interface.c

3D仿真组实物机器人环境下的机器人模型的设计工具。可以查看和修改现有模型的详细参数

  onMenuFixedJoint = gtk_image_menu_item_new_with_mnemonic (_("Fixed Joint"));
  gtk_widget_set_name (onMenuFixedJoint, "onMenuFixedJoint");
  gtk_widget_show (onMenuFixedJoint);
  gtk_container_add (GTK_CONTAINER (mnuAddJoint_menu), onMenuFixedJoint);

  image337 = gtk_image_new_from_stock ("gtk-connect", GTK_ICON_SIZE_MENU);
  gtk_widget_set_name (image337, "image337");
  gtk_widget_show (image337);
  gtk_image_menu_item_set_image (GTK_IMAGE_MENU_ITEM (onMenuFixedJoint), image337);

  mnuHingeJoint = gtk_image_menu_item_new_with_mnemonic (_("Hinge Joint"));
  gtk_widget_set_name (mnuHingeJoint, "mnuHingeJoint");
  gtk_widget_show (mnuHingeJoint);
  gtk_container_add (GTK_CONTAINER (mnuAddJoint_menu), mnuHingeJoint);

  image338 = gtk_image_new_from_stock ("gtk-connect", GTK_ICON_SIZE_MENU);
  gtk_widget_set_name (image338, "image338");
  gtk_widget_show (image338);
  gtk_image_menu_item_set_image (GTK_IMAGE_MENU_ITEM (mnuHingeJoint), image338);

  mnuUniversalJoint = gtk_image_menu_item_new_with_mnemonic (_("Universal Joint"));
  gtk_widget_set_name (mnuUniversalJoint, "mnuUniversalJoint");
  gtk_widget_show (mnuUniversalJoint);
  gtk_container_add (GTK_CONTAINER (mnuAddJoint_menu), mnuUniversalJoint);

  image339 = gtk_image_new_from_stock ("gtk-connect", GTK_ICON_SIZE_MENU);
  gtk_widget_set_name (image339, "image339");
  gtk_widget_show (image339);
  gtk_image_menu_item_set_image (GTK_IMAGE_MENU_ITEM (mnuUniversalJoint), image339);

  mnuDeleteJoint = gtk_image_menu_item_new_with_mnemonic (_("Delete Joint"));
  gtk_widget_set_name (mnuDeleteJoint, "mnuDeleteJoint");
  gtk_widget_show (mnuDeleteJoint);
  gtk_container_add (GTK_CONTAINER (mnuEdit_menu), mnuDeleteJoint);

  image340 = gtk_image_new_from_stock ("gtk-disconnect", GTK_ICON_SIZE_MENU);
  gtk_widget_set_name (image340, "image340");
  gtk_widget_show (image340);
  gtk_image_menu_item_set_image (GTK_IMAGE_MENU_ITEM (mnuDeleteJoint), image340);

  mnuAddNode = gtk_image_menu_item_new_with_mnemonic (_("Add _Node"));
  gtk_widget_set_name (mnuAddNode, "mnuAddNode");
  gtk_widget_show (mnuAddNode);
  gtk_container_add (GTK_CONTAINER (mnuEdit_menu), mnuAddNode);

  image341 = gtk_image_new_from_stock ("gtk-preferences", GTK_ICON_SIZE_MENU);
  gtk_widget_set_name (image341, "image341");
  gtk_widget_show (image341);
  gtk_image_menu_item_set_image (GTK_IMAGE_MENU_ITEM (mnuAddNode), image341);

  mnuAddNode_menu = gtk_menu_new ();
  gtk_widget_set_name (mnuAddNode_menu, "mnuAddNode_menu");
  gtk_menu_item_set_submenu (GTK_MENU_ITEM (mnuAddNode), mnuAddNode_menu);

  mnuNodeBox = gtk_image_menu_item_new_with_mnemonic (_("_Box"));
  gtk_widget_set_name (mnuNodeBox, "mnuNodeBox");
  gtk_widget_show (mnuNodeBox);
  gtk_container_add (GTK_CONTAINER (mnuAddNode_menu), mnuNodeBox);

  image342 = gtk_image_new_from_stock ("gtk-properties", GTK_ICON_SIZE_MENU);
  gtk_widget_set_name (image342, "image342");
  gtk_widget_show (image342);
  gtk_image_menu_item_set_image (GTK_IMAGE_MENU_ITEM (mnuNodeBox), image342);

  mnuNodeSphere = gtk_image_menu_item_new_with_mnemonic (_("_Sphere"));
  gtk_widget_set_name (mnuNodeSphere, "mnuNodeSphere");
  gtk_widget_show (mnuNodeSphere);
  gtk_container_add (GTK_CONTAINER (mnuAddNode_menu), mnuNodeSphere);

  image343 = gtk_image_new_from_stock ("gtk-properties", GTK_ICON_SIZE_MENU);
  gtk_widget_set_name (image343, "image343");
  gtk_widget_show (image343);
  gtk_image_menu_item_set_image (GTK_IMAGE_MENU_ITEM (mnuNodeSphere), image343);

  mnuDeleteNode = gtk_image_menu_item_new_with_mnemonic (_("Delete Node"));
  gtk_widget_set_name (mnuDeleteNode, "mnuDeleteNode");
  gtk_widget_show (mnuDeleteNode);
  gtk_container_add (GTK_CONTAINER (mnuEdit_menu), mnuDeleteNode);

  image344 = gtk_image_new_from_stock ("gtk-delete", GTK_ICON_SIZE_MENU);
  gtk_widget_set_name (image344, "image344");
  gtk_widget_show (image344);
  gtk_image_menu_item_set_image (GTK_IMAGE_MENU_ITEM (mnuDeleteNode), image344);

  mnuHelp = gtk_image_menu_item_new_with_mnemonic (_("_Help"));
  gtk_widget_set_name (mnuHelp, "mnuHelp");
  gtk_widget_show (mnuHelp);
  gtk_container_add (GTK_CONTAINER (menubar1), mnuHelp);

  image345 = gtk_image_new_from_stock ("gtk-help", GTK_ICON_SIZE_MENU);
  gtk_widget_set_name (image345, "image345");
  gtk_widget_show (image345);
  gtk_image_menu_item_set_image (GTK_IMAGE_MENU_ITEM (mnuHelp), image345);

  mnuHelp_menu = gtk_menu_new ();
  gtk_widget_set_name (mnuHelp_menu, "mnuHelp_menu");
  gtk_menu_item_set_submenu (GTK_MENU_ITEM (mnuHelp), mnuHelp_menu);

  mnuAbout = gtk_image_menu_item_new_with_mnemonic (_("_About"));
  gtk_widget_set_name (mnuAbout, "mnuAbout");
  gtk_widget_show (mnuAbout);
  gtk_container_add (GTK_CONTAINER (mnuHelp_menu), mnuAbout);

  image346 = gtk_image_new_from_stock ("gtk-about", GTK_ICON_SIZE_MENU);
  gtk_widget_set_name (image346, "image346");
  gtk_widget_show (image346);
  gtk_image_menu_item_set_image (GTK_IMAGE_MENU_ITEM (mnuAbout), image346);

  treeviewJoints = InitJointsTreeView();
  gtk_widget_set_name (treeviewJoints, "treeviewJoints");
  gtk_widget_show (treeviewJoints);
  gtk_fixed_put (GTK_FIXED (fixed1), treeviewJoints, 72, 368);
  gtk_widget_set_size_request (treeviewJoints, 256, 240);
  gtk_container_set_border_width (GTK_CONTAINER (treeviewJoints), 5);

  hseparator1 = gtk_hseparator_new ();
  gtk_widget_set_name (hseparator1, "hseparator1");
  gtk_widget_show (hseparator1);
  gtk_fixed_put (GTK_FIXED (fixed1), hseparator1, 0, 624);
  gtk_widget_set_size_request (hseparator1, 688, 16);

  toolbarJoints = gtk_toolbar_new ();
  gtk_widget_set_name (toolbarJoints, "toolbarJoints");
  gtk_widget_show (toolbarJoints);
  gtk_fixed_put (GTK_FIXED (fixed1), toolbarJoints, 0, 360);
  gtk_widget_set_size_request (toolbarJoints, 68, 256);
  gtk_toolbar_set_style (GTK_TOOLBAR (toolbarJoints), GTK_TOOLBAR_BOTH);
  gtk_toolbar_set_orientation (GTK_TOOLBAR (toolbarJoints), GTK_ORIENTATION_VERTICAL);
  tmp_toolbar_icon_size = gtk_toolbar_get_icon_size (GTK_TOOLBAR (toolbarJoints));

  toolitem40 = (GtkWidget*) gtk_tool_item_new ();
  gtk_widget_set_name (toolitem40, "toolitem40");
  gtk_widget_show (toolitem40);
  gtk_container_add (GTK_CONTAINER (toolbarJoints), toolitem40);

  toolFixed = gtk_button_new ();
  gtk_widget_set_name (toolFixed, "toolFixed");
  gtk_widget_show (toolFixed);
  gtk_container_add (GTK_CONTAINER (toolitem40), toolFixed);
  gtk_widget_set_size_request (toolFixed, 60, 62);
  gtk_button_set_relief (GTK_BUTTON (toolFixed), GTK_RELIEF_NONE);

  alignment31 = gtk_alignment_new (0.5, 0.5, 0, 0);
  gtk_widget_set_name (alignment31, "alignment31");
  gtk_widget_show (alignment31);
  gtk_container_add (GTK_CONTAINER (toolFixed), alignment31);
  gtk_widget_set_size_request (alignment31, -1, 62);

  hbox32 = gtk_hbox_new (FALSE, 2);
  gtk_widget_set_name (hbox32, "hbox32");
  gtk_widget_show (hbox32);
  gtk_container_add (GTK_CONTAINER (alignment31), hbox32);
  gtk_widget_set_size_request (hbox32, -1, 62);

  image197 = create_pixmap (winMain, "fixed.png");
  gtk_widget_set_name (image197, "image197");
  gtk_widget_show (image197);
  gtk_box_pack_end (GTK_BOX (hbox32), image197, FALSE, FALSE, 0);
  gtk_widget_set_size_request (image197, 60, 60);
  gtk_misc_set_alignment (GTK_MISC (image197), 0, 0);
  gtk_misc_set_padding (GTK_MISC (image197), 9, 0);

  toolitem41 = (GtkWidget*) gtk_tool_item_new ();
  gtk_widget_set_name (toolitem41, "toolitem41");
  gtk_widget_show (toolitem41);
  gtk_container_add (GTK_CONTAINER (toolbarJoints), toolitem41);

  toolHinge = gtk_button_new ();
  gtk_widget_set_name (toolHinge, "toolHinge");
  gtk_widget_show (toolHinge);
  gtk_container_add (GTK_CONTAINER (toolitem41), toolHinge);
  gtk_widget_set_size_request (toolHinge, 60, 62);
  gtk_button_set_relief (GTK_BUTTON (toolHinge), GTK_RELIEF_NONE);

  alignment30 = gtk_alignment_new (0.5, 0.5, 0, 0);
  gtk_widget_set_name (alignment30, "alignment30");
  gtk_widget_show (alignment30);
  gtk_container_add (GTK_CONTAINER (toolHinge), alignment30);
  gtk_widget_set_size_request (alignment30, -1, 62);

  hbox31 = gtk_hbox_new (FALSE, 2);
  gtk_widget_set_name (hbox31, "hbox31");
  gtk_widget_show (hbox31);
  gtk_container_add (GTK_CONTAINER (alignment30), hbox31);
  gtk_widget_set_size_request (hbox31, -1, 62);

  image196 = create_pixmap (winMain, "hinge.png");
  gtk_widget_set_name (image196, "image196");
  gtk_widget_show (image196);
  gtk_box_pack_end (GTK_BOX (hbox31), image196, FALSE, FALSE, 0);
  gtk_widget_set_size_request (image196, 60, 60);
  gtk_misc_set_alignment (GTK_MISC (image196), 0, 0);
  gtk_misc_set_padding (GTK_MISC (image196), 9, 0);

  toolitem42 = (GtkWidget*) gtk_tool_item_new ();
  gtk_widget_set_name (toolitem42, "toolitem42");
  gtk_widget_show (toolitem42);
  gtk_container_add (GTK_CONTAINER (toolbarJoints), toolitem42);

  toolUniversal = gtk_button_new ();
  gtk_widget_set_name (toolUniversal, "toolUniversal");
  gtk_widget_show (toolUniversal);
  gtk_container_add (GTK_CONTAINER (toolitem42), toolUniversal);
  gtk_widget_set_size_request (toolUniversal, 60, 62);
  gtk_button_set_relief (GTK_BUTTON (toolUniversal), GTK_RELIEF_NONE);

  alignment32 = gtk_alignment_new (0.5, 0.5, 0, 0);
  gtk_widget_set_name (alignment32, "alignment32");
  gtk_widget_show (alignment32);
  gtk_container_add (GTK_CONTAINER (toolUniversal), alignment32);
  gtk_widget_set_size_request (alignment32, -1, 62);

  hbox33 = gtk_hbox_new (FALSE, 2);
  gtk_widget_set_name (hbox33, "hbox33");
  gtk_widget_show (hbox33);
  gtk_container_add (GTK_CONTAINER (alignment32), hbox33);
  gtk_widget_set_size_request (hbox33, -1, 62);

  image198 = create_pixmap (winMain, "universal.png");
  gtk_widget_set_name (image198, "image198");
  gtk_widget_show (image198);
  gtk_box_pack_end (GTK_BOX (hbox33), image198, FALSE, FALSE, 0);
  gtk_widget_set_size_request (image198, 60, 60);
  gtk_misc_set_alignment (GTK_MISC (image198), 0, 0);
  gtk_misc_set_padding (GTK_MISC (image198), 9, 0);

  toolitem39 = (GtkWidget*) gtk_tool_item_new ();
  gtk_widget_set_name (toolitem39, "toolitem39");
  gtk_widget_show (toolitem39);
  gtk_container_add (GTK_CONTAINER (toolbarJoints), toolitem39);

  toolJointDelete = gtk_button_new ();
  gtk_widget_set_name (toolJointDelete, "toolJointDelete");
  gtk_widget_show (toolJointDelete);
  gtk_container_add (GTK_CONTAINER (toolitem39), toolJointDelete);
  gtk_widget_set_size_request (toolJointDelete, 60, 61);
  gtk_button_set_relief (GTK_BUTTON (toolJointDelete), GTK_RELIEF_NONE);

  alignment29 = gtk_alignment_new (0.5, 0.5, 0, 0);
  gtk_widget_set_name (alignment29, "alignment29");
  gtk_widget_show (alignment29);
  gtk_container_add (GTK_CONTAINER (toolJointDelete), alignment29);

  hbox30 = gtk_hbox_new (FALSE, 2);
  gtk_widget_set_name (hbox30, "hbox30");
  gtk_widget_show (hbox30);
  gtk_container_add (GTK_CONTAINER (alignment29), hbox30);

  label35 = gtk_label_new_with_mnemonic (_("Delete"));
  gtk_widget_set_name (label35, "label35");
  gtk_widget_show (label35);
  gtk_box_pack_start (GTK_BOX (hbox30), label35, FALSE, FALSE, 0);
  gtk_widget_set_size_request (label35, 60, 60);
  gtk_misc_set_alignment (GTK_MISC (label35), 0, 0);
  gtk_misc_set_padding (GTK_MISC (label35), 9, 33);

  image195 = gtk_image_new_from_stock ("gtk-delete", GTK_ICON_SIZE_DND);
  gtk_widget_set_name (image195, "image195");
  gtk_widget_show (image195);
  gtk_box_pack_end (GTK_BOX (hbox30), image195, FALSE, FALSE, 0);
  gtk_widget_set_size_request (image195, 50, 50);
  gtk_misc_set_alignment (GTK_MISC (image195), 0, 0);
  gtk_misc_set_padding (GTK_MISC (image195), 8, 0);

  label18 = gtk_label_new (_("Nodes of robot"));
  gtk_widget_set_name (label18, "label18");
  gtk_widget_show (label18);
  gtk_fixed_put (GTK_FIXED (fixed1), label18, 0, 0);
  gtk_widget_set_size_request (label18, 0, 0);
  gtk_label_set_justify (GTK_LABEL (label18), GTK_JUSTIFY_FILL);

  toolbarNodes = gtk_toolbar_new ();
  gtk_widget_set_name (toolbarNodes, "toolbarNodes");
  gtk_widget_show (toolbarNodes);
  gtk_fixed_put (GTK_FIXED (fixed1), toolbarNodes, 0, 120);
  gtk_widget_set_size_request (toolbarNodes, 62, 208);
  gtk_toolbar_set_style (GTK_TOOLBAR (toolbarNodes), GTK_TOOLBAR_BOTH);
  gtk_toolbar_set_orientation (GTK_TOOLBAR (toolbarNodes), GTK_ORIENTATION_VERTICAL);
  tmp_toolbar_icon_size = gtk_toolbar_get_icon_size (GTK_TOOLBAR (toolbarNodes));

  toolitem31 = (GtkWidget*) gtk_tool_item_new ();
  gtk_widget_set_name (toolitem31, "toolitem31");
  gtk_widget_show (toolitem31);
  gtk_container_add (GTK_CONTAINER (toolbarNodes), toolitem31);

  toolSphere = gtk_button_new ();
  gtk_widget_set_name (toolSphere, "toolSphere");
  gtk_widget_show (toolSphere);
  gtk_container_add (GTK_CONTAINER (toolitem31), toolSphere);
  gtk_widget_set_size_request (toolSphere, 61, 61);
  gtk_button_set_relief (GTK_BUTTON (toolSphere), GTK_RELIEF_NONE);

  alignment24 = gtk_alignment_new (0.5, 0.5, 0, 0);
  gtk_widget_set_name (alignment24, "alignment24");
  gtk_widget_show (alignment24);
  gtk_container_add (GTK_CONTAINER (toolSphere), alignment24);

  hbox25 = gtk_hbox_new (FALSE, 2);
  gtk_widget_set_name (hbox25, "hbox25");
  gtk_widget_show (hbox25);
  gtk_container_add (GTK_CONTAINER (alignment24), hbox25);

  label30 = gtk_label_new_with_mnemonic (_("Sphere"));
  gtk_widget_set_name (label30, "label30");
  gtk_widget_show (label30);
  gtk_box_pack_start (GTK_BOX (hbox25), label30, FALSE, FALSE, 0);
  gtk_widget_set_size_request (label30, 60, 60);
  gtk_misc_set_alignment (GTK_MISC (label30), 0, 0);
  gtk_misc_set_padding (GTK_MISC (label30), 4, 31);