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

  txtNodeParent = gtk_entry_new ();
  gtk_widget_set_name (txtNodeParent, "txtNodeParent");
  gtk_widget_show (txtNodeParent);
  gtk_table_attach (GTK_TABLE (tableNodeProps), txtNodeParent, 1, 2, 10, 11,
                    (GtkAttachOptions) (GTK_EXPAND | GTK_FILL),
                    (GtkAttachOptions) (0), 0, 0);
  gtk_entry_set_invisible_char (GTK_ENTRY (txtNodeParent), 8226);

  txtNodeMass = gtk_entry_new ();
  gtk_widget_set_name (txtNodeMass, "txtNodeMass");
  gtk_widget_show (txtNodeMass);
  gtk_table_attach (GTK_TABLE (tableNodeProps), txtNodeMass, 1, 2, 11, 12,
                    (GtkAttachOptions) (GTK_EXPAND | GTK_FILL),
                    (GtkAttachOptions) (0), 0, 0);
  gtk_entry_set_invisible_char (GTK_ENTRY (txtNodeMass), 8226);

  label36 = gtk_label_new (_("<b>Node Properties:</b>"));
  gtk_widget_set_name (label36, "label36");
  gtk_widget_show (label36);
  gtk_frame_set_label_widget (GTK_FRAME (frameNodeProps), label36);
  gtk_label_set_use_markup (GTK_LABEL (label36), TRUE);

  hseparator3 = gtk_hseparator_new ();
  gtk_widget_set_name (hseparator3, "hseparator3");
  gtk_widget_show (hseparator3);
  gtk_fixed_put (GTK_FIXED (fixed1), hseparator3, 0, 328);
  gtk_widget_set_size_request (hseparator3, 680, 16);

  frameJoinProps = gtk_frame_new (NULL);
  gtk_widget_set_name (frameJoinProps, "frameJoinProps");
  gtk_widget_show (frameJoinProps);
  gtk_fixed_put (GTK_FIXED (fixed1), frameJoinProps, 336, 352);
  gtk_widget_set_size_request (frameJoinProps, 352, 256);
  gtk_frame_set_shadow_type (GTK_FRAME (frameJoinProps), GTK_SHADOW_NONE);

  alignment33 = gtk_alignment_new (0.5, 0.5, 1, 1);
  gtk_widget_set_name (alignment33, "alignment33");
  gtk_widget_show (alignment33);
  gtk_container_add (GTK_CONTAINER (frameJoinProps), alignment33);

  scrolledwindow2 = gtk_scrolled_window_new (NULL, NULL);
  gtk_widget_set_name (scrolledwindow2, "scrolledwindow2");
  gtk_widget_show (scrolledwindow2);
  gtk_container_add (GTK_CONTAINER (alignment33), scrolledwindow2);
  gtk_scrolled_window_set_policy (GTK_SCROLLED_WINDOW (scrolledwindow2), GTK_POLICY_NEVER, GTK_POLICY_ALWAYS);

  viewport2 = gtk_viewport_new (NULL, NULL);
  gtk_widget_set_name (viewport2, "viewport2");
  gtk_widget_show (viewport2);
  gtk_container_add (GTK_CONTAINER (scrolledwindow2), viewport2);
  gtk_viewport_set_shadow_type (GTK_VIEWPORT (viewport2), GTK_SHADOW_NONE);

  table3 = gtk_table_new (16, 2, FALSE);
  gtk_widget_set_name (table3, "table3");
  gtk_widget_show (table3);
  gtk_container_add (GTK_CONTAINER (viewport2), table3);

  label64 = gtk_label_new (_("Joint Type:"));
  gtk_widget_set_name (label64, "label64");
  gtk_widget_show (label64);
  gtk_table_attach (GTK_TABLE (table3), label64, 0, 1, 0, 1,
                    (GtkAttachOptions) (GTK_FILL),
                    (GtkAttachOptions) (0), 0, 0);
  gtk_misc_set_alignment (GTK_MISC (label64), 0, 0.5);

  label65 = gtk_label_new (_("Parent:"));
  gtk_widget_set_name (label65, "label65");
  gtk_widget_show (label65);
  gtk_table_attach (GTK_TABLE (table3), label65, 0, 1, 1, 2,
                    (GtkAttachOptions) (GTK_FILL),
                    (GtkAttachOptions) (0), 0, 0);
  gtk_misc_set_alignment (GTK_MISC (label65), 0, 0.5);

  label66 = gtk_label_new (_("Child:"));
  gtk_widget_set_name (label66, "label66");
  gtk_widget_show (label66);
  gtk_table_attach (GTK_TABLE (table3), label66, 0, 1, 2, 3,
                    (GtkAttachOptions) (GTK_FILL),
                    (GtkAttachOptions) (0), 0, 0);
  gtk_misc_set_alignment (GTK_MISC (label66), 0, 0.5);

  label67 = gtk_label_new (_("Anchor X:"));
  gtk_widget_set_name (label67, "label67");
  gtk_widget_show (label67);
  gtk_table_attach (GTK_TABLE (table3), label67, 0, 1, 3, 4,
                    (GtkAttachOptions) (GTK_FILL),
                    (GtkAttachOptions) (0), 0, 0);
  gtk_misc_set_alignment (GTK_MISC (label67), 0, 0.5);

  label68 = gtk_label_new (_("Anchor Y:"));
  gtk_widget_set_name (label68, "label68");
  gtk_widget_show (label68);
  gtk_table_attach (GTK_TABLE (table3), label68, 0, 1, 4, 5,
                    (GtkAttachOptions) (GTK_FILL),
                    (GtkAttachOptions) (0), 0, 0);
  gtk_misc_set_alignment (GTK_MISC (label68), 0, 0.5);

  label69 = gtk_label_new (_("Anchor Z:"));
  gtk_widget_set_name (label69, "label69");
  gtk_widget_show (label69);
  gtk_table_attach (GTK_TABLE (table3), label69, 0, 1, 5, 6,
                    (GtkAttachOptions) (GTK_FILL),
                    (GtkAttachOptions) (0), 0, 0);
  gtk_misc_set_alignment (GTK_MISC (label69), 0, 0.5);

  label70 = gtk_label_new (_("Max Force #1:"));
  gtk_widget_set_name (label70, "label70");
  gtk_widget_show (label70);
  gtk_table_attach (GTK_TABLE (table3), label70, 0, 1, 6, 7,
                    (GtkAttachOptions) (GTK_FILL),
                    (GtkAttachOptions) (0), 0, 0);
  gtk_misc_set_alignment (GTK_MISC (label70), 0, 0.5);

  label71 = gtk_label_new (_("Max Force #2:"));
  gtk_widget_set_name (label71, "label71");
  gtk_widget_show (label71);
  gtk_table_attach (GTK_TABLE (table3), label71, 0, 1, 7, 8,
                    (GtkAttachOptions) (GTK_FILL),
                    (GtkAttachOptions) (0), 0, 0);
  gtk_misc_set_alignment (GTK_MISC (label71), 0, 0.5);

  label72 = gtk_label_new (_("Perceptor Name:"));
  gtk_widget_set_name (label72, "label72");
  gtk_widget_show (label72);
  gtk_table_attach (GTK_TABLE (table3), label72, 0, 1, 8, 9,
                    (GtkAttachOptions) (GTK_FILL),
                    (GtkAttachOptions) (0), 0, 0);
  gtk_misc_set_alignment (GTK_MISC (label72), 0, 0.5);

  label73 = gtk_label_new (_("Effector Name:"));
  gtk_widget_set_name (label73, "label73");
  gtk_widget_show (label73);
  gtk_table_attach (GTK_TABLE (table3), label73, 0, 1, 9, 10,
                    (GtkAttachOptions) (GTK_FILL),
                    (GtkAttachOptions) (0), 0, 0);
  gtk_misc_set_alignment (GTK_MISC (label73), 0, 0.5);

  label74 = gtk_label_new (_("Axis #1 X:"));
  gtk_widget_set_name (label74, "label74");
  gtk_widget_show (label74);
  gtk_table_attach (GTK_TABLE (table3), label74, 0, 1, 10, 11,
                    (GtkAttachOptions) (GTK_FILL),
                    (GtkAttachOptions) (0), 0, 0);
  gtk_misc_set_alignment (GTK_MISC (label74), 0, 0.5);

  label75 = gtk_label_new (_("Axis #1 Y:"));
  gtk_widget_set_name (label75, "label75");
  gtk_widget_show (label75);
  gtk_table_attach (GTK_TABLE (table3), label75, 0, 1, 11, 12,
                    (GtkAttachOptions) (GTK_FILL),
                    (GtkAttachOptions) (0), 0, 0);
  gtk_misc_set_alignment (GTK_MISC (label75), 0, 0.5);

  label76 = gtk_label_new (_("Axis #1 Z:"));
  gtk_widget_set_name (label76, "label76");
  gtk_widget_show (label76);
  gtk_table_attach (GTK_TABLE (table3), label76, 0, 1, 12, 13,
                    (GtkAttachOptions) (GTK_FILL),
                    (GtkAttachOptions) (0), 0, 0);
  gtk_misc_set_alignment (GTK_MISC (label76), 0, 0.5);

  label77 = gtk_label_new (_("Axis #2 X:"));
  gtk_widget_set_name (label77, "label77");
  gtk_widget_show (label77);
  gtk_table_attach (GTK_TABLE (table3), label77, 0, 1, 13, 14,
                    (GtkAttachOptions) (GTK_FILL),
                    (GtkAttachOptions) (0), 0, 0);
  gtk_misc_set_alignment (GTK_MISC (label77), 0, 0.5);

  label78 = gtk_label_new (_("Axis #2 Y:"));
  gtk_widget_set_name (label78, "label78");
  gtk_widget_show (label78);
  gtk_table_attach (GTK_TABLE (table3), label78, 0, 1, 14, 15,
                    (GtkAttachOptions) (GTK_FILL),
                    (GtkAttachOptions) (0), 0, 0);
  gtk_misc_set_alignment (GTK_MISC (label78), 0, 0.5);

  label79 = gtk_label_new (_("Axis #2 Z:"));
  gtk_widget_set_name (label79, "label79");
  gtk_widget_show (label79);
  gtk_table_attach (GTK_TABLE (table3), label79, 0, 1, 15, 16,
                    (GtkAttachOptions) (GTK_FILL),
                    (GtkAttachOptions) (0), 0, 0);
  gtk_misc_set_alignment (GTK_MISC (label79), 0, 0.5);

  txtJointAnchorX = gtk_entry_new ();
  gtk_widget_set_name (txtJointAnchorX, "txtJointAnchorX");
  gtk_widget_show (txtJointAnchorX);
  gtk_table_attach (GTK_TABLE (table3), txtJointAnchorX, 1, 2, 3, 4,
                    (GtkAttachOptions) (GTK_EXPAND | GTK_FILL),
                    (GtkAttachOptions) (0), 0, 0);
  gtk_entry_set_invisible_char (GTK_ENTRY (txtJointAnchorX), 8226);

  txtJointAnchorZ = gtk_entry_new ();
  gtk_widget_set_name (txtJointAnchorZ, "txtJointAnchorZ");
  gtk_widget_show (txtJointAnchorZ);
  gtk_table_attach (GTK_TABLE (table3), txtJointAnchorZ, 1, 2, 5, 6,
                    (GtkAttachOptions) (GTK_EXPAND | GTK_FILL),
                    (GtkAttachOptions) (0), 0, 0);
  gtk_entry_set_invisible_char (GTK_ENTRY (txtJointAnchorZ), 8226);

  txtJointMotor1 = gtk_entry_new ();
  gtk_widget_set_name (txtJointMotor1, "txtJointMotor1");
  gtk_widget_show (txtJointMotor1);
  gtk_table_attach (GTK_TABLE (table3), txtJointMotor1, 1, 2, 6, 7,
                    (GtkAttachOptions) (GTK_EXPAND | GTK_FILL),
                    (GtkAttachOptions) (0), 0, 0);
  gtk_entry_set_invisible_char (GTK_ENTRY (txtJointMotor1), 8226);

  txtJointMotor2 = gtk_entry_new ();
  gtk_widget_set_name (txtJointMotor2, "txtJointMotor2");
  gtk_widget_show (txtJointMotor2);
  gtk_table_attach (GTK_TABLE (table3), txtJointMotor2, 1, 2, 7, 8,
                    (GtkAttachOptions) (GTK_EXPAND | GTK_FILL),
                    (GtkAttachOptions) (0), 0, 0);
  gtk_entry_set_invisible_char (GTK_ENTRY (txtJointMotor2), 8226);

  txtJointAxis1X = gtk_entry_new ();
  gtk_widget_set_name (txtJointAxis1X, "txtJointAxis1X");
  gtk_widget_show (txtJointAxis1X);
  gtk_table_attach (GTK_TABLE (table3), txtJointAxis1X, 1, 2, 10, 11,
                    (GtkAttachOptions) (GTK_EXPAND | GTK_FILL),
                    (GtkAttachOptions) (0), 0, 0);
  gtk_entry_set_invisible_char (GTK_ENTRY (txtJointAxis1X), 8226);

  txtJointAxis1Y = gtk_entry_new ();
  gtk_widget_set_name (txtJointAxis1Y, "txtJointAxis1Y");
  gtk_widget_show (txtJointAxis1Y);
  gtk_table_attach (GTK_TABLE (table3), txtJointAxis1Y, 1, 2, 11, 12,
                    (GtkAttachOptions) (GTK_EXPAND | GTK_FILL),
                    (GtkAttachOptions) (0), 0, 0);
  gtk_entry_set_invisible_char (GTK_ENTRY (txtJointAxis1Y), 8226);

  txtJointAxis1Z = gtk_entry_new ();
  gtk_widget_set_name (txtJointAxis1Z, "txtJointAxis1Z");
  gtk_widget_show (txtJointAxis1Z);
  gtk_table_attach (GTK_TABLE (table3), txtJointAxis1Z, 1, 2, 12, 13,
                    (GtkAttachOptions) (GTK_EXPAND | GTK_FILL),
                    (GtkAttachOptions) (0), 0, 0);
  gtk_entry_set_invisible_char (GTK_ENTRY (txtJointAxis1Z), 8226);

  txtJointAxis2X = gtk_entry_new ();
  gtk_widget_set_name (txtJointAxis2X, "txtJointAxis2X");
  gtk_widget_show (txtJointAxis2X);
  gtk_table_attach (GTK_TABLE (table3), txtJointAxis2X, 1, 2, 13, 14,
                    (GtkAttachOptions) (GTK_EXPAND | GTK_FILL),
                    (GtkAttachOptions) (0), 0, 0);
  gtk_entry_set_invisible_char (GTK_ENTRY (txtJointAxis2X), 8226);

  txtJointAxis2Y = gtk_entry_new ();
  gtk_widget_set_name (txtJointAxis2Y, "txtJointAxis2Y");
  gtk_widget_show (txtJointAxis2Y);
  gtk_table_attach (GTK_TABLE (table3), txtJointAxis2Y, 1, 2, 14, 15,
                    (GtkAttachOptions) (GTK_EXPAND | GTK_FILL),
                    (GtkAttachOptions) (0), 0, 0);
  gtk_entry_set_invisible_char (GTK_ENTRY (txtJointAxis2Y), 8226);

  txtJointAxis2Z = gtk_entry_new ();
  gtk_widget_set_name (txtJointAxis2Z, "txtJointAxis2Z");
  gtk_widget_show (txtJointAxis2Z);
  gtk_table_attach (GTK_TABLE (table3), txtJointAxis2Z, 1, 2, 15, 16,
                    (GtkAttachOptions) (GTK_EXPAND | GTK_FILL),
                    (GtkAttachOptions) (0), 0, 0);
  gtk_entry_set_invisible_char (GTK_ENTRY (txtJointAxis2Z), 8226);

  txtJointPerceptor = gtk_entry_new ();
  gtk_widget_set_name (txtJointPerceptor, "txtJointPerceptor");
  gtk_widget_show (txtJointPerceptor);
  gtk_table_attach (GTK_TABLE (table3), txtJointPerceptor, 1, 2, 8, 9,
                    (GtkAttachOptions) (GTK_EXPAND | GTK_FILL),
                    (GtkAttachOptions) (0), 0, 0);
  gtk_entry_set_invisible_char (GTK_ENTRY (txtJointPerceptor), 8226);

  txtJointEffector = gtk_entry_new ();
  gtk_widget_set_name (txtJointEffector, "txtJointEffector");
  gtk_widget_show (txtJointEffector);
  gtk_table_attach (GTK_TABLE (table3), txtJointEffector, 1, 2, 9, 10,
                    (GtkAttachOptions) (GTK_EXPAND | GTK_FILL),
                    (GtkAttachOptions) (0), 0, 0);
  gtk_entry_set_invisible_char (GTK_ENTRY (txtJointEffector), 8226);

  txtJointParent = gtk_entry_new ();
  gtk_widget_set_name (txtJointParent, "txtJointParent");
  gtk_widget_show (txtJointParent);
  gtk_table_attach (GTK_TABLE (table3), txtJointParent, 1, 2, 1, 2,
                    (GtkAttachOptions) (GTK_EXPAND | GTK_FILL),
                    (GtkAttachOptions) (0), 0, 0);
  gtk_entry_set_invisible_char (GTK_ENTRY (txtJointParent), 8226);

  txtJointChild = gtk_entry_new ();
  gtk_widget_set_name (txtJointChild, "txtJointChild");
  gtk_widget_show (txtJointChild);
  gtk_table_attach (GTK_TABLE (table3), txtJointChild, 1, 2, 2, 3,
                    (GtkAttachOptions) (GTK_EXPAND | GTK_FILL),
                    (GtkAttachOptions) (0), 0, 0);
  gtk_entry_set_invisible_char (GTK_ENTRY (txtJointChild), 8226);

  comboJointType = gtk_combo_box_entry_new_text ();
  gtk_widget_set_name (comboJointType, "comboJointType");
  gtk_widget_show (comboJointType);
  gtk_table_attach (GTK_TABLE (table3), comboJointType, 1, 2, 0, 1,
                    (GtkAttachOptions) (GTK_FILL),
                    (GtkAttachOptions) (GTK_FILL), 0, 0);
  gtk_combo_box_append_text (GTK_COMBO_BOX (comboJointType), _("Fixed"));
  gtk_combo_box_append_text (GTK_COMBO_BOX (comboJointType), _("Hinge"));
  gtk_combo_box_append_text (GTK_COMBO_BOX (comboJointType), _("Hinge2"));
  gtk_combo_box_append_text (GTK_COMBO_BOX (comboJointType), _("Universal"));
  gtk_combo_box_set_add_tearoffs (GTK_COMBO_BOX (comboJointType), TRUE);