||
Z = z;
|
||||
}
|
||||
|
||||
Vector3D operator* ( Vector3D rhs )
|
||||
{
|
||||
Vector3D temp;
|
||||
temp.X = X * rhs.X;
|
||||
temp.Y = Y * rhs.Y;
|
||||
temp.Z = Z * rhs.Z;
|
||||
return temp;
|
||||
}
|
||||
|
||||
Vector3D operator+ ( Vector3D rhs )
|
||||
{
|
||||
Vector3D temp;
|
||||
temp.X = X + rhs.X;
|
||||
temp.Y = Y + rhs.Y;
|
||||
temp.Z = Z + rhs.Z;
|
||||
return temp;
|
||||
}
|
||||
};*/
|
||||
|
||||
struct Vector2D
|
||||
{
|
||||
float X;
|
||||
float Y;
|
||||
|
||||
Vector2D( float x, float y )
|
||||
{
|
||||
X = x;
|
||||
Y = y;
|
||||
}
|
||||
};
|
||||
#pragma endregion Struct
|
||||
|
||||
#endif
|
||||
|
||||
Binary file not shown.
@@ -0,0 +1,20 @@
|
||||
|
||||
Microsoft Visual Studio Solution File, Format Version 12.00
|
||||
# Visual Studio 2012
|
||||
Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "Catmull-Rom app", "Hexapod app\Catmull-Rom app.vcxproj", "{7B99C6A5-E418-4C29-AB89-66A3FEE46034}"
|
||||
EndProject
|
||||
Global
|
||||
GlobalSection(SolutionConfigurationPlatforms) = preSolution
|
||||
Debug|Win32 = Debug|Win32
|
||||
Release|Win32 = Release|Win32
|
||||
EndGlobalSection
|
||||
GlobalSection(ProjectConfigurationPlatforms) = postSolution
|
||||
{7B99C6A5-E418-4C29-AB89-66A3FEE46034}.Debug|Win32.ActiveCfg = Debug|Win32
|
||||
{7B99C6A5-E418-4C29-AB89-66A3FEE46034}.Debug|Win32.Build.0 = Debug|Win32
|
||||
{7B99C6A5-E418-4C29-AB89-66A3FEE46034}.Release|Win32.ActiveCfg = Release|Win32
|
||||
{7B99C6A5-E418-4C29-AB89-66A3FEE46034}.Release|Win32.Build.0 = Release|Win32
|
||||
EndGlobalSection
|
||||
GlobalSection(SolutionProperties) = preSolution
|
||||
HideSolutionNode = FALSE
|
||||
EndGlobalSection
|
||||
EndGlobal
|
||||
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BIN
Binary file not shown.
Reference in new issue
Block a user