part.cpp

C arm 3D traslate 模擬C手臂在三度空間移動

// part.cpp: implementation of the Cpart class.
//
//////////////////////////////////////////////////////////////////////

#include "stdafx.h"
#include "OpenGLtest.h"
#include "part.h"

#ifdef _DEBUG
#undef THIS_FILE
static char THIS_FILE[]=__FILE__;
#define new DEBUG_NEW
#endif

//////////////////////////////////////////////////////////////////////
// Construction/Destruction
//////////////////////////////////////////////////////////////////////

/*Cpart::Cpart()
{

}*/

Cpart::~Cpart()
{

}



CVector Cpart::CTranslateLbc(CVector Lbc,double alpha)
{
  Lbc=RZb.RotationZ(alpha)*Lbc;
 return Lbc;

}


CVector Cpart::CTranslateLcd(CVector Lcd,double alpha)
{
  Lcd=RZb.RotationZ(alpha)*Lcd;
  return Lcd;

}

CVector Cpart::CTranslateLde(CVector Lde,double alpha)
{
  Lde=RZb.RotationZ(alpha)*Lde;
 return Lde;

}


CVector Cpart:: CTranslateA(CVector Pa,CVector Tx,CVector Ty)//じンA
{
	Pa= Pa +Tx+Ty;
    return Pa;
}


CVector Cpart::CTranslateB(CVector Pb,CVector Tx,CVector Ty,double alpha,CVector Lab)//じンB
{
	
	Pb = RZb.RotationZ(alpha) * Pb + Lab +Tx +Ty;
	return Pb;
}


CVector Cpart::CTranslateC(CVector Pc,CVector Tx,CVector Ty,double alpha,double beta,CVector Lab,CVector Lbc)//じンC
{
	Pc = RZb.RotationZ(alpha) * ( RYc.RotationY(beta)*Pc+Lbc ) + Lab +Tx +Ty;
    return Pc;
}


CVector Cpart::CTranslateD(CVector Pd,CVector T,CVector Tx,CVector Ty,double alpha,double beta,CVector Lab,CVector Lbc,CVector Lcd)//じンD
{
	Pd = RZb.RotationZ(alpha) * ( RYc.RotationY(beta)*(Pd+T+Lcd)+Lbc ) + Lab +Tx +Ty;
    return Pd;
}


CVector Cpart::CTranslateE(CVector Pe,CVector T,CVector Tx,CVector Ty,double alpha,double beta,double gamma,CVector Lab,CVector Lbc,CVector Lcd, CVector Lde)//じンE
{
	Pe = RZb.RotationZ(alpha) * ( RYc.RotationY(beta)*(RXe.RotationX(gamma)*Pe+Lde+T+Lcd) + Lbc ) + Lab +Tx +Ty;
    return Pe;
}