commit 4d4b12e6b3bc60f0b3db7dc95a718cd2d7af3903 Author: Patrick Valk Date: Sun Feb 16 00:13:50 2014 +0100 First commit diff --git a/.gitattributes b/.gitattributes new file mode 100644 index 0000000..533fe76 --- /dev/null +++ b/.gitattributes @@ -0,0 +1,37 @@ +*.wmv filter=lfs diff=lfs merge=lfs -text +*.WMV filter=lfs diff=lfs merge=lfs -text +*.mp4 filter=lfs diff=lfs merge=lfs -text +*.MP4 filter=lfs diff=lfs merge=lfs -text +*.MPG filter=lfs diff=lfs merge=lfs -text +*.mpg filter=lfs diff=lfs merge=lfs -text +*.jpg filter=lfs diff=lfs merge=lfs -text +*.JPG filter=lfs diff=lfs merge=lfs -text +*.jpeg filter=lfs diff=lfs merge=lfs -text +*.png filter=lfs diff=lfs merge=lfs -text +*.PNG filter=lfs diff=lfs merge=lfs -text +*.bmp filter=lfs diff=lfs merge=lfs -text +*.exr filter=lfs diff=lfs merge=lfs -text +*.pdf filter=lfs diff=lfs merge=lfs -text +*.docx filter=lfs diff=lfs merge=lfs -text +*.vsdx filter=lfs diff=lfs merge=lfs -text +*.dwg filter=lfs diff=lfs merge=lfs -text +*.f3d filter=lfs diff=lfs merge=lfs -text +*.zip filter=lfs diff=lfs merge=lfs -text +*.zi filter=lfs diff=lfs merge=lfs -text +*.stl filter=lfs diff=lfs merge=lfs -text +*.STL filter=lfs diff=lfs merge=lfs -text +*.HMI filter=lfs diff=lfs merge=lfs -text +*.exe filter=lfs diff=lfs merge=lfs -text +*.dll filter=lfs diff=lfs merge=lfs -text +*.pdb filter=lfs diff=lfs merge=lfs -text +*.idb filter=lfs diff=lfs merge=lfs -text +*.obj filter=lfs diff=lfs merge=lfs -text +*.ipch filter=lfs diff=lfs merge=lfs -text +*.sdf filter=lfs diff=lfs merge=lfs -text +*.suo filter=lfs diff=lfs merge=lfs -text +*.db filter=lfs diff=lfs merge=lfs -text +*.lnk filter=lfs diff=lfs merge=lfs -text +*.ide filter=lfs diff=lfs merge=lfs -text +*.ide-wal filter=lfs diff=lfs merge=lfs -text +*.ide-shm filter=lfs diff=lfs merge=lfs -text +2018-unity-sim/**/*.unity filter=lfs diff=lfs merge=lfs -text diff --git a/2012-simulation/ik-visualiser-vs/Debug/Hexapod app.exe b/2012-simulation/ik-visualiser-vs/Debug/Hexapod app.exe new file mode 100644 index 0000000..4c9d079 --- /dev/null +++ b/2012-simulation/ik-visualiser-vs/Debug/Hexapod app.exe @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6e00925e711644d879c9671953b6cce15c3255e15fd3f74931b129adbeb99d5a +size 53248 diff --git a/2012-simulation/ik-visualiser-vs/Debug/Hexapod app.pdb b/2012-simulation/ik-visualiser-vs/Debug/Hexapod app.pdb new file mode 100644 index 0000000..9feaee4 --- /dev/null +++ b/2012-simulation/ik-visualiser-vs/Debug/Hexapod app.pdb @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:67022824561b3ead5a927ae1e1891157bbe8614b86f44d7e76cfecc719b2d5c6 +size 1272832 diff --git a/2012-simulation/ik-visualiser-vs/Hexapod app/Catmull-Rom app.vcxproj b/2012-simulation/ik-visualiser-vs/Hexapod app/Catmull-Rom app.vcxproj new file mode 100644 index 0000000..1ea5264 --- /dev/null +++ b/2012-simulation/ik-visualiser-vs/Hexapod app/Catmull-Rom app.vcxproj @@ -0,0 +1,97 @@ + + + + + Debug + Win32 + + + Release + Win32 + + + + {7B99C6A5-E418-4C29-AB89-66A3FEE46034} + Win32Proj + CatmullRomapp + Hexapod app + + + + Application + true + NotSet + v120 + false + Static + + + Application + false + false + NotSet + v120 + + + + + + + + + + + + + false + C:\Program Files (x86)\Microsoft DirectX SDK (June 2010)\Lib\x64;$(LibraryPath) + C:\Program Files (x86)\Microsoft DirectX SDK (June 2010)\Include;$(IncludePath) + + + false + + + + + + Level3 + Disabled + WIN32;_DEBUG;_WINDOWS;%(PreprocessorDefinitions) + + + Windows + true + d3dx11d.lib;%(AdditionalDependencies) + + + + + Level3 + + + MaxSpeed + true + true + WIN32;NDEBUG;_WINDOWS;%(PreprocessorDefinitions) + + + Windows + true + true + true + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/2012-simulation/ik-visualiser-vs/Hexapod app/Catmull-Rom app.vcxproj.filters b/2012-simulation/ik-visualiser-vs/Hexapod app/Catmull-Rom app.vcxproj.filters new file mode 100644 index 0000000..cefda3d --- /dev/null +++ b/2012-simulation/ik-visualiser-vs/Hexapod app/Catmull-Rom app.vcxproj.filters @@ -0,0 +1,39 @@ + + + + + {4FC737F1-C7A5-4376-A066-2A32D752A2FF} + cpp;c;cc;cxx;def;odl;idl;hpj;bat;asm;asmx + + + {93995380-89BD-4b04-88EB-625FBE52EBFB} + h;hpp;hxx;hm;inl;inc;xsd + + + {67DA6AB6-F800-4c08-8B7A-83BB121AAD01} + rc;ico;cur;bmp;dlg;rc2;rct;bin;rgs;gif;jpg;jpeg;jpe;resx;tiff;tif;png;wav;mfcribbon-ms + + + + + Source Files + + + Source Files + + + Source Files + + + Header Files + + + + + Header Files + + + Header Files + + + \ No newline at end of file diff --git a/2012-simulation/ik-visualiser-vs/Hexapod app/Catmull-Rom app.vcxproj.user b/2012-simulation/ik-visualiser-vs/Hexapod app/Catmull-Rom app.vcxproj.user new file mode 100644 index 0000000..ace9a86 --- /dev/null +++ b/2012-simulation/ik-visualiser-vs/Hexapod app/Catmull-Rom app.vcxproj.user @@ -0,0 +1,3 @@ + + + \ No newline at end of file diff --git a/2012-simulation/ik-visualiser-vs/Hexapod app/DataLine.h b/2012-simulation/ik-visualiser-vs/Hexapod app/DataLine.h new file mode 100644 index 0000000..12bc277 --- /dev/null +++ b/2012-simulation/ik-visualiser-vs/Hexapod app/DataLine.h @@ -0,0 +1,38 @@ +#ifndef DATA +#define DATA + +#include + +struct Data +{ + float X; + float Y; + float Z; + + float l3; + float s; + + int O1; + int O2; + int O3; + + float X2; + float Y2; + float Z2; + + void Input( float x, float y, float z ) + { + X = x; + Y = y; + Z = z; + } + + void Input( D3DXVECTOR3 i ) + { + X = i.x; + Y = i.y; + Z = i.z; + } +}; + +#endif diff --git a/2012-simulation/ik-visualiser-vs/Hexapod app/Debug/CL.read.1.tlog b/2012-simulation/ik-visualiser-vs/Hexapod app/Debug/CL.read.1.tlog new file mode 100644 index 0000000..0b1891d Binary files /dev/null and b/2012-simulation/ik-visualiser-vs/Hexapod app/Debug/CL.read.1.tlog differ diff --git a/2012-simulation/ik-visualiser-vs/Hexapod app/Debug/CL.write.1.tlog b/2012-simulation/ik-visualiser-vs/Hexapod app/Debug/CL.write.1.tlog new file mode 100644 index 0000000..3ac4303 Binary files /dev/null and b/2012-simulation/ik-visualiser-vs/Hexapod app/Debug/CL.write.1.tlog differ diff --git a/2012-simulation/ik-visualiser-vs/Hexapod app/Debug/Catmull-Rom app (FireFly-HP's conflicted copy 2013-01-14).log b/2012-simulation/ik-visualiser-vs/Hexapod app/Debug/Catmull-Rom app (FireFly-HP's conflicted copy 2013-01-14).log new file mode 100644 index 0000000..506513a --- /dev/null +++ b/2012-simulation/ik-visualiser-vs/Hexapod app/Debug/Catmull-Rom app (FireFly-HP's conflicted copy 2013-01-14).log @@ -0,0 +1,9 @@ +Build started 14-1-2013 10:08:44. + 1>Project "C:\Users\Gebruiker\Dropbox\Projecten\Visual-Studio\Projecten\Hexapod\Hexapod app\Catmull-Rom app.vcxproj" on node 2 (Build target(s)). + 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 diff --git a/2012-simulation/ik-visualiser-vs/Hexapod app/Debug/Catmull-Rom app.Build.CppClean.log b/2012-simulation/ik-visualiser-vs/Hexapod app/Debug/Catmull-Rom app.Build.CppClean.log new file mode 100644 index 0000000..2127f66 --- /dev/null +++ b/2012-simulation/ik-visualiser-vs/Hexapod app/Debug/Catmull-Rom app.Build.CppClean.log @@ -0,0 +1,31 @@ +D:\DROPBOX\DROPBOX\PROJECTEN\VISUAL-STUDIO\PROJECTEN\HEXAPOD\HEXAPOD APP\DEBUG\MAIN.OBJ +D:\DROPBOX\DROPBOX\PROJECTEN\VISUAL-STUDIO\PROJECTEN\HEXAPOD\HEXAPOD APP\DEBUG\VC110.PDB +C:\USERS\GEBRUIKER\DROPBOX\PROJECTEN\VISUAL-STUDIO\PROJECTEN\HEXAPOD\HEXAPOD APP\DEBUG\DATALINE.OBJ +C:\USERS\GEBRUIKER\DROPBOX\PROJECTEN\VISUAL-STUDIO\PROJECTEN\HEXAPOD\HEXAPOD APP\DEBUG\INVERSEKINEMETICS.OBJ +C:\USERS\GEBRUIKER\DROPBOX\PROJECTEN\VISUAL-STUDIO\PROJECTEN\HEXAPOD\HEXAPOD APP\DEBUG\MAIN.OBJ +C:\USERS\GEBRUIKER\DROPBOX\PROJECTEN\VISUAL-STUDIO\PROJECTEN\HEXAPOD\HEXAPOD APP\DEBUG\VC110.PDB +D:\DROPBOX\DROPBOX\PROJECTEN\VISUAL-STUDIO\PROJECTEN\HEXAPOD\DEBUG\CATMULL-ROM APP.ILK +D:\DROPBOX\DROPBOX\PROJECTEN\VISUAL-STUDIO\PROJECTEN\HEXAPOD\DEBUG\CATMULL-ROM APP.EXE +D:\DROPBOX\DROPBOX\PROJECTEN\VISUAL-STUDIO\PROJECTEN\HEXAPOD\DEBUG\CATMULL-ROM APP.PDB +C:\Users\Gebruiker\Dropbox\Projecten\Visual-Studio\Projecten\Hexapod\Hexapod app\Debug\DataLine.obj +C:\Users\Gebruiker\Dropbox\Projecten\Visual-Studio\Projecten\Hexapod\Hexapod app\Debug\InverseKinemetics.obj +C:\Users\Gebruiker\Dropbox\Projecten\Visual-Studio\Projecten\Hexapod\Hexapod app\Debug\Main.obj +C:\Users\Gebruiker\Dropbox\Projecten\Visual-Studio\Projecten\Hexapod\Hexapod app\Debug\cl.command.1.tlog +C:\Users\Gebruiker\Dropbox\Projecten\Visual-Studio\Projecten\Hexapod\Hexapod app\Debug\CL.read.1.tlog +C:\Users\Gebruiker\Dropbox\Projecten\Visual-Studio\Projecten\Hexapod\Hexapod app\Debug\CL.write.1.tlog +C:\Users\Gebruiker\Dropbox\Projecten\Visual-Studio\Projecten\Hexapod\Hexapod app\Debug\link-cvtres.read.1.tlog +C:\Users\Gebruiker\Dropbox\Projecten\Visual-Studio\Projecten\Hexapod\Hexapod app\Debug\link-cvtres.write.1.tlog +C:\Users\Gebruiker\Dropbox\Projecten\Visual-Studio\Projecten\Hexapod\Hexapod app\Debug\link-rc.read.1.tlog +C:\Users\Gebruiker\Dropbox\Projecten\Visual-Studio\Projecten\Hexapod\Hexapod app\Debug\link-rc.write.1.tlog +C:\Users\Gebruiker\Dropbox\Projecten\Visual-Studio\Projecten\Hexapod\Hexapod app\Debug\link.12748-cvtres.read.1.tlog +C:\Users\Gebruiker\Dropbox\Projecten\Visual-Studio\Projecten\Hexapod\Hexapod app\Debug\link.12748-cvtres.write.1.tlog +C:\Users\Gebruiker\Dropbox\Projecten\Visual-Studio\Projecten\Hexapod\Hexapod app\Debug\link.12748-rc.read.1.tlog +C:\Users\Gebruiker\Dropbox\Projecten\Visual-Studio\Projecten\Hexapod\Hexapod app\Debug\link.12748-rc.write.1.tlog +C:\Users\Gebruiker\Dropbox\Projecten\Visual-Studio\Projecten\Hexapod\Hexapod app\Debug\link.12748.read.1.tlog +C:\Users\Gebruiker\Dropbox\Projecten\Visual-Studio\Projecten\Hexapod\Hexapod app\Debug\link.12748.write.1.tlog +C:\Users\Gebruiker\Dropbox\Projecten\Visual-Studio\Projecten\Hexapod\Hexapod app\Debug\link.command.1.tlog +C:\Users\Gebruiker\Dropbox\Projecten\Visual-Studio\Projecten\Hexapod\Hexapod app\Debug\link.read.1.tlog +C:\Users\Gebruiker\Dropbox\Projecten\Visual-Studio\Projecten\Hexapod\Hexapod app\Debug\link.write.1.tlog +C:\Users\Gebruiker\Dropbox\Projecten\Visual-Studio\Projecten\Hexapod\Hexapod app\Debug\vc110.idb +C:\Users\Gebruiker\Dropbox\Projecten\Visual-Studio\Projecten\Hexapod\Hexapod app\Debug\vc110.pdb +C:\Users\Gebruiker\Dropbox\Projecten\Visual-Studio\Projecten\Hexapod\Debug\Catmull-Rom app.pdb diff --git a/2012-simulation/ik-visualiser-vs/Hexapod app/Debug/Catmull-Rom app.lastbuildstate b/2012-simulation/ik-visualiser-vs/Hexapod app/Debug/Catmull-Rom app.lastbuildstate new file mode 100644 index 0000000..d13a2a2 --- /dev/null +++ b/2012-simulation/ik-visualiser-vs/Hexapod app/Debug/Catmull-Rom app.lastbuildstate @@ -0,0 +1,2 @@ +#v4.0:v110:false +Debug|Win32|D:\dropbox\Dropbox\Projecten\Visual-Studio\Projecten\Hexapod\| diff --git a/2012-simulation/ik-visualiser-vs/Hexapod app/Debug/Catmull-Rom app.log b/2012-simulation/ik-visualiser-vs/Hexapod app/Debug/Catmull-Rom app.log new file mode 100644 index 0000000..55b2f29 --- /dev/null +++ b/2012-simulation/ik-visualiser-vs/Hexapod app/Debug/Catmull-Rom app.log @@ -0,0 +1,66 @@ +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>' : 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>' : 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 + 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 + 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 diff --git a/2012-simulation/ik-visualiser-vs/Hexapod app/Debug/DataLine.obj b/2012-simulation/ik-visualiser-vs/Hexapod app/Debug/DataLine.obj new file mode 100644 index 0000000..e19037c --- /dev/null +++ b/2012-simulation/ik-visualiser-vs/Hexapod app/Debug/DataLine.obj @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9a4891c39946bc12c7474507f545f69b9bc24aa4af56861cb245b426fef6db58 +size 36793 diff --git a/2012-simulation/ik-visualiser-vs/Hexapod app/Debug/Hexapod app.Build.CppClean.log b/2012-simulation/ik-visualiser-vs/Hexapod app/Debug/Hexapod app.Build.CppClean.log new file mode 100644 index 0000000..47c2577 --- /dev/null +++ b/2012-simulation/ik-visualiser-vs/Hexapod app/Debug/Hexapod app.Build.CppClean.log @@ -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 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/dev/null +++ b/2012-simulation/ik-visualiser-vs/Hexapod app/Debug/vc120.pdb @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e1380ad7fc3800b7991993f5108faaf1bcb06a82cf44216fc0ab28c0d0d3b86e +size 708608 diff --git a/2012-simulation/ik-visualiser-vs/Hexapod app/InverseKinemetics.cpp b/2012-simulation/ik-visualiser-vs/Hexapod app/InverseKinemetics.cpp new file mode 100644 index 0000000..cb436eb --- /dev/null +++ b/2012-simulation/ik-visualiser-vs/Hexapod app/InverseKinemetics.cpp @@ -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; + // }*/ + //} +} + diff --git a/2012-simulation/ik-visualiser-vs/Hexapod app/InverseKinemetics.h b/2012-simulation/ik-visualiser-vs/Hexapod app/InverseKinemetics.h new file mode 100644 index 0000000..14c39ee --- /dev/null +++ b/2012-simulation/ik-visualiser-vs/Hexapod app/InverseKinemetics.h @@ -0,0 +1,39 @@ +#ifndef INVERSEKINEMETICS +#define INVERSEKINEMETICS + +#include +#include +#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 diff --git a/2012-simulation/ik-visualiser-vs/Hexapod app/Leg.cpp b/2012-simulation/ik-visualiser-vs/Hexapod app/Leg.cpp new file mode 100644 index 0000000..3db381a --- /dev/null +++ b/2012-simulation/ik-visualiser-vs/Hexapod app/Leg.cpp @@ -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 +#include "InverseKinemetics.h" +#include +#include + +using namespace std; + +class Leg +{ +public: + //Variable + D3DXVECTOR3 OffsetVector, SizeVector, Coordinate; + struct vector MoveSpace; + bool MoveSpaceRenderd; + D3DXVECTOR3 ModelSpaceHip, ModelSpaceKnee, ModelSpaceFeet; + vector 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 + */ \ No newline at end of file diff --git a/2012-simulation/ik-visualiser-vs/Hexapod app/Main.cpp b/2012-simulation/ik-visualiser-vs/Hexapod app/Main.cpp new file mode 100644 index 0000000..25e0d92 --- /dev/null +++ b/2012-simulation/ik-visualiser-vs/Hexapod app/Main.cpp @@ -0,0 +1,475 @@ +#include +//#include +#include +#include +#include "string" +#include +#include +#include +#include "Leg.h" +#include +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; +} + + + diff --git a/2012-simulation/ik-visualiser-vs/Hexapod app/Release/CL.read.1.tlog b/2012-simulation/ik-visualiser-vs/Hexapod app/Release/CL.read.1.tlog new file mode 100644 index 0000000..b1a8e15 Binary files /dev/null and b/2012-simulation/ik-visualiser-vs/Hexapod app/Release/CL.read.1.tlog differ diff --git a/2012-simulation/ik-visualiser-vs/Hexapod app/Release/CL.write.1.tlog b/2012-simulation/ik-visualiser-vs/Hexapod app/Release/CL.write.1.tlog new file mode 100644 index 0000000..b861a2a Binary files /dev/null and b/2012-simulation/ik-visualiser-vs/Hexapod app/Release/CL.write.1.tlog differ diff --git a/2012-simulation/ik-visualiser-vs/Hexapod app/Release/Catmull-Rom app.log b/2012-simulation/ik-visualiser-vs/Hexapod app/Release/Catmull-Rom app.log new file mode 100644 index 0000000..13fcc2b --- /dev/null +++ b/2012-simulation/ik-visualiser-vs/Hexapod app/Release/Catmull-Rom app.log @@ -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 diff --git a/2012-simulation/ik-visualiser-vs/Hexapod app/Release/DataLine.obj b/2012-simulation/ik-visualiser-vs/Hexapod app/Release/DataLine.obj new file mode 100644 index 0000000..fb7db4f --- /dev/null +++ b/2012-simulation/ik-visualiser-vs/Hexapod app/Release/DataLine.obj @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3d42edd872aa960ea0deaba823fb7d84418fc6a81bfd695b9e2eb5d6024c331e +size 1675 diff --git a/2012-simulation/ik-visualiser-vs/Hexapod app/Release/Hexapod app.Build.CppClean.log b/2012-simulation/ik-visualiser-vs/Hexapod app/Release/Hexapod app.Build.CppClean.log new file mode 100644 index 0000000..3da581d --- /dev/null +++ b/2012-simulation/ik-visualiser-vs/Hexapod app/Release/Hexapod app.Build.CppClean.log @@ -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 diff --git a/2012-simulation/ik-visualiser-vs/Hexapod app/Release/Hexapod app.exe.intermediate.manifest b/2012-simulation/ik-visualiser-vs/Hexapod app/Release/Hexapod app.exe.intermediate.manifest new file mode 100644 index 0000000..ecea6f7 --- /dev/null +++ b/2012-simulation/ik-visualiser-vs/Hexapod app/Release/Hexapod app.exe.intermediate.manifest @@ -0,0 +1,10 @@ + + + + + + + + + + diff --git a/2012-simulation/ik-visualiser-vs/Hexapod app/Release/Hexapod app.lastbuildstate b/2012-simulation/ik-visualiser-vs/Hexapod app/Release/Hexapod app.lastbuildstate new file mode 100644 index 0000000..96a78b9 --- /dev/null +++ b/2012-simulation/ik-visualiser-vs/Hexapod app/Release/Hexapod app.lastbuildstate @@ -0,0 +1,2 @@ +#v4.0:v110:false +Release|Win32|C:\Users\MangaValk\Dropbox\Projecten\Visual-Studio\Projecten\Hexapod\| diff --git a/2012-simulation/ik-visualiser-vs/Hexapod app/Release/Hexapod app.unsuccessfulbuild b/2012-simulation/ik-visualiser-vs/Hexapod app/Release/Hexapod app.unsuccessfulbuild new file mode 100644 index 0000000..e69de29 diff --git a/2012-simulation/ik-visualiser-vs/Hexapod app/Release/InverseKinemetics.obj b/2012-simulation/ik-visualiser-vs/Hexapod app/Release/InverseKinemetics.obj new file mode 100644 index 0000000..f229457 --- /dev/null +++ b/2012-simulation/ik-visualiser-vs/Hexapod app/Release/InverseKinemetics.obj @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:bc438e275014aee6c164c669ac4cebd46146966b1776030d5904c1a6ff0758af +size 14209 diff --git a/2012-simulation/ik-visualiser-vs/Hexapod app/Release/Leg.obj b/2012-simulation/ik-visualiser-vs/Hexapod app/Release/Leg.obj new file mode 100644 index 0000000..931eaee --- /dev/null +++ b/2012-simulation/ik-visualiser-vs/Hexapod app/Release/Leg.obj @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d75f9088833b717db33f506810893218897b2051fc7df58ab85237dfda4e8705 +size 105820 diff --git a/2012-simulation/ik-visualiser-vs/Hexapod app/Release/Main.obj b/2012-simulation/ik-visualiser-vs/Hexapod app/Release/Main.obj new file mode 100644 index 0000000..2e1fdd8 --- /dev/null +++ b/2012-simulation/ik-visualiser-vs/Hexapod app/Release/Main.obj @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2a15da32818284c94d248b147a9af2837b1243ee0622363b402fd165a5b6d81e +size 172987 diff --git a/2012-simulation/ik-visualiser-vs/Hexapod app/Release/cl.command.1.tlog b/2012-simulation/ik-visualiser-vs/Hexapod app/Release/cl.command.1.tlog new file mode 100644 index 0000000..fcc4dc4 Binary files /dev/null and b/2012-simulation/ik-visualiser-vs/Hexapod app/Release/cl.command.1.tlog differ diff --git a/2012-simulation/ik-visualiser-vs/Hexapod app/Release/link.command.1.tlog b/2012-simulation/ik-visualiser-vs/Hexapod app/Release/link.command.1.tlog new file mode 100644 index 0000000..de5e76c Binary files /dev/null and b/2012-simulation/ik-visualiser-vs/Hexapod app/Release/link.command.1.tlog differ diff --git a/2012-simulation/ik-visualiser-vs/Hexapod app/Release/link.read.1.tlog b/2012-simulation/ik-visualiser-vs/Hexapod app/Release/link.read.1.tlog new file mode 100644 index 0000000..46b134b --- /dev/null +++ b/2012-simulation/ik-visualiser-vs/Hexapod app/Release/link.read.1.tlog @@ -0,0 +1 @@ +ÿþ \ No newline at end of file diff --git a/2012-simulation/ik-visualiser-vs/Hexapod app/Release/link.write.1.tlog b/2012-simulation/ik-visualiser-vs/Hexapod app/Release/link.write.1.tlog new file mode 100644 index 0000000..46b134b --- /dev/null +++ b/2012-simulation/ik-visualiser-vs/Hexapod app/Release/link.write.1.tlog @@ -0,0 +1 @@ +ÿþ \ No newline at end of file diff --git a/2012-simulation/ik-visualiser-vs/Hexapod app/Release/mt.command.1.tlog b/2012-simulation/ik-visualiser-vs/Hexapod app/Release/mt.command.1.tlog new file mode 100644 index 0000000..f3faeec Binary files /dev/null and b/2012-simulation/ik-visualiser-vs/Hexapod app/Release/mt.command.1.tlog differ diff --git a/2012-simulation/ik-visualiser-vs/Hexapod app/Release/mt.read.1.tlog b/2012-simulation/ik-visualiser-vs/Hexapod app/Release/mt.read.1.tlog new file mode 100644 index 0000000..d153ef7 Binary files /dev/null and b/2012-simulation/ik-visualiser-vs/Hexapod app/Release/mt.read.1.tlog differ diff --git a/2012-simulation/ik-visualiser-vs/Hexapod app/Release/mt.write.1.tlog b/2012-simulation/ik-visualiser-vs/Hexapod app/Release/mt.write.1.tlog new file mode 100644 index 0000000..fe6802f Binary files /dev/null and b/2012-simulation/ik-visualiser-vs/Hexapod app/Release/mt.write.1.tlog differ diff --git a/2012-simulation/ik-visualiser-vs/Hexapod app/Release/vc100.pdb b/2012-simulation/ik-visualiser-vs/Hexapod app/Release/vc100.pdb new file mode 100644 index 0000000..680db7d --- /dev/null +++ b/2012-simulation/ik-visualiser-vs/Hexapod app/Release/vc100.pdb @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:dfda23bdf78a34117a470d4ddc8ac2f66463aa8f96d0bc58e3e81e3ff3a4f4f6 +size 307200 diff --git a/2012-simulation/ik-visualiser-vs/Hexapod app/Release/vc110.pdb b/2012-simulation/ik-visualiser-vs/Hexapod app/Release/vc110.pdb new file mode 100644 index 0000000..25dc2ef --- /dev/null +++ b/2012-simulation/ik-visualiser-vs/Hexapod app/Release/vc110.pdb @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9d0241092f1190615f353c3e25fbdf77510879e795f2f2a60f18a134c63d2de5 +size 200704 diff --git a/2012-simulation/ik-visualiser-vs/Hexapod app/VectorStructure.h b/2012-simulation/ik-visualiser-vs/Hexapod app/VectorStructure.h new file mode 100644 index 0000000..77a8a94 --- /dev/null +++ b/2012-simulation/ik-visualiser-vs/Hexapod app/VectorStructure.h @@ -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 + diff --git a/2012-simulation/ik-visualiser-vs/Hexapod.sdf b/2012-simulation/ik-visualiser-vs/Hexapod.sdf new file mode 100644 index 0000000..2ca066c --- /dev/null +++ b/2012-simulation/ik-visualiser-vs/Hexapod.sdf @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f538f5f22c32149810f87899e76f72ed73273126088754df0ed7b701d76c1771 +size 35192832 diff --git a/2012-simulation/ik-visualiser-vs/Hexapod.sln b/2012-simulation/ik-visualiser-vs/Hexapod.sln new file mode 100644 index 0000000..5adcc2d --- /dev/null +++ b/2012-simulation/ik-visualiser-vs/Hexapod.sln @@ -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 diff --git a/2012-simulation/ik-visualiser-vs/Hexapod.suo b/2012-simulation/ik-visualiser-vs/Hexapod.suo new file mode 100644 index 0000000..64c8747 --- /dev/null +++ b/2012-simulation/ik-visualiser-vs/Hexapod.suo @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:edba64752dbd6f2af64b3374a492a51e4aa14e60d302a7717e3200d26004ed9c +size 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app.pdb @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:056ea8783f47688e1d5b83d3fe5bd52a5a8bdeeadf989bdba29c5a18d3339d18 +size 560128 diff --git a/2012-simulation/ik-visualiser-vs/hhexapod.suo b/2012-simulation/ik-visualiser-vs/hhexapod.suo new file mode 100644 index 0000000..099c780 --- /dev/null +++ b/2012-simulation/ik-visualiser-vs/hhexapod.suo @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:26418b71e2049dec7a909dc715c4ec13382b29e7834409467dd5b3875c6d101a +size 51200 diff --git a/2012-simulation/ik-visualiser-vs/ipch/catmull-rom app-56de0788/catmull-rom app-6e2c96ba.ipch b/2012-simulation/ik-visualiser-vs/ipch/catmull-rom app-56de0788/catmull-rom app-6e2c96ba.ipch new file mode 100644 index 0000000..bdee6ed --- /dev/null +++ b/2012-simulation/ik-visualiser-vs/ipch/catmull-rom app-56de0788/catmull-rom app-6e2c96ba.ipch @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid 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