_arm.cpp

C arm 3D traslate 模擬C手臂在三度空間移動

// _arm.cpp: implementation of the C_arm class.
//
//////////////////////////////////////////////////////////////////////

#include "stdafx.h"
#include "OpenGLtest.h"
#include "_arm.h"

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

//////////////////////////////////////////////////////////////////////
// Construction/Destruction
//////////////////////////////////////////////////////////////////////
/*
C_arm::C_arm()
{

}
*/
C_arm::~C_arm()
{

}


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

}


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

}

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

}


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


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


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


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


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