Import Hexapod-App (2012) with full history

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/

2012-simulation/ik-visualiser-vs/Hexapod app/Catmull-Rom app.vcxproj

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+<?xml version="1.0" encoding="utf-8"?>
+<Project DefaultTargets="Build" ToolsVersion="12.0" xmlns="http://schemas.microsoft.com/developer/msbuild/2003">
+  <ItemGroup Label="ProjectConfigurations">
+    <ProjectConfiguration Include="Debug|Win32">
+      <Configuration>Debug</Configuration>
+      <Platform>Win32</Platform>
+    </ProjectConfiguration>
+    <ProjectConfiguration Include="Release|Win32">
+      <Configuration>Release</Configuration>
+      <Platform>Win32</Platform>
+    </ProjectConfiguration>
+  </ItemGroup>
+  <PropertyGroup Label="Globals">
+    <ProjectGuid>{7B99C6A5-E418-4C29-AB89-66A3FEE46034}</ProjectGuid>
+    <Keyword>Win32Proj</Keyword>
+    <RootNamespace>CatmullRomapp</RootNamespace>
+    <ProjectName>Hexapod app</ProjectName>
+  </PropertyGroup>
+  <Import Project="$(VCTargetsPath)\Microsoft.Cpp.Default.props" />
+  <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Debug|Win32'" Label="Configuration">
+    <ConfigurationType>Application</ConfigurationType>
+    <UseDebugLibraries>true</UseDebugLibraries>
+    <CharacterSet>NotSet</CharacterSet>
+    <PlatformToolset>v120</PlatformToolset>
+    <WholeProgramOptimization>false</WholeProgramOptimization>
+    <UseOfAtl>Static</UseOfAtl>
+  </PropertyGroup>
+  <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Release|Win32'" Label="Configuration">
+    <ConfigurationType>Application</ConfigurationType>
+    <UseDebugLibraries>false</UseDebugLibraries>
+    <WholeProgramOptimization>false</WholeProgramOptimization>
+    <CharacterSet>NotSet</CharacterSet>
+    <PlatformToolset>v120</PlatformToolset>
+  </PropertyGroup>
+  <Import Project="$(VCTargetsPath)\Microsoft.Cpp.props" />
+  <ImportGroup Label="ExtensionSettings">
+  </ImportGroup>
+  <ImportGroup Label="PropertySheets" Condition="'$(Configuration)|$(Platform)'=='Debug|Win32'">
+    <Import Project="$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props" Condition="exists('$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props')" Label="LocalAppDataPlatform" />
+  </ImportGroup>
+  <ImportGroup Label="PropertySheets" Condition="'$(Configuration)|$(Platform)'=='Release|Win32'">
+    <Import Project="$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props" Condition="exists('$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props')" Label="LocalAppDataPlatform" />
+  </ImportGroup>
+  <PropertyGroup Label="UserMacros" />
+  <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Debug|Win32'">
+    <LinkIncremental>false</LinkIncremental>
+    <LibraryPath>C:\Program Files (x86)\Microsoft DirectX SDK (June 2010)\Lib\x64;$(LibraryPath)</LibraryPath>
+    <IncludePath>C:\Program Files (x86)\Microsoft DirectX SDK (June 2010)\Include;$(IncludePath)</IncludePath>
+  </PropertyGroup>
+  <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Release|Win32'">
+    <LinkIncremental>false</LinkIncremental>
+  </PropertyGroup>
+  <ItemDefinitionGroup Condition="'$(Configuration)|$(Platform)'=='Debug|Win32'">
+    <ClCompile>
+      <PrecompiledHeader>
+      </PrecompiledHeader>
+      <WarningLevel>Level3</WarningLevel>
+      <Optimization>Disabled</Optimization>
+      <PreprocessorDefinitions>WIN32;_DEBUG;_WINDOWS;%(PreprocessorDefinitions)</PreprocessorDefinitions>
+    </ClCompile>
+    <Link>
+      <SubSystem>Windows</SubSystem>
+      <GenerateDebugInformation>true</GenerateDebugInformation>
+      <AdditionalDependencies>d3dx11d.lib;%(AdditionalDependencies)</AdditionalDependencies>
+    </Link>
+  </ItemDefinitionGroup>
+  <ItemDefinitionGroup Condition="'$(Configuration)|$(Platform)'=='Release|Win32'">
+    <ClCompile>
+      <WarningLevel>Level3</WarningLevel>
+      <PrecompiledHeader>
+      </PrecompiledHeader>
+      <Optimization>MaxSpeed</Optimization>
+      <FunctionLevelLinking>true</FunctionLevelLinking>
+      <IntrinsicFunctions>true</IntrinsicFunctions>
+      <PreprocessorDefinitions>WIN32;NDEBUG;_WINDOWS;%(PreprocessorDefinitions)</PreprocessorDefinitions>
+    </ClCompile>
+    <Link>
+      <SubSystem>Windows</SubSystem>
+      <GenerateDebugInformation>true</GenerateDebugInformation>
+      <EnableCOMDATFolding>true</EnableCOMDATFolding>
+      <OptimizeReferences>true</OptimizeReferences>
+    </Link>
+  </ItemDefinitionGroup>
+  <ItemGroup>
+    <ClCompile Include="DataLine.h" />
+    <ClCompile Include="InverseKinemetics.cpp" />
+    <ClCompile Include="Leg.cpp" />
+    <ClCompile Include="Main.cpp" />
+  </ItemGroup>
+  <ItemGroup>
+    <ClInclude Include="InverseKinemetics.h" />
+    <ClInclude Include="Leg.h" />
+  </ItemGroup>
+  <Import Project="$(VCTargetsPath)\Microsoft.Cpp.targets" />
+  <ImportGroup Label="ExtensionTargets">
+  </ImportGroup>
+</Project>

2012-simulation/ik-visualiser-vs/Hexapod app/Catmull-Rom app.vcxproj.filters

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+<?xml version="1.0" encoding="utf-8"?>
+<Project ToolsVersion="4.0" xmlns="http://schemas.microsoft.com/developer/msbuild/2003">
+  <ItemGroup>
+    <Filter Include="Source Files">
+      <UniqueIdentifier>{4FC737F1-C7A5-4376-A066-2A32D752A2FF}</UniqueIdentifier>
+      <Extensions>cpp;c;cc;cxx;def;odl;idl;hpj;bat;asm;asmx</Extensions>
+    </Filter>
+    <Filter Include="Header Files">
+      <UniqueIdentifier>{93995380-89BD-4b04-88EB-625FBE52EBFB}</UniqueIdentifier>
+      <Extensions>h;hpp;hxx;hm;inl;inc;xsd</Extensions>
+    </Filter>
+    <Filter Include="Resource Files">
+      <UniqueIdentifier>{67DA6AB6-F800-4c08-8B7A-83BB121AAD01}</UniqueIdentifier>
+      <Extensions>rc;ico;cur;bmp;dlg;rc2;rct;bin;rgs;gif;jpg;jpeg;jpe;resx;tiff;tif;png;wav;mfcribbon-ms</Extensions>
+    </Filter>
+  </ItemGroup>
+  <ItemGroup>
+    <ClCompile Include="Main.cpp">
+      <Filter>Source Files</Filter>
+    </ClCompile>
+    <ClCompile Include="InverseKinemetics.cpp">
+      <Filter>Source Files</Filter>
+    </ClCompile>
+    <ClCompile Include="Leg.cpp">
+      <Filter>Source Files</Filter>
+    </ClCompile>
+    <ClCompile Include="DataLine.h">
+      <Filter>Header Files</Filter>
+    </ClCompile>
+  </ItemGroup>
+  <ItemGroup>
+    <ClInclude Include="InverseKinemetics.h">
+      <Filter>Header Files</Filter>
+    </ClInclude>
+    <ClInclude Include="Leg.h">
+      <Filter>Header Files</Filter>
+    </ClInclude>
+  </ItemGroup>
+</Project>

2012-simulation/ik-visualiser-vs/Hexapod app/Catmull-Rom app.vcxproj.user

@@ -0,0 +1,3 @@
+<?xml version="1.0" encoding="utf-8"?>
+<Project ToolsVersion="4.0" xmlns="http://schemas.microsoft.com/developer/msbuild/2003">
+</Project>

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

@@ -0,0 +1,38 @@
+#ifndef DATA
+#define DATA
+
+#include <D3DX9.h>
+
+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

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

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

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\|

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<D3DXVECTOR3,std::allocator<_Ty>>' : type name first seen using 'class' now seen using 'struct'
+                 with
+                 [
+                     _Ty=D3DXVECTOR3
+                 ]
+     1>c:\users\patrick\dropbox\projecten\visual-studio\projecten\hexapod\hexapod app\main.cpp(25): warning C4996: 'sprintf': This function or variable may be unsafe. Consider using sprintf_s instead. To disable deprecation, use _CRT_SECURE_NO_WARNINGS. See online help for details.
+                 c:\program files (x86)\microsoft visual studio 12.0\vc\include\stdio.h(356) : see declaration of 'sprintf'
+     1>c:\users\patrick\dropbox\projecten\visual-studio\projecten\hexapod\hexapod app\main.cpp(26): warning C4172: returning address of local variable or temporary
+     1>c:\users\patrick\dropbox\projecten\visual-studio\projecten\hexapod\hexapod app\main.cpp(303): warning C4244: 'argument' : conversion from 'float' to 'const int', possible loss of data
+     1>c:\users\patrick\dropbox\projecten\visual-studio\projecten\hexapod\hexapod app\main.cpp(304): warning C4244: 'argument' : conversion from 'float' to 'const int', possible loss of data
+     1>c:\users\patrick\dropbox\projecten\visual-studio\projecten\hexapod\hexapod app\main.cpp(305): warning C4244: 'argument' : conversion from 'float' to 'const int', possible loss of data
+     1>c:\users\patrick\dropbox\projecten\visual-studio\projecten\hexapod\hexapod app\main.cpp(226): warning C4101: 'ps' : unreferenced local variable
+         Leg.cpp
+     1>c:\users\patrick\dropbox\projecten\visual-studio\projecten\hexapod\hexapod app\inversekinemetics.h(24): warning C4244: 'return' : conversion from 'double' to 'int', possible loss of data
+     1>c:\users\patrick\dropbox\projecten\visual-studio\projecten\hexapod\hexapod app\leg.h(18): warning C4099: 'std::vector<D3DXVECTOR3,std::allocator<_Ty>>' : type name first seen using 'class' now seen using 'struct'
+                 with
+                 [
+                     _Ty=D3DXVECTOR3
+                 ]
+     1>c:\users\patrick\dropbox\projecten\visual-studio\projecten\hexapod\hexapod app\leg.cpp(36): warning C4305: '+=' : truncation from 'double' to 'float'
+     1>c:\users\patrick\dropbox\projecten\visual-studio\projecten\hexapod\hexapod app\leg.cpp(38): warning C4305: '+=' : truncation from 'double' to 'float'
+     1>c:\users\patrick\dropbox\projecten\visual-studio\projecten\hexapod\hexapod app\leg.cpp(129): warning C4244: 'argument' : conversion from 'float' to 'int', possible loss of data
+     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

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

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\|

2012-simulation/ik-visualiser-vs/Hexapod app/Debug/Hexapod app.tlog/Hexapod app.lastbuildstate

@@ -0,0 +1,2 @@
+#TargetFrameworkVersion=v4.0:PlatformToolSet=v120:EnableManagedIncrementalBuild=false:VCToolArchitecture=Native32Bit
+Debug|Win32|C:\Users\patrick\Dropbox\Projecten\Visual-Studio\Projecten\Hexapod\|

2012-simulation/ik-visualiser-vs/Hexapod app/Debug/link-cvtres.read.1.tlog

@@ -0,0 +1 @@
+

2012-simulation/ik-visualiser-vs/Hexapod app/Debug/link-cvtres.write.1.tlog

@@ -0,0 +1 @@
+

2012-simulation/ik-visualiser-vs/Hexapod app/Debug/link-rc.read.1.tlog

@@ -0,0 +1 @@
+

2012-simulation/ik-visualiser-vs/Hexapod app/Debug/link-rc.write.1.tlog

@@ -0,0 +1 @@
+

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( (long long) 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( (long long) 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;
+	//	}*/
+	//}
+}
+

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

@@ -0,0 +1,39 @@
+#ifndef INVERSEKINEMETICS
+#define INVERSEKINEMETICS
+
+#include <math.h>
+#include <D3DX9.h>
+#include "DataLine.h"
+
+class InverseKinemetics
+{
+public:
+	bool error;
+	int l1;
+	int l2;
+
+	InverseKinemetics()
+	{
+		error = 0;
+		l1 = 10;
+		l2 = 15;
+	}
+
+	int degrees( float I )
+	{
+		return I * ( 180 / 3.14 );
+	}
+
+	void RL3 (Data *DataLine);
+
+	float O1 (Data *DataLine);
+
+	float T1 (Data *DataLine);
+
+	float T3 (Data *DataLine);
+
+	void setleg (bool Side, Data *DataLine);
+
+};
+
+#endif

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<MoveSpace.size(); i++)
+		{
+			int X = OffsetVector.x+(MoveSpace[i].x*SizeVector.x);
+			int Y = OffsetVector.y+(MoveSpace[i].y*SizeVector.y);
+			SetPixel( HDCSecondBuffer, X, Y, RGB(0, 32, 20) );
+		}
+
+		SelectObject(HDCSecondBuffer, oldPen); 
+		DeleteObject(pen);
+	}
+}
+
+void Leg::PrintWorldSpaceLineModel(  )
+{
+	HPEN pen, oldPen;
+
+	int Size = 15;
+
+	pen = CreatePen(PS_SOLID, 2, RGB(150, 150, 150));    
+	oldPen = (HPEN)SelectObject(HDCBuffer, pen);                
+
+	MoveToEx( HDCBuffer, WorldSpaceLineModel[0].x, 
+		WorldSpaceLineModel[0].y, 0 );
+
+	LineTo( HDCBuffer, WorldSpaceLineModel[1].x,
+		WorldSpaceLineModel[1].y);
+
+	LineTo( HDCBuffer, WorldSpaceLineModel[2].x,
+		WorldSpaceLineModel[2].y );
+
+	SelectObject(HDCBuffer, oldPen); 
+	DeleteObject(pen);
+}
+
+void Leg::Print3DLinesOnWorldSpace(  )
+{
+	HPEN pen, oldPen;
+
+	pen = CreatePen(PS_SOLID, 2, RGB(255, 0, 0));    
+	oldPen = (HPEN)SelectObject(HDCBuffer, pen);   
+
+	MoveToEx( HDCBuffer, OffsetVector.x, 0, 0 );
+	LineTo( HDCBuffer, OffsetVector.x, 800 );
+
+	SelectObject(HDCBuffer, oldPen); 
+	DeleteObject(pen);
+
+	pen = CreatePen(PS_SOLID, 2, RGB(0, 0, 255));    
+	oldPen = (HPEN)SelectObject(HDCBuffer, pen);   
+
+	MoveToEx( HDCBuffer, 0, OffsetVector.y, 0 );
+	LineTo( HDCBuffer, 800, OffsetVector.y );
+
+	SelectObject(HDCBuffer, oldPen); 
+	DeleteObject(pen);
+}
+

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

@@ -0,0 +1,70 @@
+//Leg.h
+
+#ifndef LEG_H
+#define LEG_H
+
+#include <Windows.h>
+#include "InverseKinemetics.h"
+#include <vector>
+#include <D3DX9.h>
+
+using namespace std;
+
+class Leg
+{
+public:
+	//Variable
+	D3DXVECTOR3 OffsetVector, SizeVector, Coordinate;
+	struct vector<D3DXVECTOR3> MoveSpace;
+	bool MoveSpaceRenderd;
+	D3DXVECTOR3 ModelSpaceHip, ModelSpaceKnee, ModelSpaceFeet;
+	vector<struct D3DXVECTOR3> WorldSpaceLineModel;
+	bool Error;
+	HDC HDCBuffer, HDCSecondBuffer;
+
+	//Initial
+	Leg();
+	~Leg();
+
+	void GetHDC( HDC hdc );
+	void GetHDCSecondBuffer( HDC hdc );
+	
+	//Input
+	void Coordinates( float ix, float iy, float iz );
+	void Coordinates( D3DXVECTOR3 i );
+	void Offset( float ix, float iy, float iz );
+	void Offset( D3DXVECTOR3 i );
+	void Size( float ix, float iy, float iz );
+	void Size( D3DXVECTOR3 i );
+
+	//Functions
+	void GetPossibleMoveSpace(  );
+	void CalculateLegRight(  );
+	void CalculateWorldSpaceLineModel(  );
+	void PrintMoveSpaceOnWorldSpace(  );
+	void PrintWorldSpaceLineModel(  );
+	void Print3DLinesOnWorldSpace(  );
+
+};
+
+#endif
+
+/*
+	Z-Axis Rotation
+
+	x' = x*cos q - y*sin q
+	y' = x*sin q + y*cos q
+	z' = z 
+
+	X-Axis Rotation
+
+	y' = y*cos q - z*sin q
+	z' = y*sin q + z*cos q
+	x' = x
+
+	Y-Axis Rotation
+
+	z' = z*cos q - x*sin q
+	x' = z*sin q + x*cos q
+	y' = y
+	*/

2012-simulation/ik-visualiser-vs/Hexapod app/Main.cpp

@@ -0,0 +1,475 @@
+#include <Windows.h>
+//#include <vector>
+#include <math.h>
+#include <time.h>
+#include "string"
+#include <stdlib.h>
+#include <stdio.h>
+#include <sstream>
+#include "Leg.h"
+#include <D3DX9.h>
+using namespace std;
+
+#define DRAW WM_USER + 1
+
+#pragma region ConverToInt
+#ifdef UNICODE
+typedef std::wostringstream tstringstream;
+#else
+typedef std::ostringstream tstringstream;
+#endif
+
+LPCTSTR convertInt(const int number)
+{
+	char str[512];
+	sprintf(str,"%d",number);
+	return str;
+}
+#pragma endregion ConverToInt
+
+#pragma region Global
+HWND		ghMainWnd = 0;
+HINSTANCE	ghAppInst = 0;
+bool		gMouseDown = 0;
+
+HDC		backDC;
+HDC		BackDC2;
+HBITMAP backBufferBMP;
+HBITMAP backBufferBMP2;
+int		backBufferCX;
+int		backBufferCY;
+
+Leg *La;
+
+D3DXVECTOR3 Coordinates( 10, 15, 0);
+D3DXVECTOR3 SuccessfulCoordinate;
+D3DXVECTOR3 Offset( 250, 400, 0);
+D3DXVECTOR3 Size( 15, 15, 15 );
+#pragma endregion Global
+
+#pragma region OtherFunctions
+clock_t Fpres;
+bool DD ( )
+{
+	clock_t t = clock();
+	if ((t - Fpres) <= 200)
+		return 1;
+	else
+	{
+		Fpres = t;
+		return 0;
+	}
+}
+
+inline void draw()
+{
+	HDC winhdc = GetDC( ghMainWnd ) ;
+	// Now copy the back buffer to the front buffer.
+	BitBlt(
+
+		winhdc,	// destination buffer
+		0, 0,	// x, y to start writing to in the destination buffer
+		// counted from top left corner of dest HDC (window)
+
+		// Width, height to copy for
+		backBufferCX, backBufferCY,
+
+		backDC, // SOURCE buffer.  We're taking from that back canvas
+
+		0, 0,		// x pt, y pt to START copying from
+		// SOURCE.  counted from top left again
+
+		// And we just want a straight copy.
+		SRCCOPY );
+
+	ReleaseDC( ghMainWnd, winhdc ) ;
+}
+
+inline void copybtf( HDC back, HDC front )
+{
+	// copy the back buffer to the front buffer.
+	BitBlt(
+
+		front,	// destination buffer
+		0, 0,	// x, y to start writing to in the destination buffer
+		// counted from top left corner of dest HDC (window)
+
+		// Width, height to copy for
+		backBufferCX, backBufferCY,
+
+		back, // SOURCE buffer.  We're taking from that back canvas
+
+		0, 0,		// x pt, y pt to START copying from
+		// SOURCE.  counted from top left again
+
+		// And we just want a straight copy.
+		SRCCOPY );
+}
+
+void InitBackBuffer()
+{
+	backBufferCX = 700;
+	backBufferCY = 850;
+
+	HDC winhdc = GetDC( ghMainWnd );
+
+	/*
+
+	Imagine you have 2 things:
+	- a canvas on which to draw (call this your HBITMAP)
+	- set of brushes you will use to draw (call this your HDC)
+
+	1.  HBITMAP.  Canvas
+	___________________
+	|       *         |
+	|   *             |
+	|     HBITMAP     |
+	|    draw here    |
+	|_________________|
+
+	2.  HDC.  Set of brushes.
+	<-*
+	[]-*
+	()-*
+
+	*/
+
+	// Create the HBITMAP "canvas", or surface on which we will draw.
+	backBufferBMP = CreateCompatibleBitmap( winhdc, backBufferCX, backBufferCY );
+	if(backBufferBMP == NULL)
+		printf( "failed to create backBufferBMP" );
+
+
+	// Create the HDC "device context", or collection of tools
+	// and brushes that we can use to draw on our canvas
+	backDC = CreateCompatibleDC( winhdc );
+	if(backDC == NULL)
+		printf( "failed to create the backDC" );
+
+	// Permanently associate the surface on which to draw
+	// ("canvas") (HBITMAP), with the "set of brushes" (HDC)
+
+	// "select in" the backBufferBMP into the backDC
+	HBITMAP oldbmp = (HBITMAP)SelectObject( backDC, backBufferBMP );
+
+
+	// Delete the "canvas" that the backDC was
+	// going to draw to.  We don't care about it.
+	DeleteObject( oldbmp );
+
+
+
+	/// Release the dc of the main window itself
+	ReleaseDC( ghMainWnd, winhdc );
+}
+
+void InitBackBuffer2()
+{
+	backBufferCX = 700;
+	backBufferCY = 850;
+
+	HDC winhdc = GetDC( ghMainWnd );
+
+	// Create the HBITMAP "canvas", or surface on which we will draw.
+	backBufferBMP2 = CreateCompatibleBitmap( winhdc, backBufferCX, backBufferCY );
+	if(backBufferBMP2 == NULL)
+		printf( "failed to create backBufferBMP" );
+
+
+	// Create the HDC "device context", or collection of tools
+	// and brushes that we can use to draw on our canvas
+	BackDC2 = CreateCompatibleDC( winhdc );
+	if(BackDC2 == NULL)
+		printf( "failed to create the backDC" );
+
+	// Permanently associate the surface on which to draw
+	// ("canvas") (HBITMAP), with the "set of brushes" (HDC)
+
+	// "select in" the backBufferBMP into the backDC
+	HBITMAP oldbmp = (HBITMAP)SelectObject( BackDC2, backBufferBMP2 );
+
+
+	// Delete the "canvas" that the backDC was
+	// going to draw to.  We don't care about it.
+	DeleteObject( oldbmp );
+
+
+
+	/// Release the dc of the main window itself
+	ReleaseDC( ghMainWnd, winhdc );
+}
+
+inline void ClearBackDC()
+{
+	// clear by filling out the back buffer with black rectangle
+	HBRUSH oldBrush = (HBRUSH)SelectObject( backDC, GetStockObject( BLACK_BRUSH ) ) ;
+	Rectangle( backDC, 0, 0, backBufferCX, backBufferCY );
+	SelectObject( backDC, oldBrush ) ; // put the old brush back, not bothering
+	// to catch the system BLACK_BRUSH
+}
+
+inline void ClearBackDC2()
+{
+	// clear by filling out the back buffer with black rectangle
+	HBRUSH oldBrush = (HBRUSH)SelectObject( BackDC2, GetStockObject( BLACK_BRUSH ) ) ;
+	Rectangle( BackDC2, 0, 0, backBufferCX, backBufferCY );
+	SelectObject( BackDC2, oldBrush ) ; // put the old brush back, not bothering
+	// to catch the system BLACK_BRUSH
+}
+
+#pragma endregion OtherFunctions 
+
+LRESULT CALLBACK 
+	WndProc(HWND hWnd, UINT msg, WPARAM wParam, LPARAM lParam)
+{
+	HDC hdc = 0;
+	PAINTSTRUCT ps;
+
+	int mx = LOWORD(lParam);
+	int my = HIWORD(lParam);
+
+	D3DXVECTOR3 test;
+
+	switch( msg )
+	{
+#pragma region CREATE
+	case WM_CREATE:
+		{
+			La = new Leg;
+
+			La->Offset( Offset );
+			La->Size( Size );
+
+			InitBackBuffer();
+
+			La->GetHDC( backDC );
+
+			InitBackBuffer2();
+
+			La->GetHDCSecondBuffer( BackDC2 );
+
+			La->GetPossibleMoveSpace();
+
+			La->PrintMoveSpaceOnWorldSpace();
+
+			PostMessage( hWnd, DRAW, wParam, lParam );
+
+			break;
+		}
+#pragma endregion CREATE
+	case DRAW:
+		{
+#pragma region DRAW
+			ClearBackDC();
+
+			copybtf( BackDC2, backDC );
+
+			La->Coordinates( Coordinates );
+			La->CalculateLegRight();
+
+			if( La->Error == true )
+			{
+				La->Coordinates( SuccessfulCoordinate );
+				La->CalculateLegRight();
+
+				La->CalculateWorldSpaceLineModel();
+
+				La->Print3DLinesOnWorldSpace();
+
+				La->PrintWorldSpaceLineModel();
+			}
+			else
+			{
+				La->CalculateWorldSpaceLineModel();
+
+				La->Print3DLinesOnWorldSpace();
+
+				La->PrintWorldSpaceLineModel();
+
+				SuccessfulCoordinate = La->Coordinate;
+			}
+
+
+#pragma region Status
+			RECT rcWind;
+			POINT ptDiff;
+			GetWindowRect(hWnd, &rcWind);
+			ptDiff.x = (rcWind.right - rcWind.left);
+			ptDiff.y = (rcWind.bottom - rcWind.top);
+
+			//TextOut( backDC, ptDiff.x - 44, 0, convertInt( D->O1 ), ( sizeof( convertInt( D->O1 ) ) / sizeof( char ) - 1) );
+			//TextOut( backDC, ptDiff.x - 44, 20, convertInt( D->O2 ), ( sizeof( convertInt( D->O2 ) ) / sizeof( char ) - 1) );
+			//TextOut( backDC, ptDiff.x - 44, 40, convertInt( D->O3 ), ( sizeof( convertInt( D->O3 ) ) / sizeof( char ) - 1) );
+			TextOut( backDC, ptDiff.x - 44, 70, convertInt( Coordinates.x ), ( sizeof( convertInt( Coordinates.x ) ) / sizeof( char ) - 1) );
+			TextOut( backDC, ptDiff.x - 44, 90, convertInt( Coordinates.y ), ( sizeof( convertInt( Coordinates.y ) ) / sizeof( char ) - 1) );
+			TextOut( backDC, ptDiff.x - 44, 110, convertInt( Coordinates.z ), ( sizeof( convertInt( Coordinates.z ) ) / sizeof( char ) - 1) );
+			//TextOut( backDC, ptDiff.x - 44, 140, convertInt( D->X2 ), ( sizeof( convertInt( D->X2 ) ) / sizeof( char ) - 1) );
+			//TextOut( backDC, ptDiff.x - 44, 160, convertInt( D->Y2 ), ( sizeof( convertInt( D->Y2 ) ) / sizeof( char ) - 1) );
+			//TextOut( backDC, ptDiff.x - 44, 180, convertInt( D->Z2 ), ( sizeof( convertInt( D->Z2 ) ) / sizeof( char ) - 1) );
+
+#pragma endregion Status
+#pragma endregion DRAW
+			break;
+		}
+	case WM_KEYUP:
+
+#pragma region KeyMove
+		if( GetAsyncKeyState( VK_UP ) == 1 )
+			Coordinates.y--;
+		if( GetAsyncKeyState( VK_DOWN ) == 1 )
+			Coordinates.y++;
+		if( GetAsyncKeyState( VK_LEFT ) == 1 )
+			Coordinates.x--;
+		if( GetAsyncKeyState( VK_RIGHT ) == 1 )
+			Coordinates.x++;
+		if( GetAsyncKeyState( VK_SUBTRACT ) == 1 )
+		{
+			Coordinates.z--;
+
+			ClearBackDC2();
+
+			La->MoveSpaceRenderd = 0;
+
+			La->GetPossibleMoveSpace();
+
+			La->PrintMoveSpaceOnWorldSpace();
+		}
+		if( GetAsyncKeyState( VK_ADD ) == 1 )
+		{
+			Coordinates.z++;
+
+			ClearBackDC2();
+
+			La->MoveSpaceRenderd = 0;
+
+			La->GetPossibleMoveSpace();
+
+			La->PrintMoveSpaceOnWorldSpace();
+		}
+#pragma endregion KeyMove
+
+		PostMessage( hWnd, DRAW, wParam, lParam );
+
+		return 0;
+	case WM_LBUTTONDOWN:
+		SetCapture(hWnd);
+
+		gMouseDown = true;
+
+		break;
+	case WM_RBUTTONDOWN:
+
+		return 0;
+	case WM_MOUSEMOVE:
+		if( gMouseDown )
+		{
+			Coordinates.x = ((float) mx - Offset.x ) / Size.x;
+			Coordinates.y = ((float) my - Offset.y) / Size.y;
+			PostMessage( hWnd, DRAW, wParam, lParam );
+		}
+		break;
+	case WM_LBUTTONUP:
+		ReleaseCapture();
+		gMouseDown = false;
+
+		break;
+	case WM_RBUTTONUP:
+		ReleaseCapture();
+		gMouseDown = false;
+
+		UpdateWindow (hWnd);
+
+		break;
+#pragma region PAINT
+	case WM_PAINT:
+		{
+			PAINTSTRUCT	ps;
+
+			HDC winhdc = BeginPaint(hWnd, &ps);
+
+			// Do nothing here.  All drawing happens in draw(),
+			// and you draw to the backbuffer, NOT the
+			// front buffer.
+
+			EndPaint(hWnd, &ps);
+			break;
+		}
+#pragma endregion PAINT
+	case WM_DESTROY:
+		PostQuitMessage(0);
+		break;
+	default:
+		return DefWindowProc(hWnd, msg, wParam, lParam);
+	}
+}
+
+#pragma region Functions
+
+int WINAPI WinMain (HINSTANCE hInstance,
+					HINSTANCE hPrevInstance,
+					PSTR cmdLine,
+					int showCmd)
+{
+	ghAppInst = hInstance;
+
+	WNDCLASS wc;
+	wc.style			= CS_HREDRAW | CS_VREDRAW;
+	wc.lpfnWndProc		= WndProc;
+	wc.cbClsExtra		= 0;
+	wc.cbWndExtra		= 0;
+	wc.hInstance		= ghAppInst;
+	wc.hIcon			= ::LoadIcon(0, IDI_APPLICATION);
+	wc.hCursor			= ::LoadCursor(0, IDC_ARROW);
+	wc.hbrBackground	= (HBRUSH)(COLOR_WINDOW)+1;
+	wc.lpszMenuName		= 0;
+	wc.lpszClassName	= "Hexapod";
+
+	RegisterClass( &wc );
+
+	ghMainWnd = ::CreateWindow("Hexapod", "Hexapod FrontView",
+		WS_OVERLAPPEDWINDOW, 50, 50, 700, 850, 0, 0, ghAppInst, 0);
+
+	if(ghMainWnd == 0)
+	{
+		::MessageBox(0, "CreateWindow - Failed", 0, 0);
+		return false;
+	}
+
+	ShowWindow(ghMainWnd, showCmd);
+	UpdateWindow(ghMainWnd);
+
+	MSG msg;
+	/*ZeroMemory(&msg, sizeof(MSG));
+
+	while( GetMessage(&msg, 0, 0, 0) )
+	{
+	TranslateMessage(&msg);
+	DispatchMessage(&msg);
+	}*/
+
+	while(1)
+	{
+		if(PeekMessage(&msg, NULL, 0, 0, PM_REMOVE))
+		{
+			if(msg.message == WM_QUIT)
+			{
+				PostQuitMessage(0);
+				break;
+			}
+			TranslateMessage(&msg);	// translates 'character' keyboard messages
+			DispatchMessage(&msg);	// send off to WndProc for processing
+		}
+		else
+		{
+			// could put more update code in here
+			// before drawing.
+			draw();
+		}
+	}
+
+	//return (int)msg.wParam;
+	return 0;
+}
+
+
+

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

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

2012-simulation/ik-visualiser-vs/Hexapod app/Release/Hexapod app.exe.intermediate.manifest

@@ -0,0 +1,10 @@
+<?xml version='1.0' encoding='UTF-8' standalone='yes'?>
+<assembly xmlns='urn:schemas-microsoft-com:asm.v1' manifestVersion='1.0'>
+  <trustInfo xmlns="urn:schemas-microsoft-com:asm.v3">
+    <security>
+      <requestedPrivileges>
+        <requestedExecutionLevel level='asInvoker' uiAccess='false' />
+      </requestedPrivileges>
+    </security>
+  </trustInfo>
+</assembly>

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\|

2012-simulation/ik-visualiser-vs/Hexapod app/Release/link.read.1.tlog

@@ -0,0 +1 @@
+

2012-simulation/ik-visualiser-vs/Hexapod app/Release/link.write.1.tlog

@@ -0,0 +1 @@
+

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
+

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

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