From 4d4b12e6b3bc60f0b3db7dc95a718cd2d7af3903 Mon Sep 17 00:00:00 2001 From: Patrick Valk Date: Sun, 16 Feb 2014 00:13:50 +0100 Subject: [PATCH 1/4] First commit --- .gitattributes | 37 ++ .../ik-visualiser-vs/Debug/Hexapod app.exe | 3 + .../ik-visualiser-vs/Debug/Hexapod app.pdb | 3 + .../Hexapod app/Catmull-Rom app.vcxproj | 97 ++++ .../Catmull-Rom app.vcxproj.filters | 39 ++ .../Hexapod app/Catmull-Rom app.vcxproj.user | 3 + .../ik-visualiser-vs/Hexapod app/DataLine.h | 38 ++ .../Hexapod app/Debug/CL.read.1.tlog | Bin 0 -> 102474 bytes .../Hexapod app/Debug/CL.write.1.tlog | Bin 0 -> 3110 bytes ...reFly-HP's conflicted copy 2013-01-14).log | 9 + .../Debug/Catmull-Rom app.Build.CppClean.log | 31 ++ .../Debug/Catmull-Rom app.lastbuildstate | 2 + .../Hexapod app/Debug/Catmull-Rom app.log | 66 +++ .../Hexapod app/Debug/DataLine.obj | 3 + .../Debug/Hexapod app.Build.CppClean.log | 40 ++ .../Debug/Hexapod app.lastbuildstate | 2 + .../Debug/Hexapod app.tlog/CL.read.1.tlog | Bin 0 -> 102762 bytes .../Debug/Hexapod app.tlog/CL.write.1.tlog | Bin 0 -> 3430 bytes .../Hexapod app.lastbuildstate | 2 + .../Debug/Hexapod app.tlog/cl.command.1.tlog | Bin 0 -> 2914 bytes .../Hexapod app.tlog/link.command.1.tlog | Bin 0 -> 2168 bytes .../Debug/Hexapod app.tlog/link.read.1.tlog | Bin 0 -> 4464 bytes .../Debug/Hexapod app.tlog/link.write.1.tlog | Bin 0 -> 1150 bytes .../Hexapod app/Debug/InverseKinemetics.obj | 3 + .../Hexapod app/Debug/Leg.obj | 3 + .../Hexapod app/Debug/Main.obj | 3 + .../Hexapod app/Debug/cl.command.1.tlog | Bin 0 -> 3138 bytes .../Hexapod app/Debug/link-cvtres.read.1.tlog | 1 + .../Debug/link-cvtres.write.1.tlog | 1 + .../Hexapod app/Debug/link-rc.read.1.tlog | 1 + .../Hexapod app/Debug/link-rc.write.1.tlog | 1 + .../Hexapod app/Debug/link.command.1.tlog | Bin 0 -> 2196 bytes .../Hexapod app/Debug/link.read.1.tlog | Bin 0 -> 4488 bytes .../Hexapod app/Debug/link.write.1.tlog | Bin 0 -> 1174 bytes .../Hexapod app/Debug/vc110.idb | 3 + .../Hexapod app/Debug/vc110.pdb | 3 + .../Hexapod app/Debug/vc120.idb | 3 + .../Hexapod app/Debug/vc120.pdb | 3 + .../Hexapod app/InverseKinemetics.cpp | 134 +++++ .../Hexapod app/InverseKinemetics.h | 39 ++ .../ik-visualiser-vs/Hexapod app/Leg.cpp | 187 +++++++ .../ik-visualiser-vs/Hexapod app/Leg.h | 70 +++ .../ik-visualiser-vs/Hexapod app/Main.cpp | 475 ++++++++++++++++++ .../Hexapod app/Release/CL.read.1.tlog | Bin 0 -> 42398 bytes .../Hexapod app/Release/CL.write.1.tlog | Bin 0 -> 2660 bytes .../Hexapod app/Release/Catmull-Rom app.log | 18 + .../Hexapod app/Release/DataLine.obj | 3 + .../Release/Hexapod app.Build.CppClean.log | 25 + .../Hexapod app.exe.intermediate.manifest | 10 + .../Release/Hexapod app.lastbuildstate | 2 + .../Release/Hexapod app.unsuccessfulbuild | 0 .../Hexapod app/Release/InverseKinemetics.obj | 3 + .../Hexapod app/Release/Leg.obj | 3 + .../Hexapod app/Release/Main.obj | 3 + .../Hexapod app/Release/cl.command.1.tlog | Bin 0 -> 5132 bytes .../Hexapod app/Release/link.command.1.tlog | Bin 0 -> 2396 bytes .../Hexapod app/Release/link.read.1.tlog | 1 + .../Hexapod app/Release/link.write.1.tlog | 1 + .../Hexapod app/Release/mt.command.1.tlog | Bin 0 -> 1246 bytes .../Hexapod app/Release/mt.read.1.tlog | Bin 0 -> 788 bytes .../Hexapod app/Release/mt.write.1.tlog | Bin 0 -> 416 bytes .../Hexapod app/Release/vc100.pdb | 3 + .../Hexapod app/Release/vc110.pdb | 3 + .../Hexapod app/VectorStructure.h | 60 +++ 2012-simulation/ik-visualiser-vs/Hexapod.sdf | 3 + 2012-simulation/ik-visualiser-vs/Hexapod.sln | 20 + 2012-simulation/ik-visualiser-vs/Hexapod.suo | 3 + .../ik-visualiser-vs/Hexapod.v11.suo | 3 + .../ik-visualiser-vs/Hexapod.v12.suo | 3 + .../ik-visualiser-vs/Release/Hexapod app.pdb | 3 + 2012-simulation/ik-visualiser-vs/hhexapod.suo | 3 + .../catmull-rom app-6e2c96ba.ipch | 3 + 72 files changed, 1481 insertions(+) create mode 100644 .gitattributes create mode 100644 2012-simulation/ik-visualiser-vs/Debug/Hexapod app.exe create mode 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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 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 diff --git a/2012-simulation/ik-visualiser-vs/Hexapod app/Debug/Hexapod app.lastbuildstate b/2012-simulation/ik-visualiser-vs/Hexapod app/Debug/Hexapod app.lastbuildstate new file mode 100644 index 0000000..25eca4d --- /dev/null +++ b/2012-simulation/ik-visualiser-vs/Hexapod app/Debug/Hexapod app.lastbuildstate @@ -0,0 +1,2 @@ +#v4.0:v110:false +Debug|Win32|C:\Users\MangaValk\Dropbox\Projecten\Visual-Studio\Projecten\Hexapod\| diff --git a/2012-simulation/ik-visualiser-vs/Hexapod app/Debug/Hexapod app.tlog/CL.read.1.tlog b/2012-simulation/ik-visualiser-vs/Hexapod app/Debug/Hexapod app.tlog/CL.read.1.tlog 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+ 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", 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app/Release/CL.write.1.tlog b/2012-simulation/ik-visualiser-vs/Hexapod app/Release/CL.write.1.tlog new file mode 100644 index 0000000000000000000000000000000000000000..b861a2a30413752144f4784e2b0c1439b5637e6c GIT binary patch literal 2660 zcmdUwK@Ng25Jmsm#5;HaiEiB?B?5vph=c|4B%WP;B@#ly!eyH#&9oib*U!xK^M1Project "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 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b/2012-simulation/ik-visualiser-vs/README.md @@ -0,0 +1,5 @@ +# Visualisation of the leg movement. + +connected with: + - http://gitlab.mangavalk.com/mangavalk/Hexapod-Archief + - http://gitlab.mangavalk.com/mangavalk/Hexapod \ No newline at end of file From 39912647903ea5e4c3bc942d35d204c169ff5c58 Mon Sep 17 00:00:00 2001 From: Patrick Valk Date: Mon, 14 Nov 2016 13:45:03 +0100 Subject: [PATCH 3/4] added gitignore --- 2012-simulation/ik-visualiser-vs/.gitignore | 282 ++++++++++++++++++++ 1 file changed, 282 insertions(+) create mode 100644 2012-simulation/ik-visualiser-vs/.gitignore diff --git a/2012-simulation/ik-visualiser-vs/.gitignore b/2012-simulation/ik-visualiser-vs/.gitignore new file mode 100644 index 0000000..1bacb70 --- /dev/null +++ b/2012-simulation/ik-visualiser-vs/.gitignore @@ -0,0 +1,282 @@ + +# Created by https://www.gitignore.io/api/visualstudio + +### VisualStudio ### +## Ignore Visual Studio temporary files, build results, and +## files generated by popular Visual Studio add-ons. +## +## Get latest from https://github.com/github/gitignore/blob/master/VisualStudio.gitignore + +# User-specific files +*.suo +*.user +*.userosscache +*.sln.docstates +*.vcxproj.filters + +# User-specific files (MonoDevelop/Xamarin Studio) +*.userprefs + +# Build results +[Dd]ebug/ +[Dd]ebugPublic/ +[Rr]elease/ +[Rr]eleases/ +x64/ +x86/ +bld/ +[Bb]in/ +[Oo]bj/ +[Ll]og/ + +# Visual Studio 2015 cache/options directory +.vs/ +# Uncomment if you have tasks that create the project's static files in wwwroot +#wwwroot/ + +# MSTest test Results +[Tt]est[Rr]esult*/ +[Bb]uild[Ll]og.* + +# NUNIT +*.VisualState.xml +TestResult.xml + +# Build Results of an ATL Project +[Dd]ebugPS/ +[Rr]eleasePS/ +dlldata.c + +# DNX +project.lock.json +project.fragment.lock.json +artifacts/ +Properties/launchSettings.json + +*_i.c +*_p.c +*_i.h +*.ilk +*.meta +*.obj +*.pch +*.pdb +*.pgc +*.pgd +*.rsp +*.sbr +*.tlb +*.tli +*.tlh +*.tmp +*.tmp_proj +*.log +*.vspscc +*.vssscc +.builds +*.pidb +*.svclog +*.scc + +# Chutzpah Test files +_Chutzpah* + +# Visual C++ cache files +ipch/ +*.aps +*.ncb +*.opendb +*.opensdf +*.sdf +*.cachefile +*.VC.db +*.VC.VC.opendb + +# Visual Studio profiler +*.psess +*.vsp +*.vspx +*.sap + +# TFS 2012 Local Workspace +$tf/ + +# Guidance Automation Toolkit +*.gpState + +# ReSharper is a .NET coding add-in +_ReSharper*/ +*.[Rr]e[Ss]harper +*.DotSettings.user + +# JustCode is a .NET coding add-in +.JustCode + +# TeamCity is a build add-in +_TeamCity* + +# DotCover is a Code Coverage Tool +*.dotCover + +# Visual Studio code coverage results +*.coverage +*.coveragexml + +# NCrunch +_NCrunch_* +.*crunch*.local.xml +nCrunchTemp_* + +# MightyMoose +*.mm.* +AutoTest.Net/ + +# Web workbench (sass) +.sass-cache/ + +# Installshield output folder +[Ee]xpress/ + +# DocProject is a documentation generator add-in +DocProject/buildhelp/ +DocProject/Help/*.HxT +DocProject/Help/*.HxC +DocProject/Help/*.hhc +DocProject/Help/*.hhk +DocProject/Help/*.hhp +DocProject/Help/Html2 +DocProject/Help/html + +# Click-Once directory +publish/ + +# Publish Web Output +*.[Pp]ublish.xml +*.azurePubxml +# TODO: Comment the next line if you want to checkin your web deploy settings +# but database connection strings (with potential passwords) will be unencrypted +*.pubxml +*.publishproj + +# Microsoft Azure Web App publish settings. Comment the next line if you want to +# checkin your Azure Web App publish settings, but sensitive information contained +# in these scripts will be unencrypted +PublishScripts/ + +# NuGet Packages +*.nupkg +# The packages folder can be ignored because of Package Restore +**/packages/* +# except build/, which is used as an MSBuild target. +!**/packages/build/ +# Uncomment if necessary however generally it will be regenerated when needed +#!**/packages/repositories.config +# NuGet v3's project.json files produces more ignoreable files +*.nuget.props +*.nuget.targets + +# Microsoft Azure Build Output +csx/ +*.build.csdef + +# Microsoft Azure Emulator +ecf/ +rcf/ + +# Windows Store app package directories and files +AppPackages/ +BundleArtifacts/ +Package.StoreAssociation.xml +_pkginfo.txt + +# Visual Studio cache files +# files ending in .cache can be ignored +*.[Cc]ache +# but keep track of directories ending in .cache +!*.[Cc]ache/ + +# Others +ClientBin/ +~$* +*~ +*.dbmdl +*.dbproj.schemaview +*.jfm +*.pfx +*.publishsettings +node_modules/ +orleans.codegen.cs + +# Since there are multiple workflows, uncomment next line to ignore bower_components +# (https://github.com/github/gitignore/pull/1529#issuecomment-104372622) +#bower_components/ + +# RIA/Silverlight projects +Generated_Code/ + +# Backup & report files from converting an old project file +# to a newer Visual Studio version. Backup files are not needed, +# because we have git ;-) +_UpgradeReport_Files/ +Backup*/ +UpgradeLog*.XML +UpgradeLog*.htm + +# SQL Server files +*.mdf +*.ldf + +# Business Intelligence projects +*.rdl.data +*.bim.layout +*.bim_*.settings + +# Microsoft Fakes +FakesAssemblies/ + +# GhostDoc plugin setting file +*.GhostDoc.xml + +# Node.js Tools for Visual Studio +.ntvs_analysis.dat + +# Visual Studio 6 build log +*.plg + +# Visual Studio 6 workspace options file +*.opt + +# Visual Studio 6 auto-generated workspace file (contains which files were open etc.) +*.vbw + +# Visual Studio LightSwitch build output +**/*.HTMLClient/GeneratedArtifacts +**/*.DesktopClient/GeneratedArtifacts +**/*.DesktopClient/ModelManifest.xml +**/*.Server/GeneratedArtifacts +**/*.Server/ModelManifest.xml +_Pvt_Extensions + +# Paket dependency manager +.paket/paket.exe +paket-files/ + +# FAKE - F# Make +.fake/ + +# JetBrains Rider +.idea/ +*.sln.iml + +# CodeRush +.cr/ + +# Python Tools for Visual Studio (PTVS) +__pycache__/ +*.pyc + +# Cake - Uncomment if you are using it +# tools/ + +### VisualStudio Patch ### +build/ \ No newline at end of file From f67a12ce88520cf5e3ca39bd94b22945ad85030b Mon Sep 17 00:00:00 2001 From: MangaValk Date: Mon, 23 Mar 2015 00:15:20 +0100 Subject: [PATCH 4/4] Cast abs() arguments to long long in InverseKinemetics Recovered from the uncommitted working copy in the 'Projecten nov 2016' backup. --- .../ik-visualiser-vs/Hexapod app/InverseKinemetics.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/2012-simulation/ik-visualiser-vs/Hexapod app/InverseKinemetics.cpp b/2012-simulation/ik-visualiser-vs/Hexapod app/InverseKinemetics.cpp index cb436eb..b039132 100644 --- a/2012-simulation/ik-visualiser-vs/Hexapod app/InverseKinemetics.cpp +++ b/2012-simulation/ik-visualiser-vs/Hexapod app/InverseKinemetics.cpp @@ -57,7 +57,7 @@ float InverseKinemetics::T1 (Data *DataLine) float ret = 0; - ret = t1 + abs(t2); + ret = t1 + abs( (long long) t2); return ret; } @@ -102,7 +102,7 @@ void InverseKinemetics::setleg (bool Side, Data *DataLine) d = sin( (float)(a-90)*(PI/180) ); if( d != 0 ) - DataLine->Z2 = d * abs( DataLine->X2 ); + DataLine->Z2 = d * abs( (long long) DataLine->X2 ); else DataLine->Z2 = 0; }