First commit

2012-simulation/ik-visualiser-vs/Hexapod app/Leg.h

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+//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
+	*/