Редактирование: Manipulator model
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Текущая версия | Ваш текст | ||
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===Degrees of freedom=== | ===Degrees of freedom=== | ||
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This model has 9 degrees of freedom:<br> | This model has 9 degrees of freedom:<br> | ||
2 — translation movement of a shoulder (front/back; up/down)<br> | 2 — translation movement of a shoulder (front/back; up/down)<br> | ||
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[[Файл:Vector_rotation.png|250px|right]] | [[Файл:Vector_rotation.png|250px|right]] | ||
In order to rotate any 3D object we should rotate related vector.<br> | In order to rotate any 3D object we should rotate related vector.<br> | ||
− | But how to rotate vector?<br> | + | But how to rotate vector?<br>right |
This programm uses quaternions for vector rotation. | This programm uses quaternions for vector rotation. | ||
====Quaternions==== | ====Quaternions==== | ||
Строка 56: | Строка 55: | ||
OK! We already can rotate any vector around any on any angle (but not bigger than 180deg)! <br> | OK! We already can rotate any vector around any on any angle (but not bigger than 180deg)! <br> | ||
But it's not enough. We want to get motion and it should be smooth. So we need to go through many points between each position. There is a problem that appears if we try to rotate vector around two axis at the same time. Rotations are not additive, so we can't just rotate on a small angle each step. The solution is simple, we need to rotate vector on bigger angle on each step from the initial position. | But it's not enough. We want to get motion and it should be smooth. So we need to go through many points between each position. There is a problem that appears if we try to rotate vector around two axis at the same time. Rotations are not additive, so we can't just rotate on a small angle each step. The solution is simple, we need to rotate vector on bigger angle on each step from the initial position. | ||
− | + | ==About program interface== | |
− | ==About program interface | ||
Because program doesn't have help yet, I should give some information about it's interface.<br> | Because program doesn't have help yet, I should give some information about it's interface.<br> | ||
I'll tell about each tab: | I'll tell about each tab: | ||
Строка 65: | Строка 63: | ||
Left/Right – rotation around vertical axis<br> | Left/Right – rotation around vertical axis<br> | ||
Ctrl + Up/Down/Left/Right – faster rotation<br> | Ctrl + Up/Down/Left/Right – faster rotation<br> | ||
− | +/- (OemPlus/OemMinus) | + | +/- (OemPlus/OemMinus) –Foundation Zoom<br> |
<gallery widths=550px heights=300px perrow = 1> | <gallery widths=550px heights=300px perrow = 1> | ||
Файл:Graph_Tab_0.jpg | Файл:Graph_Tab_0.jpg | ||
</gallery> | </gallery> | ||
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===Settings=== | ===Settings=== | ||
This one is responsible for customization of model appearance. You can change model color and opacity, quality and speed of basis rotation. | This one is responsible for customization of model appearance. You can change model color and opacity, quality and speed of basis rotation. | ||
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Drawing of objects is done by triangulation, that means that we need to build it of triangles. | Drawing of objects is done by triangulation, that means that we need to build it of triangles. | ||
Notice that back side of triangles is transparent as default. | Notice that back side of triangles is transparent as default. | ||
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− | == | + | |
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+ | ==Usage of this program== | ||
This program in future can be used as a package for modelling manipulators. They are very similar to hand, so the idea is the same.<br> | This program in future can be used as a package for modelling manipulators. They are very similar to hand, so the idea is the same.<br> | ||
<gallery widths=300px heights=200px perrow = 3> | <gallery widths=300px heights=200px perrow = 3> | ||
Строка 108: | Строка 100: | ||
Файл:Manipulator_3.jpg | Файл:Manipulator_3.jpg | ||
</gallery> | </gallery> | ||
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==Last Features== | ==Last Features== | ||
[[Файл:DONE.jpg|130px|right]] | [[Файл:DONE.jpg|130px|right]] | ||
'''ver_1.0.0.33:''' | '''ver_1.0.0.33:''' | ||
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==Future Features== | ==Future Features== | ||
[[Файл:Coming_soon.gif|130px|right]] | [[Файл:Coming_soon.gif|130px|right]] | ||
'''Under development...''' | '''Under development...''' | ||
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==Last, sometimes stable version== | ==Last, sometimes stable version== | ||
[[Файл:KTULHU.png|150px|left]] | [[Файл:KTULHU.png|150px|left]] | ||
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