记录Qt关于机器人仿真的工具，主要使用Coin3D、msvc2008、Qt4.8.6.zip

#include "mainwindow.h" #include "ui_mainwindow.h" #include<QPushButton> #include<QtDebug> #include <QTimer> #include <QMessageBox> #include <QDir> #include <QTextCodec> #pragma warning(disable:4819) MainWindow::MainWindow(QWidget *parent) : QMainWindow(parent) , ui(new Ui::MainWindow),r1(0),r2(0),r3(0),r4(0),r5(0),r6(0),num(0),flag(false),\ flag_1(false),flag_2(false),flag_3(false),flag_4(false),flag_5(false),flag_6(false),\ record_sta(false) { ui->setupUi(this); time = new QTimer; time->setInterval(5); record_time = new QTimer; record_time->setInterval(50); connect(record_time,SIGNAL(timeout()),this,SLOT(path_recur())); connect(time,SIGNAL(timeout()),this,SLOT(simulation_bs())); connect(ui->pushButton_3,SIGNAL(clicked()),this,SLOT(go_time())); SoQt::init(ui->widget);//OIV与Qt结合初始化 必须加 m_rot1 = new SoRotationXYZ; m_rot2 = new SoRotationXYZ; m_rot3 = new SoRotationXYZ; m_rot4 = new SoRotationXYZ; m_rot5 = new SoRotationXYZ; m_rot6 = new SoRotationXYZ; //设置角度范围（限位） ui->horizontalSlider->setRange(-180,180); ui->horizontalSlider_2->setRange(-180,180); ui->horizontalSlider_3->setRange(-180,180); ui->horizontalSlider_4->setRange(-180,180); ui->horizontalSlider_5->setRange(-180,180); ui->horizontalSlider_6->setRange(-360,360); //初始化归零位置 ui->horizontalSlider->setValue(0); ui->horizontalSlider_2->setValue(0); ui->horizontalSlider_3->setValue(0); ui->horizontalSlider_4->setValue(0); ui->horizontalSlider_5->setValue(0); ui->horizontalSlider_6->setValue(0); //装配机械臂 makeScene(); } MainWindow::~MainWindow() { delete ui; } SoSeparator *MainWindow::makeRod0() { SoSeparator* base = new SoSeparator;//因为函数要返回soseparator*类型 SoTransform* form0 = new SoTransform; form0->translation.setValue(0, 0, 0); QString s1 = QDir::currentPath().left(QDir::currentPath().size()-4)+"/models/base.wrl"; QTextCodec *code = QTextCodec::codecForName("GB2312");//解决中文路径问题 s1 = code->fromUnicode(s1).data(); SoSeparator *mygraph = openModel(s1); mygraph->ref(); base->addChild(form0); base->addChild(mygraph); return base; } SoSeparator *MainWindow::makeRod1() { SoSeparator* YT_shoulder = new SoSeparator;//因为函数要返回soseparator*类型 YT_shoulder->ref(); SoTransform* form1 = new SoTransform;//这个是 form1->translation.setValue(0, 70,0);//导入的模型记录了建立的原点,通过装配体测两零件间的坐标系原点距离 m_rot1->axis = SoRotationXYZ::Y; QString s1 = QDir::currentPath().left(QDir::currentPath().size()-4)+"/models/guanjie1.wrl"; QTextCodec *code = QTextCodec::codecForName("GB2312");//解决中文路径问题 s1 = code->fromUnicode(s1).data(); SoSeparator *mygraph =openModel(s1); mygraph->ref(); YT_shoulder->addChild(form1); YT_shoulder->addChild(m_rot1); YT_shoulder->addChild(mygraph); return YT_shoulder; } SoSeparator *MainWindow::makeRod2() { SoSeparator* YT_arm = new SoSeparator; m_rot2->axis = SoRotationXYZ::X; SoTransform* form2 = new SoTransform; form2->translation.setValue(static_cast<float>(71.65),static_cast<float>(72.15),0); QString s1 = QDir::currentPath().left(QDir::currentPath().size()-4)+"/models/guanjie2.wrl"; QTextCodec *code = QTextCodec::codecForName("GB2312");//解决中文路径问题 s1 = code->fromUnicode(s1).data(); SoSeparator* mygraph =openModel(s1); mygraph->ref(); YT_arm->addChild(form2); YT_arm->addChild(m_rot2); YT_arm->addChild(mygraph); return YT_arm; } SoSeparator *MainWindow::makeRod3() { SoSeparator* YT_elbow = new SoSeparator;//因为函数要返回soseparator*类型 YT_elbow->ref(); m_rot3->axis = SoRotationXYZ::X; SoTransform* form3 = new SoTransform; form3->translation.setValue(static_cast<float>(7.75), static_cast<float>(384.8), 0); QString s1 = QDir::currentPath().left(QDir::currentPath().size()-4)+"/models/guanjie3.wrl"; QTextCodec *code = QTextCodec::codecForName("GB2312");//解决中文路径问题 s1 = code->fromUnicode(s1).data(); SoSeparator *mygraph = openModel(s1); YT_elbow->addChild(form3); YT_elbow->addChild(m_rot3); YT_elbow->addChild(mygraph); return YT_elbow; } SoSeparator *MainWindow::makeRod4() { SoSeparator* YT_forearm = new SoSeparator;//因为函数要返回soseparator*类型 YT_forearm->ref(); SoTransform* form4 = new SoTransform; form4->translation.setValue(static_cast<float>(9.1), static_cast<float>(352.8), 0); m_rot4->axis = SoRotationXYZ::X; QString s1 = QDir::currentPath().left(QDir::currentPath().size()-4)+"/models/guanjie4.wrl"; QTextCodec *code = QTextCodec::codecForName("GB2312");//解决中文路径问题 s1 = code->fromUnicode(s1).data(); SoSeparator *mygraph = openModel(s1); YT_forearm->addChild(form4); YT_forearm->addChild(m_rot4); YT_forearm->addChild(mygraph); return YT_forearm; } SoSeparator *MainWindow::makeRod5() { SoSeparator* YT_wrist = new SoSeparator; YT_wrist->ref(); m_rot5->axis = SoRotationXYZ::Y; SoTransform* form5 = new SoTransform; form5->translation.setValue(static_cast<float>(54.1), static_cast<float>(65.6), 0); QString s1 = QDir::currentPath().left(QDir::currentPath().size()-4)+"/models/guanjie5.wrl"; QTextCodec *code = QTextCodec::codecForName("GB2312");//解决中文路径问题 s1 = code->fromUnicode(s1).data(); SoSeparator *mygraph = openModel(s1); YT_wrist->addChild(form5); YT_wrist->addChild(m_rot5); YT_wrist->addChild(mygraph); return YT_wrist; } SoSeparator *MainWindow::makeRod6() { SoSeparator* YT_tool_flange = new SoSeparator;//因为函数要返回soseparator*类型 YT_tool_flange->ref(); SoTransform* form6 = new SoTransform; form6->translation.setValue(static_cast<float>(65.6), static_cast<float>(54.1), 0); m_rot6->axis = SoRotationXYZ::X; QString s1 = QDir::currentPath().left(QDir::currentPath().size()-4)+"/models/falan.wrl"; QTextCodec *code = QTextCodec::codecForName("GB2312");//解决中文路径问题 s1 = code->fromUnicode(s1).data(); SoSeparator *mygraph = openModel(s1); YT_tool_flange->addChild(form6); YT_tool_flange->addChild(m_rot6); YT_tool_flange->addChild(mygraph); return YT_tool_flange; } void MainWindow::makeScene() { root = new SoSeparator; root->ref(); //这个是总结点，要释放下 SoSeparator *robot = new SoSeparator; SoSeparator *Rod0 = new SoSeparator; SoSeparator *Rod1 = new SoSeparator; SoSeparator *Rod2 = new SoSeparator; SoSeparator *Rod3 = new SoSeparator; SoSeparator *Rod4 = new SoSeparator; SoSeparator *Rod5 = new SoSeparator; SoSeparator *Rod6 = new SoSeparator; Rod0 = makeRod0(); Rod1 = makeRod1(); Rod1->setName("rod1"); Rod2 = makeRod2(); Rod2->setName("rod2"); Rod3 = makeRod3(); Rod3->setName("rod3"); Rod4 = makeRod4(); Rod4->setName("rod4"); Rod5 = makeRod5(); Rod5->setName("rod5"); Rod6 = makeRod6(); Rod6->setName("rod6"); //设置旋转角度 m_rot1->angle = 0*PI/180; m_rot2->angle = 0*PI/180; m_rot3->angle = 0*PI/180; m_rot4->angle = 0*PI/180; m_rot5->angle = 0*PI/180; m_rot6->angle = 0*PI/1