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TRNG HBKHN KHOA C KH-------------
CNG HA X HI CH NGHA VIT NAM c lp - T do - Hnh
phc-------------------------
***------------
***----------------------
NHI
V THIT K N
NH C
H v tn sinh vin: NGUYN C NHIN Khoa: C kh p: C in t 1 K49 B mn: C
hc ng dng
Gio vin hng dn: TS. 1. u thit k
PHAN BI KH I
p trnh m phng hot ng cu rbt Scara 4 bc t do. 2 .Cc s liu ban u 3
.Ni dung thuyt minh v tnh ton n gm cc phn chnh sau: A. Mc ch ca n
tin hc ng dng Tm hiu - Tm hiu v 1 robot c th s dng trong cng
nghip(Robot Scara) - Tm hiu v cc c cu hot ng ca Robot cc khu hot ng
ca Rbt. - Tm hiu v ng hc v m hnh 3D ca Robot m phng hot ng ca Robot
- Tm hiu cch xy dng chng trnh iu khin cho robot B. Nhim v ca em
trong n tin hc ng dng l xy dng chng trnh m phng hot ng ca
robotScara 4 bc t do. 1
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+ Cc cng c xy dng bi ton m phng - Ngn ng lp trnh C++(Xy dng giao
din MFC,xy dng chng trnh dc file d liu c dng .*BDF v .*STL). - Lp
trnh ha OPEN GL xy dng cc khi ha m phng (Tm hiu k cc gi th vin ca
OPEN GL). - Cc cng c cn xy dng l Visual C++ 6.0 (to Project vi
Visual C++) C. Kt qu t c qua n - Hiu uc nguyn l hot ng ca Robot
trong cng nghip qua chng trnh m phng - C 1 chng trnh c th m phng .
- Tm hiu v lp trnh M PHNG vi openGL. - Tm hiu v phn mn lp trnh
Visual C++ 6.0. - Tm hiu v ngn ng lp trnh VC++ . 4 .Yu cu chung - N
m vng kin thc c s v C hc kho st bi ton t nh hc. - S dng thnh tho t
nht mt phn mm thit k, n m vng kin thc v tnh ton thit k chi tit my,
cc b truyn ng c kh. - Cc phn ca thuyt minh gm Trang ba, Nhim v thit
k, mc lc, gii thiu, ni dung ( t bi ton, thc hin, kt lun), ti liu
tham kho. - Phn t vn cn c th, r rng, ch ra c mc ch, nhim v, kt qu
mong mun. Phn thc hin trnh by c s l thuyt kho st, tnh ton, thit k C
: y , 2
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, c xy dng,
. Cc kt qu nhn c
th hin di dng th , bng s, ho c ghi ra file kt qu, cc phn mm
- Thuyt minh n c trnh by trong t nht 20 trang kh giy A4, son tho
b ng my tnh, c ch 13-14, 1.5 line, font ting Vit (Times New Roman),
l trn di 2cm, tri 3cm, phi 2cm. In mt m t, ng thnh quyn khi hon
thnh v np cho gio vin hng d n ng thi hn c duyt v cho ph p bo v kt
qu trc hi ng chm n mn hc. 5 .Ngy hon thnh nhim v Ngy 09 thng 11 nm
2008 Ch nhim b mn Gio vin hng d n ..
Sinh vin hon thnh (v
Ngy 09 thng 11 nm 2008
3
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MC LCMC LC
.....................................................................................................................
4 LI NI U ......9 GII THIU TNG QUAN V ROBOT CNG NGHP V M PHNG HOT
NG .11 CHNG I: CC C NG C XY DNG BI TON PHNG HOT NG CA ROBOT
...................................................................................................
131.1. Gii thiu v Open GL .. 1.1.1. c im ca OpenGL .. 1.1.2. Cc th
vin h tr lp trnh OpenGL .. ...14 .....13
20
1.1.3. Cc bc tng quan khi xy dng ng dng ha vi OpenGL ...21
1.1.4. Xy dng cc i tng 3 chiu .. 1.1.5. Quan st cc i tng 3 chiu .
....... 23
24
4
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1.2.Gii thiu v VisualC++ v ng dng MFC . ...
.27
1.3. Tm hiu phn mm thit k VS 6.0 v AutoCAD , SolidWorks .
...28
CHNG II: CC BC XY DNG BI TON2.1. Cch to ra mt project MFC m phn
2.2. Khi to v thit lp cc gi th viOpenGL 2.3. Thit k m hnh Robot trn
SolidWork 2007 . ...58 2.4. Xy dng module c file .*STL v .*BDF .
... 2.4.1. Xy dng module c file .*STL 61 2.4.2 Xy dng module c file
.*BDF . . .. 2.5. M phng chng trnh trn OpenGL .. .. .
PHNG 32 ..32 ...39
61
65
74
CHNG III: CHY CHNG TRNH
PHNG ............................................ 75
KT LUN
...................................................................................................................
81
Ti liu tham kho
......................................................................................................
83
5
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DANHH 1.1 : M OpenGL.................16
C CC HNH V TRONG N : 2 v v 3 v v q 1 S j MFC S d v 2 dw dWorks v
x
H 1. 2 : M OpenGL......................................16 H 1. 3
:M .......................17 H 1. 4 :M .......................18 3
4
H 1.5: M OpenGL.19
H 1. 6 :M 1 OpenGL...20 H 1.7 : C 2007.28 H 1.8 :M ...29
H 1.9 : G d AutoCAD..30 H 1.10: G d MFC..31. q
H 2.1 : B ..33 H 2.2 : ...34 T
1 ..
H 2.3 : T 2..34 H 2.4 : T 3...35 H 2.5 :T ...36. 4
6
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H 2.6 : T 537 H 2.7 : H MFC.37. d v O D s v y y d O O O O GL GL
GL GL P j P j
H 2.8 : C y MFC.38. H 2.9 : C MFC.39 H 2.10 : T OpenGL...40. H
2.11 : C ..45. H 2.12 : C 47. H 2.13 : C ....48. H 2.14 : C 50 H H
H H 2.15 : C 2.16 : T 2.17 : C 2.18 : T y v j O P j O Sz O P O
GL 53. MFC .54 y O GL..55
O T
O T
.56 N w
H 2.19 : T Symbol....57 H 2.20 : C y 1
OpenGL57 R
H 2.21 : V ..58. H H 2.22 : V 2.23 : V 1 2 R R
..59 ..59 K
H 2.24 : 360.
7
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H 2.24 : 3.60. H 2.25 : M 2007.61 R v S
K dW s R s STL s f
H 2.26 : C y File.*STL..62 H 2.27 : C y .*STL..63 H 2.28 : C
ASCII...64. H 2.29 : C y .*STL65 H 2.30: C X W s d v f .*
y..66 A CAD
H 2.31 : T XchangeWorks.66. H 2.32: P 2000....67. H H H H H
2.33: H 2.34 : I 2.35: H 2.36: T 2.37 : K /X O L d/U f dA *.s d
...68 .69 3D70
..68 FF
s .71 R S 1 1 1 1 1 1 E v
H 2.38 : M OpenGL..74. H H H H H H 3.1 : R 3.1 : R 3.2 : R 3.3 :
R 3.4 : R 3.5 : R y y y y y y q q q q q q
..75. .76. ....77. s ..78. S .79 3 .....80
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I NI URobot cng nghip l l nh vc c nghin cu v pht trin mnh trn th
gii. nc ta l nh vc ny cn mi m ngy nay trong mi trng sn xut hin i,
hu ht cc quy trnh c thc hin b ng cc my chuyn dng. Vi cc phng php
ny, lm gim r rt chi ph sn xut cc sn phm cng nghip ph hp vi a s ngi
tiu dng. Tuy nhin mi my cng c, c thit k thc hin nguyn cng cho trc,
mi khi cn thay i kiu m u sn phm, th ton b dy chuyn sn xut phi c ci
to li. Vic sa i rt tn k m. Kiu t ng ho ny l kiu t ng ho cng v rt tn
k m. Do vy, m trn th gii c phng php sn xut tin tin tin l ch to ra
cc loi Robot c a vo quy trnh ch to thc hin nhiu nguyn cng nh: chuyn
ti vt t v cc thit b trong cc dy chuyn hin i, hn im, sn phun v l p
rp trong cng nghip t .. . Do cc c cu hot ng c iu khin b ng my tnh
ho c cc b vi x l, chng c th ti lp d dng cho nhiu nguyn cng khc
nhau, do khng cn thay cc my mc ny khi thay i kiu m u sn phm. y l
kiu t ng ho linh hot v mang li hiu qu kinh t cao v rt cn thit trong
hon cnh ca t nuc ta hin nay ang tin ti cng nghip ha v hin i ho t
nuc. Robot cng nghip c ng dng rng ri trong cc dy truyn sn xut hin i
v c s linh hot cao v vy vic nghin cu v ch to r bt l cn thit. Trong
qu trnh tnh ton v thit k v ch to Rbt th vic m phng cc hot ng ca Rbt
l mt phn rt quan trng. Qu trnh m phng s cho ta thy c s hot ng v qu
trnh lm vic ca Rbt. Vi cc ngh a trong mn hc n tin hc ng dng vi s
hng d n ca thy gio TS Phan Bi Khi em chn ti Xy dng chng trnh m phng
hot ng ca Robot Scara 4 bc t do. 10
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Em xin cm n thy to iu kin thun li v hng d n ch bo tn tnh gip em
hon thnh tt n tin hc ng dng ny.
GII THIU TNG QUAN V R BT C NG NGHIP V PHNG HOT NGNgy nay, robot
cng nghip c vai tr rt quan trng v c ng dng rng ri trong qu trnh sn
xut ca nn cng nghip hin i. ch to ra c mt m hnh robot v em ra phc v
cho sn xut phi tri qua rt nhiu giai on nh : tm hiu v cc loi robot v
cc c tnh hot ng ca n,tnh ton mt cch chnh xc cc khu ca cc c cu, cc
phng trnh hot ng v thit k cc m hnh 3D sao cho ti u v hiu qu nht.Mt
m hnh robot hot ng trn tru v p ng c cc yu cu k thut ra i hi vic ch
to l ht sc t m v chi tit tng bc mt. Trong mt m hnh robot bao gm rt
nhiu phn nh C kh ch to ra cc chi tit, in t iu khin cc hot ng v tin
hc lp trnh cho cc c cu ca robot hot ng theo cc qu o v yu cu k thut
ra. Mt phn cng rt quan trng m mt m hnh robot no cng phi thc hin l m
phng qu trnh hot ng ca n. Sau khi hon thin m hnh robot th m phng
chnh l kim tra trn my tnh xem m hnh robot c hot ng tt hay khng, c
thc hin c cc yu cu t ra hay khng, sau a vo cc thng s tnh ton, gii
lp qu trnh hot ng ca i tng mt cch trc quan nht. Trn c s c th kim
nghim c qu trnh hot ng ca c cu c ng theo kt qu tnh ton v thit k hay
khng. M t khc, cng c th thay i mt cch linh hot cc s liu, cc thng s
ban u vo tm ra li gii cho bi ton ti u c cu. M phng cn ng vai tr rt
ln trong vic ging dy, bo co, truyn t thng tin v sn phm 11
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cho mi ngi. Gip cho nh thit k c c nhn tng quan v sn phm t c th
ci tin sn phm, ho c a ra mt quy trnh sn xut n gin, ti u cho sn phm.
V vy c th thy m phng l mt khu rt quan trng, khng th thiu trong qu
trnh ch to sn phm nh cc loi robot cng nghip. Trong l nh vc c kh c
rt nhiu phn mm ni ting nh : AutoCAD, Inventor, SolidWorks, Catia .
Dng tnh ton, thit k v m phng, kim tra cc iu kin lm vic ca chi tit .
Tuy nhin, cc phn mm ny cn b hn ch khi cn m phng kt cu hot ng theo
mt quy trnh tnh ton c th v d nh hot ng ca robot theo 1 theo 1 qu o
c th . Khi , c th ch ng, linh hot trong qu trnh tnh ton v thit k th
n gin v tin li l lp trnh m phng, qua ta c tht xy dng v p ng ng vi
ni dung v mc ch thit k. lp trnh m phng c hot ng ca robot th trong n
tin hc em chn ngn ng lp trnh Visual C++ v c kt hp vi th vin ha ca
OpenGL xy dng c bi ton m phng ph hp vi yu cu. Ni dung ca n tt nghip
Lp trnh m phng hot ng ca Robot Scara 4 bc t do gm c 3 chng nh sau :
Chng 1 : CC C NG C XY DNG BI TONCA R BT PHNG HOT NG
Chng ny gii thiu v cc cng c cn thit xy dng bi ton m phng nh ngn
ng lp trnh Visual C++, cc ng dng MFC v th vin ha OpenGL, phn mm
thit k nh AutoCAD, SolidWorks Chng 2 : CC BC XY DNG BI TONPHNG.
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Trong chng ny bao gm cc bc cn thit thc hin xy dng chng trnh khi
m phng, nh khi to d n MFC, nhp cc th vin OpenGL, thit k cc m hnh .
Chng 3 : CHY CHNG TRNHPHNG THEO QU O S HA.
Chng ny gii thiu khi qut v chng trnh m phng xy dng c, cch s dng
cc chc nng chnh m chng trnh c th cung cp . CHNG I CC CNG C XY DNG
BI TON M PHNG HOT NG CA ROBOT Cc cng c xy dng bi ton m phng gm c: -
Th vin ha OpenGL. - Ngn ng lp trnh Visual C++ v cc ng dng ca MFC. -
Phm mm thit k Solidworks v AutoCAD. 1. Gii thiu chung.
1.1- Gii thiu v phn mn OpenG hiu mt cch c th v cng c ha nh
OpenGL th mt cu hi c t ra l : OpenGL l g ? v ti sao li s dng OpenGL
cho bi ton m phng.
Hnh 1.1
Logo OpenGL
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OpenGL l ch vit t t ca Open Graphic Library l 1 th vin ha tc cao
v c lp vi h thng giao din cc h iu hnh. Tin thn ca OpenGL l IRIS GL
do hng Silicon Graphic Library Inc pht trin cho cc WorkStation ha
tc cao t nm 1982.Sau t nm 1992 th OpenGL tr thnh mt chun cng nghip
v c tnh k thut ca OpenGL do y ban k thut ARB (Architectural Review
Board ) ph chun. Trong cng ngh ha ng ang ngy cng c ng dng trong cuc
sng v ngy nay n c pht trin tng i mnh m Vit Nam.Trong k thut th vic
s dng cc ng dng ca OpenGL cng nh DirectX vo vic m phng cc c cu my
mc, cc hat ng ca Rbt cng nghip trc khi em th nghim b ng m hnh thc l
gii php m rt nhiu k s c kh cng nh cng nh cc vin nghin cu la chn do
tnh u vit ca n trong vic th hin cc m hnh ha ng trong khng gian 3
chiu (3D). V vy trong phm vi ca n ny em chn cch s dng OpenGL xy dng
bi ton m phng. 1.2 Gi thiu v C ch hot ng ca Open G .
Hnh 1.2 : C ch hot ng ca OpenGL
OpenGL c c ch hot ng theo kiu ng d n tc l u ra ca giai on trc l
u vo ca giai on sau.T s th cc thnh phn ca c ch c gii thch nh sau :
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+ Display List: L ni lu li mt s lnh x l sau. + Evaluator: Xp x
cc ng cong v m t phng hnh hc b ng cch nh gi cc a thc ca d liu a vo.
+ Per-vertex operations and primitive assembly: X l cc primitive
(im,on,a gic) c m t bi cc vertex. Cc vertex s c x l v cc primitive
c c t x n vo viewport chun b cho khu k tip. + Rasterization: sinh
ra mt lot cc a ch framebuffer v cc gi tr lin quan b ng cch s dng m
t 2 chiu ca im, on,a gic.Mi phn t (fragment) c sinh ra s a vo giai
on k tip. + Per-fragment operations: Cc tc v sau cng (cp nhp c iu
kin cho framebuffer da vo d liu vo v d liu c lu tr trc ca gi tr z
(i vi z buffering), thc hin trn mu cho cc pixel v lm mt s thao tc
khc) s c thc hin trn d liu trc khi n c chuyn thnh pixel v a vo
framebuffer. Trong trng hp d liu vo dng pixel khng phi vertex, n s
a thng vo giai on x l pixel. Sau giai on ny, d liu dng pixel s c lu
tr vo texture memory a vo giai on Per-fragment operation ho c a vo
Rasterization nh d liu dng Vertex(tc l cc im). 1.3 c im ca OpenG .
Cc kh nng ca th vin OpenGL cung cp.OpenGL l mt th vin ha rt ln gm
khong 150 hm h tr mt s tnh nng c bn sau: 1.3.1.Kh nng th hin cc i
tng ho c bn. OpenGL cng c cch xy dng cc i tng theo cch ring. Trong
OpenGL, mi i tng hnh hc u c m t c bn t cc vertex. Vertex cng c th
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hiu l mt im. Cu trc ny bao gm b 4 s thc ch ta trong khng gian.
ch nh mt vertex, ta dng:glVertex{234}{sifd}[v](TYPEcoords);
T hnh v trn ta c th thy cc trng khai bo c ni dung nh sau:[v] -
vct cha cc phn t l ta ca Vertex. {sifd}- kiu tham s ca vector:
Interger, float {234}- s phn t ca vct
Cc i tng ho c bn nh im,on thng,a gic,cc ng cong hay m t cong bc
hai. Gi tr GL_POINT ngh a. Hm ny cung cp cc chc nng v im (tc l tng
Vertex c v ring) GL_LINE V ng thng ni gia 2 im ( Mi c p vertex c
coi nh 2 u mt on thng) GL_LINE_STRIP Tp hp ca nhng on thng ni vi
nhau ( B 4 vertex xem nh cc nh t gic (c l p)) GL_LINE_LOOP ng gp
khc kh p kn(Nh trn nhng vertex u v cui c ni vi nhau (l p vng))
GL_TRIANGLES V hnh tam gic.( B 3 vertex c xem cc nh mt tam gic
(khng l p)) GL_QUADS V t gic.( B 4 vertex c xem nh 4 nh 1 a gic
(khng l p)) GL_TRIANGLES_STRIP V tp hp cc t gic lin nhau chung mt
cnh.( B 3 vertex xem nh cc nh tam gic (c l p))
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GL_TRIANGLE_FAN
V hnh qut.( Vertex 0 l nh chung kt hp c p nh bt k to tam
gic)
Di y l mt s hm th hin cc i tng c bn
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Hnh 1.3: Cc i tng ha c bn.
Ngoi ra cn c mt s i tng 3 chiu c bn nh: Hnh cu, hnh tr, hnh hp
vv... t ta xy dng c cc i tng 3 chiu phc tp hn, thm ch c th t nh ngh
a hay thit k cc phn mm h tr thit k 3 chiu nh AutoCAD, SolidWorks,
3D Max.Cc lnh thc hin qu trnh v cc im trong mi trng 2D ca OpenGL nh
sau:glBegin(GL_POINTS); glVertex2f(0.0f,0.0f);
glVertex2f(1.0f,0.0f); glVertex2f(0.0f,1.0f); glEnd();
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Hnh 1.4: Qu trnh v cc Vertex 2D trn OpenGL
Cc lnh v cc im to thnh hnh ng gic trong mi trng 2D nh
sau:glBegin(GL_POLYGON); glVertex2f(0.0f,0.0f);
glVertex2f(3.0f,0.0f); glVertex2f(4.0f,3.0f);
glVertex2f(1.5f,6.0f); glVertex2f(-1.0f,3.0f); glEnd();
1.3.2. Kh nng quan st i tng. Cc i tng c th quan st t nhiu gc khc
nhau thng qua cc ph p bin i v tr m t nhn hay ph p bin i v tr vt cng
nh cc ph p chiu... 1.3.3. Kh nng nh mu sc vt liu i tng. C th th hin
mu s c i tng mt cch a dng v c bit l kh nng th hin thuc tnh vt
liu.void COpenGLView::RenderScene () {
glTranslatef(0.0f,0.0f,-5.0f); glRotatef(m_xRot,1.0f,0.0f,0.0f);
glRotatef(m_yRot,0.0f,1.0f,0.0f); //Front Face glBegin(GL_POLYGON);
glColor3f(1.0f,0.0f,0.0f);
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glColor3f(1.0f,1.0f,0.0f); glVertex3f( 1.0f,-1.0f,0.0f);
glColor3f(1.0f,0.0f,1.0f); glVertex3f( 1.0f, 1.0f,0.0f);
glColor3f(1.0f,1.0f,1.0f); glVertex3f(-1.0f, 1.0f,0.0f); glEnd();
glColor3f(1.0f,1.0f,0.0f); //Back Face glBegin(GL_POLYGON);
glVertex3f(-1.0f,-1.0f,-1.0f); glVertex3f(-1.0f, 1.0f,-1.0f);
glVertex3f( 1.0f, 1.0f,-1.0f); glVertex3f( 1.0f,-1.0f,-1.0f);
glEnd(); glColor3f(1.0f,0.0f,1.0f); //Left Face
glBegin(GL_POLYGON); glVertex3f(-1.0f,-1.0f, 0.0f);
glVertex3f(-1.0f, 1.0f, 0.0f); glVertex3f(-1.0f, 1.0f,-1.0f);
glVertex3f(-1.0f,-1.0f,-1.0f); glEnd(); glColor3f(0.0f,1.0f,0.0f);
//Right Face glBegin(GL_POLYGON); glVertex3f(1.0f,-1.0f, 0.0f);
glVertex3f(1.0f,-1.0f,-1.0f); glVertex3f(1.0f, 1.0f,-1.0f);
glVertex3f(1.0f, 1.0f, 0.0f); glEnd(); glColor3f(0.0f,1.0f,1.0f);
//Top Face glBegin(GL_POLYGON); glVertex3f(-1.0f, glVertex3f( 1.0f,
glVertex3f( 1.0f, glVertex3f(-1.0f, glEnd();
1.0f, 1.0f, 1.0f, 1.0f,
0.0f); 0.0f); -1.0f); -1.0f);
glColor3f(0.0f,0.0f,1.0f); //Bottom Face glBegin(GL_POLYGON);
glVertex3f(-1.0f, glVertex3f(-1.0f, glVertex3f( 1.0f, glVertex3f(
1.0f, glEnd();
-1.0f, -1.0f, -1.0f, -1.0f,
0.0f); -1.0f); -1.0f); 0.0f);
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Hnh 1.5 : Qu trnh Render mu sc ca vt liu
1.3.4. Kh nng to hiu ng nh sng OpenGL trong chng trnh m phng.
Cho ph p to ra hiu ng nh sng nh trong thc t to nn cm gic tht cho cc
m hnh v khung cnh 3 chiu.void COpenGLView::SetupLighting () {
//Material Properties GLfloat matSpecular[] = { 1.0f, 0.0f, 0.0f,
1.0f}; GLfloat matShininess[] = { 50.0f}; GLfloat matAmbient[] = {
0.25f, 0.25f, 0.25f, 1.0f}; GLfloat matDiffuse[] = { 0.5f, 0.5f,
0.5f, 1.0f}; glMaterialfv(GL_FRONT, GL_SPECULAR, matSpecular);
glMaterialfv(GL_FRONT, GL_SHININESS, matShininess);
glMaterialfv(GL_FRONT, GL_DIFFUSE, matDiffuse);
glMaterialfv(GL_FRONT, GL_AMBIENT, matAmbient); //Lighting
Parameters //Enable Lighting glEnable(GL_LIGHTING); //Specify a
single directional light GLfloat ambient1[] = {
0.5f,0.5f,0.5f};
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diffuse1[] = { 0.5f,0.5f,0.5f}; GLfloat specular1[] = {
1.0f,0.0f,0.0f}; GLfloat position1[] = { 0.0f,0.0f,5.0f,0.0};
glLightfv(GL_LIGHT0, glLightfv(GL_LIGHT0, glLightfv(GL_LIGHT0,
glLightfv(GL_LIGHT0, GL_AMBIENT, ambient1); GL_DIFFUSE, diffuse1);
GL_SPECULAR, specular1); GL_POSITION, position1);
glEnable(GL_LIGHT0); //Specify a single positional spotlight
GLfloat ambient2[] = { 1.0f,1.0f,0.0f}; GLfloat diffuse2[] = {
1.0f,0.0f,0.0f}; GLfloat position2[] = { 1.0f,0.0f,5.0f,1.0};
GLfloat direction2[] = {0.0f,0.0f,-5.0f}; glLightfv(GL_LIGHT1,
GL_AMBIENT, ambient2); glLightfv(GL_LIGHT1, GL_DIFFUSE, diffuse2);
glLightfv(GL_LIGHT1, GL_POSITION, position2); glLightfv(GL_LIGHT1,
GL_SPOT_DIRECTION, direction2); glLightf(GL_LIGHT1, GL_SPOT_CUTOFF,
15.0f); glEnable(GL_LIGHT1); }
Hnh 1.6: Qu trnh Render mu sc ca vt liu
1.3.5. Kh nng to khung cnh m phng thc t OpenGL. 22
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H tr cc k thut to cc khung cnh ging vi thc t nh k thut dn nh
(texture mapping ) to cc khung cnh thc t, k thut sng m (fog) cho ph
p to hiu ng hnh nh m dn khi i tng chuyn ng xa khi m t nhn. K thut
trn mu (Blending) cho ph p to cc vt th trong m c th nhn xuyn qua c.
K thut loi b rng ca (Antialiasing). to thnh cc Texture Mapping th
cc lnh nh sau s thc thi trong OpenGL.void COpenGLView::LoadTexture
(CString fileName, int texName) //Load Texture AUX_RGBImageRec*
m_texture; m_texture = auxDIBImageLoad((const char*)fileName);
if(!m_texture) { MessageBox("Picture could not be loaded");
exit(1); } glBindTexture(GL_TEXTURE_2D, m_Texture[texName]);
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_S, m_texWrap);
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_T, m_texWrap);
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, m_texFilter);
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, m_texFilter);
glTexEnvf(GL_TEXTURE_ENV, GL_TEXTURE_ENV_MODE, m_texMode);
gluBuild2DMipmaps(GL_TEXTURE_2D, 3,
m_texture->sizeX,m_texture->sizeY, GL_RGB, GL_UNSIGNED_BYTE,
m_texture->data); } void COpenGLView::RenderScene () {
glTranslatef(0.0f,0.0f,-5.0f); glRotatef(m_xRot,1.0f,0.0f,0.0f);
glRotatef(m_yRot,0.0f,1.0f,0.0f); glEnable(GL_TEXTURE_2D);
glBindTexture(GL_TEXTURE_2D,m_Texture[0]); //Front Face
glBegin(GL_POLYGON); glTexCoord2f(0,0);
glVertex3f(-1.0f,-1.0f,0.0f); glTexCoord2f(1,0); glVertex3f(
1.0f,-1.0f,0.0f); glTexCoord2f(1,1); glVertex3f( 1.0f, 1.0f,0.0f);
glTexCoord2f(0,1); glVertex3f(-1.0f, 1.0f,0.0f); glEnd(); ... Back
face glBindTexture(GL_TEXTURE_2D,m_Texture[1]); ...Left and Right
Faces glBindTexture(GL_TEXTURE_2D,m_Texture[2]); ...Top and Bottom
faces
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}
Hnh1.7 : Qu trnh Texture Mapping trn OpenGL.Qu trnh Blending :
::glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA); GLfloat
matSpecular[] = { 1.0f, 0.0f, 0.0f, 0.5f}; GLfloat matAmbient[] = {
0.25f, 0.25f, 0.25f, 0.5f}; GLfloat matDiffuse[] = { 0.5f, 0.5f,
0.5f, 0.5f};
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Hnh1.8 : Qu trnh Blending mu sc ca vt liu trn OpenGL
Hiu ng sng m::glFogi(GL_FOG_MODE, GL_EXP); GLfloat fog_color[4]
= {0.2f,0.2f,0.2f,0.0f}; ::glFogfv(GL_FOG_COLOR, fog_color);
::glFogf(GL_FOG_DENSITY, 0.25);
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Hnh1.9 : Qu trnh to hiu ng sng m trn OpenGL.
1.3.6. Kh nng ci thin tc OpenGL. Cho ph p ci thin tc hin th b ng
k thut danh sch hin th (display list). 1.3.7. Kh nng chn cc i tng
ho (selection and hitting derect). K thut ny cho ph p chn cc i tng
ho 3 chiu v ng dng trong k thut m phng va trm ca cc vt th. 1.4.Cc
th vin h tr lp trnh OpenG . Ngoi cc th vin chun OpenGL nh
GLU32.lib, OpenGL.lib, cn mt s th vin h tr lp trnh OpenGL. Nh cp
trn OpenGL l mt th vin ho c chun ho. V vy cc chng trnh s dng cc hm
OpenGL c bn c kh nng tng thch vi cc chng trnh bin d ch trn cc h iu
hnh khc nhau m khng cn sa i ho c ch sa khng ng k. Tuy nhin do
OpenGL 26
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c lp vi cc h thng giao din, nn cc chng trnh mun s dng OpenGL trn
cc h iu hnh khc nhau th cn s dng cc th vin h tr giao tip giao din
ng vi tng h iu hnh ring. V d cc chng trnh ho s dng OpenGL trn
Microsoft Windows phi s dng th vin giao tip WGL, trn Apple
Macintosh phi s dng th vin AGL, trn Unix / Linux. X Window system
phi s dng th vin GLX... Phn giao tip ny phi ph hp vi tng h iu hnh
khc nhau. Mt th vin giao tip khc, th vin GLUT (OpenGL Utility
Toolkit ca tc gi Mark Kilgard ) gip to cc ng dng ho h tr cc giao
din giao tip trn nhiu h iu hnh nh to cc ca s chng trnh, menu, s l u
vo: bn phm, chut... Th vin ny c xy dng c lp vi nhiu h iu hnh do cc
chng trnh ho s dng OpenGL v GLUT c kh nng tng thch cao trong cc h
iu hnh h tr GLUT. Hin c phin bn trn tt c cc h iu hnh ch yu nh
Microsoft Windows, Unix / Linux, X Window system, Apple Macintosh.
Ngoi ra, cc th vin thng phm nh Open Inventer, Performer... c xy dng
da trn OpenGL cung cp nhng thao tc phc tp hn nh: To cc khung cnh
(Scene), giao tip vi ngi dng, kh nng trao i d liu ho vi cc phn mm
ho khc... Nh c xy dng cc ng dng ho 3 chiu tr nn nhanh chng v d dng
hn. c bit phin bn OpenInventer trn h iu hnh Linux ca hng SGI. 2. Cc
bc tng quan khi xy dng ng dng ho vi th vin OpenG 2.1. Khi to mi
trng h tr cho OpenGL. OpenGL l mt th vin ho c lp vi h thng giao din
ca cc h iu hnh, do cc ng dng ho s dng OpenGL trn cc h iu hnh khc
nhau u phi c mt qu trnh khi to thch hp vi cc hm x l ho ca OpenGL.
Qu trnh ny c thc hin b ng vic gi mt s hm thch hp ca cc 27
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th vin h tr giao tip vi OpenGL trong chng trnh ng dng. Qu trnh
khi to bao gm: nh ngh a mt kiu cu trc d liu ho ph hp vi qun l thng
tin v nh dng im nh v la chn cc thng s ph hp vi h thng. Cc thng s ny
bao gm: kiu im nh (RGBA hay color index), b m hon i n hay k p
(single/double buffer), phn gii mu s c, kh nng h tr b m chiu su
(depth buffer), b m stencil(stencil buffer), b m hnh khc nhau: + iu
khin Rendering(Control Rendering) Sau khi thit lp v la chn nh dng
im nh ph hp vi tng h thng, tt c cc h thng u phi thc hin vic iu khin
qu trnh t v (Rendering). Qu trnh ny thc hin cc vic sau: To v s dng
ng cnh t v (rendering context), thc hin qu trnh ng b ho
(synchronizing execution), hon i cc b m (swaping buffers), s dung
cc phng h thng... + T v (rendering) l mt qu trnh to v hn th im nh
hai chiu ln cc thit b kt xut ho nh: mn hnh my tnh, my in... t cc i
tng ho ba chiu. + Ng cnh (context): Trong OpenGL, ng cnh l mt khi
nim ch mt tp hp y cc bin trng thi ca OpenGL. + Bin trng thi: Cc
trng thi trong OpenGL nh: nh dng im nh, mu s c, nh sng... u c iu
khin b ng cc bin trng thi tng ng. + Ng cnh t v (rendering context):
C th coi ng cnh t v ca OpenGL nh mt cng m tt c cc hm ca OpenGL phi
i qua giao tip vi thit b ho phn cng. Ng cnh t v to ra nh dng im nh
ging ht vi nh dng im nh ca ng cnh thit b (divice context) g n vi n.
Tuy vy ng cnh t v 28 tch lu (accumulation buffer). Di y l kiu cu
trc d liu ho trn cc h iu
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khng ging vi ng cnh thit b . Mt ng cnh thit b lu gi cc thng tin
ca GDI (Graphic Divice Interface), cn mt ng cnh t v lu gi cc thng
tin ca OpenGL. V m t no , chc nng ca ng cnh t v i vi OpenGL cng
ging nh chc nng ca ng cnh thit b i vi GDI. Mt chng trnh ng dng c th
c nhiu ng cnh t v. + Qu trnh ng b ho: Qu trnh ny buc cc hm ca
OpenGL hay cc hm ho ca h thng phi ch cho n khi hm trc c thc hin
xong. iu ny c ngh a cc lnh ca OpenGL trc lnh ch ca h thng s c m bo
c thc hin trc cc lnh ca h thng n m sau lnh ch . Ngc li cc lnh ca
OpenGL pha sau lnh ch ca OpenGL ch c thc hin khi cc lnh ca h thng n
m trc lnh ch ca OpenGL thc hin xong. + Hon i b m(Swaping buffer):
Mc ch chnh ca cc chng trnh ho l th hin cc hnh nh trn mn hnh. Mt hnh
nh chuyn ng cn c 24 hnh/giy. Cc hnh nh trc khi c a ln mn hnh v s c
v ln b m trung gian, sau ton b hnh nh trn b m mi c a ra mn hnh cng
mt lc. Nu h thng ch h tr mt b m, nhng phn v u ca khung hnh s tn ti
trong sut 1/24 giy, nhng cc phn v sau ca khung hnh s b xo ngay khi
va c v chun b cho khung hnh tip theo. Gii php nng cao cht lng im nh
v hn ch nhc im trn l s dng b m k p. Khi hnh nh trn b m th nht c a
ra mn hnh trong sut 1/24 giy, th cng lc, hnh nh cho khung hnh tip
theo c v trn b m kia. Sau 1/24 giy th cc b m hon i v tr cho nhau.
Qu trnh lin tc nh vy s gip ci thin cht lng ho. 2.2.Xy dng cc i tng
3 chiu (3D). Cng vic u tin khi to cnh trong OpenGL l xy dng cc m
hnh 3 chiu.Mt s th vin m rng nh GLUT hay AUX cung cp thm cc i tng
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3 chiu c bn khc nh: Hnh nn, hnh t din hnh thp nh din...Tuy nhin
trong thc t cc i tng thc t ni chung v cc c cu my ni ring rt phc tp
nhng cng c th xy dng t cc a gic nh c s. Vic xy dng i tng 3 chiu phc
tp b ng OpenGL c thc hin nh sau : - Thit k cc m hnh 3 chiu b ng mt
phn mm nh h tr thit k chuyn dng nh AutoCAD hay SolidWork, 3D Max..
- S dng cc lnh trong cc phn mm xut i tng 3 chiu ra cc dng tp tin nh
phn hay ASCII (American Standard Code for Information Interchange)
c cha cc thng tin ca i tng di dng cc nh v quy t c ni cc nh thnh a
gic. V d cc tp tin *.BDF, *.SLT,*.NVT - c thng tin cc i tng t cc tp
tin v s dng cc hm v i tng c bn ca OpenGL xy dng li i tng 3 chiu c
bn ban u. V vy y chnh l c s cho xy dng cc bi ton m phng hot ng ca
ROBOT.
Hnh 1.10: Cc di tng 3D c xy dng li trn OpenGL.
30
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Hnh 1.11: Qu trnh Render mu sc ca vt liu 2.3 .Quan st cc i tng 3
chiu Quan st cc i tng l mt khi nim cho ph p cc i tng hnh hc 3 chiu
hin th ln mn hnh my tnh (hai chiu ) vi hiu ng khng gian ba chiu.
Quan st i tng gm cc thao tc: Xc inh v tr quan st, hng quan st, phm
vi quan st, xc nh v tr cc i tng trong khng gian ba chiu, chn cc ph
p chiu, chn khung nhn vv. Qu trnh chuyn cc i tng ba chiu trong khng
gian ba chiu thnh cc im nh trn mn hnh my tnh c th chia lm cc
bc:
31
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+ Cc ph p bin i: bin i v tr quan st hay v tr ca vt quan st. V
OpenGL xy dng vt th trn m hnh khng gian 3 chiu nn cc ph p bin i s c
thc hin thng qua vic thc hin cc ph p ton trn ma trn. Qu trnh thc
hin bin i s din ra nh sau: Sau khi ta khai bo vt th thng qua cc
vertex, ta c c cc im trong khng gian 3 chiu vi ta di dng vector 4
phn t. thc hin di chuyn, quay, phi cnh,.. ta cn p vo cc thng s nh
gc quay, di di... tng ng vi thay i mun thc hin. OpenGL s dng cc
thng s bin i m ta nhp vo (c lu tr di dng ma trn 4x4) v thc hin cc
ph p ton bin i trn cc vector nhp vo. Kt qu l ta cc vertex m chng ta
nhp s thay i tng ng. chn ma trn no s c thay i (mun thc hin ph p bin
i no), ta dng hm :void glMatrixMode(GLenum mode)
Mode c th l: GL_MODELVIEW GL_PROJECTION GL_TEXTURE Cc ph p ton
ma trn sau s tc ng ln ma trn modelview Cc ph p ton ma trn sau s tc
ng ln ma trn projection Cc ph p ton ma trn sau s tc ng ln ma trn
texture
Sau khi gi hm ny v a tham s tng ng, ma trn c chn s tr thnh ma
trn bin i hin hnh v mi hm bin i tng ng s tc ng ln ma trn . a mt ma
trn bin i hin hnh v ma trn n v , dng hm:void
glLoadIdentity(void)
a gi tr mi vo cho ma trn bin i hin hnh, dng hm:void
glLoadMatrix*()
p cc php bin i trc tip khi gi hm th ta cung cp mt ma trn v gi
glMulMatrix*() vi tham s l ma trn bin i. Hm ny s nhn ma trn tham s
vo ma trn bin i hin hnh (v d ma trn tham s l v ma trn bin i
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hin hnh l C th sau khi nhn, kt qu ma trn hin hnh l C ). Ch : khi
lp trnh OpenG trong C, khi khai bo ma trn 4x4 thc hin thay i ma trn
bin i hin hnh th M[i][j] ch v tr phn t ct i hng j, khc vi quan nim
thng thng trong C l hng i ct j, trnh nhm ln, tt nht l khai bo mng
16 phn t
+ Chn cc ph p chiu: trc giao hay phi cnh. - Ph p chiu trc giao :
Vt th gn ng knh ( y l im nhn) th thy ln v ngc li. OpenGL cho ta mt
hm xc nh khng gian nhn.
Hnh 1.12: Php chiu trc giao
void glFrustum(GLdouble left, GLdouble right, GLdouble bottom,
GLdouble top, GLdouble near, GLdouble far);
- Ph p chiu phi cnh: Cc ng thng song song trong khng gian th khi
th hin ln mn hnh cng s song song. Ni cch khc, khng gian nhn c xc nh
bi mt hnh hp ch nht. thit lp ch quan st ny, ta dng hmvoid
glOrtho(GLdouble left, GLdouble GLdouble near, GLdouble far);
right, GLdouble bottom,GLdouble top,
33
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Hnh 1.13: Php chiu phi cnh Cc tham s c ngh a tng t nh hm
glFrustum(). Khi ch cn chiu hnh 2 chiu, c th gi void glOrtho2D().
Hm ny ch nhn 4 tham s u c ngh a ging glOrtho(), nhng khi hp khng
gian nhn c gi tr z dao ng trong on [-1.0,1.0]. Tuy nhin, v l hnh 2
chiu nn gi tr z lun b ng 0 v do khng b mt hnh. + Chn khung nhn:
(Viewport) Viewport l mt khung hnh ch nht trong ca s chng trnh v. N
l ni m vt th s c v vo (c th c kch thc nh hn, b ng ho c ln hn kch
thc ca s chng trnh). Hm void glViewport(GLint x, GLint y, GLsizei
width, GLsizei height) xc nh mt khung nhn c ta gc tri di l (x,y) so
vi gc tri di ca ca s v c tnh b ng pixel; width v height xc nh kch
thc ca khung nhn. M c nh, viewport c kch thc b ng kich thc ca s . T
l gia chiu di v chiu rng ca viewport nn b ng vi t l tng ng trong
khng gian nhn m ta xc nh thng qua cc hm glFrustum() ho c glOrtho(),
nu khng hnh nh s b bin dng
34
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+ S bin i v tr quan st v v tr vt th.
Do s bin i v tr quan st v v tr vt th c lin quan tng i vi nhau nn
trong OpenGL chng c gom vo mt ma trn bin i (ch dnh cho vt th). M c
nh ban u l im nhn v vt th chung mt ch ti gc h trc ta v phng nhn
theo hng m ca trc z (hng vo bean trong mn hnh).
Hnh 1.14: H ta d chun trongOPENGL OpenGL cung cp 3 hm thay i gc
nhn v hng nhn: glTranslate*() (di chuyn), glRotate*() (quay),
glScale*() (dng k o dn ho c co nh vt th). Cc hm ny tc ng ln ta vt
th. Cc thnh phn ca hm glTranslate():void glTranslate{fd} (TYPE x,
TYPE y, TYPE z): di vt th i mt on x, y, v z theo phng cc trc ta tng
ng.
Cc thnh phn ca hm glRotate() :void glRotate{fd}(TYPE angle, TYPE
x, TYPE y, TYPE z): quay vt th 1 gc angle theo chiu ngc chiu kim ng
h quanh trc c vector ch phng xc nh t gc trc to (0,0,0) v im
(x,y,z).V d: glRatated(45,0,0,1);
Cc thnh phn ca hm glScale():void glScale{fd}(TYPEx, TYPE y,
TYPEz): co dn vt th theo cc phng Ox, Oy, Oz mt lng tng ng. Nu x hoc
y hoc z m th vt th s b lt li i xng theo trc c gin m.V d:
glScalef(2.0,-0.5,1.0);
35
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Hnh 1.15: Cc php bin i trong OpenGL
-
To chuyn ng cho cc i tng.
Nguyn t c chung to cc hnh nhchuyn ng l v v xo lin tc cc v tr khc
nhau ca i tng chuyn ng. Vic phn tch, tnh ton v tr cc vt r n thuc c
h phi c thc hin trc khi m phng. Qu trnh m phng thc hin v cc v tr c
tnh ton trc. Khng nn thc hin song song va v, va tnh ton i vi cc
chuyn ng i hi tnh ton phc tp ho c cu hnh my tnh khng cao. Chuyn ng
ca cc vt r n c cp nhp theo thi gian v vy vic tnh ton cc v tr cng
phi c cp nhp theo thi gian. Theo l thuyt h nhiu vt, v tr ca mt vt r
n trong m t phng ho c trong khng gian c th xc nh b ng cc ma trn
csin ch phng so vi h to c nh. Trong OpenGL v tr ca i tng cng c thay
i b ng ph p nhn cc to ca i tng vi ma trn hin hnh. Gi tr ca cc ma
trn hin hnh c bin i b ng cc ph p bin hnh nh : t nh tin, quay.3. Gii
thiu v ngn ng lp trnh Visual C++ v cc ng dng ca FC. 36
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Visual C++ l mt trong cc ngn ng lp trnh thuc dng Visual Studio
ca hng Microsoft, pht trin da trn nn tng l ngn ng lp trnh hng i tng
C++. Visual C++ ra i khong nhng nm 1990 v cng ngy cng c s dng rng
ri nht l cc ng dng trong k thut nh l lp trnh nhng,lp trnh iu khin v
lp trnh m phng. Vic to ra cc giao din phc tp v trnh by p i vi
Visual C++ kh l n gin, v y chnh l th mnh ca Visual C++ trong vic tr
gip c lc cho ngi lp trnh khi xy dng nhng d n ln ho c trong k thut
lp trnh h thng. MFC l lp nn tng ca Microsoft (Microsoft Foundation
Classes), l mt cng c mnh trong lp trnh ng dng cho hu ht cc l nh vc
v n c giao din p ng mi nhu cu ca ngi s dng trong vic thit k cc giao
din ca chng trnh m phng.
37
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CHNG 2 XY DNG CHNG TRNHCc bc xy dng bi ton m phng gm c: - Cch to
ra project MFC thc hin qu trnh m phng. - Khi to cc gi th vin ca
OpenGL. - Thit k m hnh trn Solidworks. - Chuyn m hnh sang tp tin
*.STL. - Xy dng Module c File *.STL. - Xy dng Module c File qu o s
ha trn AutoCAD. - Chy file qu o s ha trn AutoCAD. - M phng trn
OpenGL. 2.1 Cch to ra mt Project FC m phng hot ng
PHNG
+ Nh chng 1 em trnh by v phn mm Visual 6.0 by gi ta to 1 Project
MFC nh sau : - Chn File -> New sau chn Tab Projects v s hin ra
cc Project c lp trnh trn Visual C++ 6.0. y ta chn loi MFC
AppWizard(exe).Trong Project name ta g tn ca d n y l DoanTinhoc nh
hnh v
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Hnh 2.1 : Bt u thit lp project MFC
Cc bc tip theo thit lp project nh sau : Bc 1 : Chn Single
Document Interface : y l loi giao din n ti liu ti mt thi im, ch c 1
ti liu c m v hin hnh, cho ngi dng thao tc trn n.Trong n tin hc ny
ch yu l m phng hot ng ca Rbt nn ta s dng kiu n ti liu.
39
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Hnh 2.2 : Thit lp 1
Bc 2 : Ta chn nh hnh v di v do ng dng khng s l D liu nn Database
Support ta chn None.
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Hnh 2.3 : Thit lp 2
Bc 3 : Ta chn nh hnh v di y - Chn None v trong ng dng khng s dng
ti liu phc hp.
Hnh 2.3 : Thit lp 2
H
2.4 : T
3
Bc 4 : n bc s 4 ta chn cc thit lp sau : - Docking Toolbar : Yes
- Chn thanh cng c c g n vo ca s . - Initial Status Bar : Yes - Chn
thanh trng thi c g n vo ng dng - Printing and Printer Preview : No
Khng in n g - 3D controls : Yes C iu khin ni 41
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- Toolbars look : Normal Dng thanh cng c bnh thng.
Hnh 2.3 : Thit lp 4 Bc 5 : Chn cc thit lp nh sau : - MFC
Standard : dng chun ca MFC - MFC Library : As a shared DLL Th vin
ca MFC c chia s th vin lin kt ng.
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Hnh 2.6 : Thit lp 5
Bc 6 : Finish Hon tt vic thit lp.
43
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Hnh 2.7 : Hon thnh thit lp Project MFC Sau khi khi to xong ta
chy th chng trnh th thu c giao din ca 1 project MFC c bn nh hnh v
di y.
44
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Hnh 2.8 : Chy th Project MFC
Nh vy c th thy r MFC lm g cho ta .M c d cha xy dng code chng
trnh nhng MFC cung cp sn giao din ca mt ng dng chun trong mi trng
Windows.M Visual C++ l mt ngn ng lp trnh hng i tng, cho nn mi ng
dng u c xy dng trn c s ca cc lp.Khi mt ng dng c to ra n c cc lp c s
sau :
Hnh 2.9 : Cc lp ng dng trong MFC
Chc nng ca cc lp c s ca ng dng MFC nh sau : - CApp : l lp ng dng
(Applicatiton Class) c nhim v l khi to v chy ng dng. - CDoc : l lp
ti liu (Document Class) ca ng dng, c nhim v np v duy tr 1 ti liu.
Mt ti liu c th l bt c ci g,t mt bn tho cho n cc vic ci t ca mt thit
b mng Tuy nhin, mc ch s dng ca chng trnh l m phng nn khng cn quan
tm nhiu n lp ny. 45
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- CView: l lp hin th ca ng dng (View Class),c nhim v cung cp mt
hay nhiu View (khung) cho ti liu.Trong chng trnh m phng ta s cn s
dng rt nhiu trong lp ny khi to cho OpenGL v cc thao tc v li trn lp
ny. - CmainFrame: l lp khung (Frame Class) ca ng dng v c nhim v hin
th v truyn lnh ca ngi dng. 2.2- Khi to v Thit lp cc gi th vin ca
OpenGL Mc ch chnh ca chng trnh l m phng qu trnh hot ng ca Robot, v
vy cn thit phi c mt mi trng ha.Khi mi to ra mt d n MFC th ng dng ch
cung cp cho ta khung giao din chun dng ca s,v mi trng lm vic ch yu
l thao tc vi CSDL.Do chng ta cn phi tin hnh khi to mt mi trng ha, c
th trong n ny em dng OpenGL. Cng gin nh GDI cn mt ng cnh thit b
(Device Context DC ) v, OpenGL cng cn c mt ng cnh biu din
(Rendering Context RC) .Tuy nhin, khng ging nh GDI l mi lnh GDI yu
cu mt DC v, th OpenGL li dng khi nim mt RC hin hnh. Khi mt ng cnh
biu din c hin hnh trong mt thread (lung), mi li gi OpenGL trong
thread s s dng cng mt ng cnh biu din hin hnh.Trong khi rt nhiu ng
cnh biu din c th, c s dng v vo trong mt ca s n, th ch c mt ng cnh
duy nht c hin hnh ti mt thi im trong thread n. to ra v hin hnh mt
ng cnh biu din OpenGL c 3 bc c bn nh sau : Bc 1 : Ta phi nh dng im
nh . Bc 2 : Ta phi to ng cnh biu din . Bc 3 : Lm cho ng cnh biu din
hin hnh.
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Qua 6 bc c bn trn ta to ra c 1 Project MFC, m phng c cc hot ng
ca Rbt th ta phi thit lp mi trng ha.
Hnh 2.10 : Thit lp cc gi th vin OpenGL to c ng cnh biu din ca
OpenGL th trc tin ta phi include(bao gm) tt c cc tp th vin ca
OpenGL vo trong Project ny. T thanh Menu chnh ca chng trnh Visual
C++ 6.0 ta chn Project -> Settings sau chn Tab l Link , chn
category l General v nhp vo hp thoi Object/library modules l :
opengl32.lib glu32.lib glaux.lib nh hnh v trn v chn nt OK. Sau ta m
tp stdafx.h ra v thm vo cc dng code sau :#define VC_EXTRALEAN //
Exclude rarely-used stuff from Windows headers #include // MFC core
and standard components #include // MFC extensions
//-----------------------------------------------------------------------//
Cc a m thm vo y . #include //OpenGL Main Library Header #include
//OpenGL Utility Library Header #include
//-----------------------------------------------------------------------
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NGHIP______________________________________________________________________________________#include
// MFC Automation classes #include // MFC support for Internet
Explorer 4 Common Controls #ifndef _AFX_NO_AFXCMN_SUPPORT #include
// MFC support for Windows Common Controls #endif //
_AFX_NO_AFXCMN_SUPPORT
Open
GL
yu
cu
ca v
s
phi
c cn
kiu phi
WS_CLIPCHILDREN thm vo
v hm
WS_CLIPSIBLINGS
vy
PreCreateWindow(CREATESTRUCT& cs) ca lp CDoanTinhocView nh
sau :BOOL CDoanTinhocView::PreCreateWindow(CREATESTRUCT& cs) {
// TODO: Modify the Window class or styles here by modifying // the
CREATESTRUCT cs cs.style |= (WS_CLIPCHILDREN | WS_CLIPSIBLINGS);
return CView::PreCreateWindow(cs); }
By gi chng ta s thc hin bc th nht, to nh dng im nh. nh dng im nh
s miu t cch lu tr trong b nh cc phn t ha m Windows hin th .Thng s c
iu khin bi nh dng im nh bao gm su mu, phng php b m v giao din ha c
h tr. u tin to mt protected member function trong lp
CDoanTinhocView c tn l BOOL
CDoanTinhocView::SetWindowPixelFormat(HDC hDC) c ni dung nh sau
://------------------------------------------- Code here
-----------------------------// BOOL
CDoanTinhocView::SetWindowPixelFormat(HDC hDC) {
PIXELFORMATDESCRIPTOR pixelDesc; pixelDesc.nSize =
sizeof(PIXELFORMATDESCRIPTOR); pixelDesc.nVersion = 1;
pixelDesc.dwFlags = PFD_DRAW_TO_WINDOW | PFD_SUPPORT_OPENGL |
PFD_DOUBLEBUFFER; pixelDesc.iPixelType = PFD_TYPE_RGBA;
pixelDesc.cColorBits = 32; pixelDesc.cRedBits = 0;
pixelDesc.cRedShift = 0; pixelDesc.cGreenBits = 0;
pixelDesc.cGreenShift = 0; pixelDesc.cBlueBits=0;
pixelDesc.cBlueShift=0; pixelDesc.cAlphaBits=0;
pixelDesc.cAlphaShift=0; pixelDesc.cAccumBits=0;
pixelDesc.cAccumRedBits=0; pixelDesc.cAccumGreenBits=0;
pixelDesc.cAccumBlueBits=0; pixelDesc.cAccumAlphaBits=0;
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NGHIP______________________________________________________________________________________pixelDesc.cDepthBits=32;
pixelDesc.cStencilBits=0; pixelDesc.cAuxBuffers=0;
pixelDesc.iLayerType= PFD_MAIN_PLANE; pixelDesc.bReserved=0;
pixelDesc.dwLayerMask=0; pixelDesc.dwVisibleMask=0;
pixelDesc.dwDamageMask=0; m_GLPixelIndex = ChoosePixelFormat(
hDC,&pixelDesc); if (m_GLPixelIndex==0) { m_GLPixelIndex = 1;
if(DescribePixelFormat(hDC,m_GLPixelIndex,sizeof(PIXELFORMATDESCRIPTOR),
&pixelDesc)==0) { return FALSE; } } if (SetPixelFormat(
hDC,m_GLPixelIndex,&pixelDesc)==FALSE) { return FALSE; } return
TRUE; glCullFace(GL_BACK);
// }
Tip theo chng ta thm vo protected member variable trong lp
CDoanTinhocView:int m_GLPixelIndex; // protected variable
Sau , m ClassWizard, thm vo hm OnCreate p ng thng bo VM_CREATE
nh sau:
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Hnh 2.11 : Chn hm Oncreate() thit lp OpenGL
Sau khi cc nh dng im c thit lp, tt c nhng g chng ta cn lm by gi
l to ra mt ng cnh biu din v lm cho n hin hnh. B t u thm vo mt
protected member function vo lp CDoanTinhocView c tn l
://----------------------------------------------------------------------//
BOOL CDoanTinhocView::CreateViewGLContext(HDC hDC) { m_hGLContext=
wglCreateContext(hDC); if(m_hGLContext == NULL) return FALSE; if
(wglMakeCurrent(hDC,m_hGLContext)== FALSE) return FALSE; return
TRUE; }
//------------------------------------------------------------------------//
v ta thm bin thnh vin protected member variable vo trong lp
CDoanTinhocView nh sau :protected: HGLRC m_hGLContext;
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V sau sa li m lnh trong hm OnCreate nh sau :int
CDoanTinhocView::OnCreate(LPCREATESTRUCT lpCreateStruct) { if
(CView::OnCreate(lpCreateStruct) == -1) return -1; // TODO: Add
your specialized creation code here HWND hWnd = GetSafeHwnd(); HDC
hDC = ::GetDC(hWnd); if (SetWindowPixelFormat(hDC)==FALSE) return
0; // new code if(CreateViewGLContext(hDC) == FALSE) return 0; //
return 0; }
Tip theo ta thm vo hm OnDestroy p ng thng bo WM_DESTROY hy b ng
cnh biu din khi chng trnh kt thc nh sau :
Hnh 2.12 : Chn hm OnDestroy() hy OpenGL
V m lnh ca n nh sau : 51
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NGHIP______________________________________________________________________________________//------------------------------------------------------------------------//
void CDoanTinhocView::OnDestroy() {
if(wglGetCurrentContext()!=NULL) wglMakeCurrent(NULL,NULL); if(
m_hGLContext!=NULL) { wglDeleteContext(m_hGLContext);
m_hGLContext=NULL; } CView::OnDestroy(); }
//-----------------------------------------------------------------------------//
Sau ta ch nh li m lnh ca cu t CDoanTinhocView() nh sau
:CDoanTinhocView::CDoanTinhocView() { // TODO: add construction
code here m_hGLContext = NULL; m_GLPixelIndex = 0; }
Nh vy ta tin hnh xong qu trnh khi to, ti ra mi trng ha c th thc
hin cc thao tc m phng.Bc tip theo,chng ta s tm hiu lm th no thc hin
c mt chng trnh m phng n gin.Sau khi thc hin cc thao tc trn th nu
chy chung trnh th v n cha c g, m c d OpenGL c khi to. l do chng ta
cha to ra Viewport v thit lp cc Matrix Mode. thc hin iu ny, ta s
dng ClassWizard, thm vo hm OnSize, p ng thng bo WM_SIZE
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Hnh 2.13 : Chn hm OnSize() thit lp cc ng dng OpenGL v sa li m
lnh nh sau
://----------------------------------------------------------------------------//
void CDoanTinhocView::OnSize(UINT nType, int cx, int cy) {
CView::OnSize(nType, cx, cy); GLsizei width,height; GLdouble
aspect; width = cx; height =cy; if (cy==0) aspect=(GLdouble)width;
else aspect=(GLdouble)width/(GLdouble)height;
glViewport(0,0,width,height); glMatrixMode(GL_PROJECTION);
glLoadIdentity(); gluPerspective(45,aspect,1.0f,1000.0f); // Phep
chieu truc giao phoi canh //
gluOrtho2D(0.0,500.0*aspect,0.0,500.0); glMatrixMode(GL_MODELVIEW);
// Ma tran chieu de mo phong hoat dong cua ROBOT glLoadIdentity();
glEnable(GL_DEPTH_TEST); // Enable Depth Testing }
//----------------------------------------------------------------------------------//
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Hm glViewport (0,0,width,height) to ra mt khung nhn hnh ch nht c
to nh tri di l (0,0) v ta ca nh phi trn l (width,height).Hm
glMatrixMode(GL_PROJECTION) chn kiu ma trn l GL_PROJECTION(ma trn
chiu). Sau glLoadIndentity() np li ma trn n v m c nh cho ma trn hin
hnh (ma trn chiu va c chn bi hm glMatrixMode(GL_PROJECTION)). Hm
gluOrtho2D nh ngh a mt ma trn chiu ph p chiu trc giao 2D, vi kch
thc l cc tham s truyn vo.Tng t, hai hm cn li l chn v thit lp cho ma
trn quan st m hnh. Sau li s dng ClassWizard thm vo hm OnPaint p ng
li thng bo WM_PAINT nh sau :
Hnh 2.14 : Chn hm OnPaint() v cc i tng OpenGL
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V m lnh nh sau
://----------------------------------------------------------------------------------//
void CDoanTinhocView::OnPaint() { CPaintDC dc(this); // device
context for painting
//------------------------------------------------------------------------------//
glLoadIdentity(); glClear(GL_COLOR_BUFFER_BIT|GL_DEPTH_BUFFER_BIT);
glTranslatef(0.0f,0.0f,-6.0f); glRotatef(-45.0f,0.0f,1.0f,0.0f);
glRotatef(30.0f,1.0f,0.0f,-1.0f); glBegin(GL_QUADS); // mat thu
nhat glColor3f(0.0f,1.0f,0.0f); glVertex3f(1.0f,1.0f,-1.0f);
glVertex3f(-1.0f,1.0f,-1.0f); glVertex3f(-1.0f,1.0f,1.0f);
glVertex3f(1.0f,1.0f,1.0f); // mat thu hai
glColor3f(1.0f,0.5f,0.0f); glVertex3f(1.0f,-1.0f,1.0f);
glVertex3f(-1.0f,-1.0f,1.0f); glVertex3f(-1.0f,-1.0f,-1.0f);
glVertex3f(1.0f,-1.0f,-1.0f); // mat thu ba
glColor3f(1.0f,0.0f,0.0f); glVertex3f(1.0f,1.0f,1.0f);
glVertex3f(-1.0f,1.0f,1.0f); glVertex3f(-1.0f,-1.0f,1.0f);
glVertex3f(1.0f,-1.0f,1.0f); // mat thu tu
glColor3f(1.0f,1.0f,0.0f); glVertex3f(1.0f,-1.0f,-1.0f);
glVertex3f(-1.0f,-1.0f,-1.0f); glVertex3f(-1.0f,1.0f,-1.0f);
glVertex3f(1.0f,1.0f,-1.0f); // mat thu nam
glColor3f(0.0f,0.0f,1.0f); glVertex3f(-1.0f,1.0f,1.0f);
glVertex3f(-1.0f,1.0f,-1.0f); glVertex3f(-1.0f,-1.0f,-1.0f);
glVertex3f(-1.0f,-1.0f,1.0f); // mat thu sau
glColor3f(1.0f,0.0f,1.0f); glVertex3f(1.0f,1.0f,-1.0f);
glVertex3f(1.0f,1.0f,1.0f); glVertex3f(1.0f,-1.0f,1.0f);
glVertex3f(1.0f,-1.0f,-1.0f); // glBegin(GL_POLYGON); /*
glColor4f(1.0f,0.0f,0.0f,1.0f); glVertex2f(100.0f,50.0f);
glColor4f(0.0f,1.0f,0.0f,1.0f);
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NGHIP______________________________________________________________________________________glVertex2f(450.0f,400.0f);
glColor4f(0.0f,0.0f,1.0f,1.0f); glVertex2f(450.0f,50.0f); */
glEnd(); // glFlush(); SwapBuffers(dc.m_ps.hdc); }
//----------------------------------------------------------------------------------//
By gi nu chy chng trnh ta s thy c 1 s thay i.Tc l tan b vng
WorkSpace chuyn sang mu en, n chnh l mu m c nh ca OpenGL.
Hnh 2.15 : Chy th project OpenGL
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Sau khi to c 1 project OpenGL ri, ta tin hnh xy dng mt khi lp
phung v c th chuyn ng c trong h trc to OXYZ m c th y l c th quay
quanh trc Z (trc thng ng). Bi ton c t ra l khi lp phng quay quanh
trc Z vi 1 gc c th thay i c v ta gi gc ny l alpha, v gc ny s thay i
lin tc theo thi gian v hnh lp phng s c v xa lin tc.Vi tc s l nhanh
ca OpenGL th ngi dng s cm nhn c hnh lp phng ang quay quanh trc Z ca
n.Vn l ci g s lm thay i alpha mt cch u n ? Khng ging nh trong lp
trnh Pascal hay C/C++, mi trng m cc ng dng lp trnh b ng Visual C++
hot ng l Windows, vi c ch x l v hot ng theo cc thng bo (Message).Do
vy dng cc vng l p for hay while n rt d pht sinh ra li v lm treo
chng trnh. Trong Visual C++ c h tr Timer nn ta dng n thay i gi tr
ca alpha theo mt khong thi gian nh sn.u tin ta thm vo mt bin alpha,
nhp chut phi vo lp CDoanTinhocView,chn Add Member Variable.S c 1 ca
s hin ra nh sau :
Hnh 2.16 : Thm bin vo Project MFC Sau ta nhp vo Variable Type c
kiu l float, Variable Name l alpha, chn kiu truy cp l Protected, ri
nhn OK .Bin alpha s c thm vo .float alpha; // Them vao bien
alpha
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Trong cu t CDoanTinhocView::CDoanTinhocView() ta gn gi tr khi u
cho bin alpha nh sau :CDoanTinhocView::CDoanTinhocView() { // TODO:
add construction code here m_hGLContext = NULL; m_GLPixelIndex = 0;
alpha = 0.0f; }
Dng ClassWizard thm vo OnTimer p ng thng bo WM_TIMER :
Hnh 2.17 : Chn hm OnTimer() thit lp thi gian chy OpenGL
V sau ta sa li m lnh nh sau:void CDoanTinhocView ::OnTimer(UINT
nIDEvent) {
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+=0.5f; SendMessage(WM_PAINT,0,0); CView::OnTimer(nIDEvent);
}
V sau trong hm OnPaint() thm vo lnh
.glRotatef(alpha,0.0f,1.0f,0.0f);
Cui cng, trong hm OnCreate, thm lnh khi to Timer , vi thi gian l
p l 1ms.SetTimer(ID_TIMER,1,NULL);
V ID_TIMER cha c khai bo, nn ta vo View\Resource Symbol nh sau
:
Hnh 2.18 : Thit lp cho hm OnTimer()
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Bm vo New v c 1 ca s hin ta ta nhp vo ID_TIMER trong Name ri bm
OK.Sau bm vo Close kt thc chng trnh.
Hnh 2.19 : Thit lp New Symbol
Trong qu trnh
kt thc hot ng, Timer cn phi hy do trong hm
OnDestroy ta thm vo dng lnh sau
://------------------------------------------------------------------------//
void CDoanTinhocView::OnDestroy() {
if(wglGetCurrentContext()!=NULL) wglMakeCurrent(NULL,NULL); if(
m_hGLContext!=NULL) { wglDeleteContext(m_hGLContext);
m_hGLContext=NULL; } KillTimer(ID_TIMER); // CView::OnDestroy();
}
//------------------------------------------------------------------------------//
By gi ta chy chng trnh, ta s thy hnh lp phng chuyn ng theo cc
phng nh hnh v di y.
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Hnh 2.20 : Chy th 1 chng trnh OpenGL
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Nh vy, sau khi chy th thnh cng 1 project c to trn MFC v OpenGL
th bc tip theo l chng ta phi i vo xy dng chng trnh m phng ca Robot
sau khi thit k m hnh trn Solidworks v v li trn OpenGL theo qu o c
tnh ton v s ha.
2.3 .Thit k m hnh Robot trn SolidWorks 2007.Khi thit k m hnh ca
Robot trn Solidwork th mt iu rt quan trng l vic thit lp cc h ta cho
m hnh ban u khi v li cc chi tit trn OpenGL th cc chi tit ko b nhy
lung tung. y em chn h ta khi v trn Solidwork trng vi cc gc ta khi
tnh ton ng hc.Cc chi tit c thit k trn Solidworks nh sau :
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Hnh 2.21.M hnh phn ca Robot c thit k trn Solidwork
Hnh 2.22.M hnh Khu 1ca Robot c thit k trn Solidwork
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Hnh 2.32.M hnh Khu 2 ca Robot c thit k trn Solidwork
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Hnh 2.32.M hnh Khu 3 ca Robot c thit k trn Solidwork
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Hnh 2.32.M hnh Khu 4 ca Robot c thit k trn Solidwork
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Hnh 2.19 : Bn lp ghp y ca m hnh.
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2.4 Xy dng
odule c File .*ST
2.4.1. Chuyn sang File .*STL + Sau khi ta thit k m hnh ca Robt
trn Solidworks th cng vic tip theo l ta s chuyn n sang file c ui l
.*STL v xy dng 1 chng trnh c cu trc ca File *.STL v v li n trn
OpenGL. + Cch chuyn sang file STL theo cc bc nh sau : Bc 1 : Ta m m
hnh c thit k b ng Solidworks sau t mc File -> Save As
Hnh 2.19 : Chuyn sang File *.STL
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Sau s hin ra cc la chn nh sau : - Save in : l tn ca Folder cha
file .*STL sau khi chuyn t Solidwork sang. File name : l tn ca File
Save type : y ta chn save li l file dng .*STL . 1 iu ng ch y l ta
chn nt Options ta nh dng file .*STL c dng l m ASCII nh hnh di. Bc 2
: La chn th mc v kiu file m ta mun chuyn .
H
2.27 : C y
R
s
.*STL
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Bc 3 : Chn file STL sau khi chuyn sang c dng m ASCII . Khi thc
hin bc ny th mt iu rt quan trong l ta phi chn vo : Do not translate
STL output data to positive space cho h ta khi v trong Solidworks v
khi chuyn sang file .*STL khng b d ch chuyn.
H
2.28 : C
d
f .* STL
ASCII
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H
2.29 : C y
v
s
f
.*STL
Bc 4 : Hon tt vic chuyn sang file .*STL. Nh vy qua 4 bc ta chuyn
1 file t Solidworks sang file .*STL v vi cch lm tng t ta s chuyn tt
c cc khu ca Robot sang file .*STL.
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H
2.29 : C y
v
s
f
.*STL
2.4.2.Cu trc File *.STL + Phn tch cu trc ca File .*STL.solid CT1
facet normal 0.000000e+000 outer loop vertex 2.000000e+001 vertex
6.657395e+001 vertex 1.732051e+001 endloop endfacet facet normal
0.000000e+000 outer loop vertex 1.732051e+001 vertex 6.657395e+001
vertex 5.663119e+001 endloop endfacet facet normal 0.000000e+000
outer loop vertex 1.732051e+001 vertex 5.663119e+001 0.000000e+000
1.000000e+000 7.347881e-015 5.200000e+002 2.163119e+001
5.200000e+002 1.000000e+001 5.200000e+002 0.000000e+000
1.000000e+000 1.000000e+001 5.200000e+002 2.163119e+001
5.200000e+002 4.114497e+001 5.200000e+002 0.000000e+000
1.000000e+000 1.000000e+001 5.200000e+002 4.114497e+001
5.200000e+002
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1.000000e+001 endloop endfacet facet normal 0.000000e+000 outer
loop vertex 1.732051e+001 vertex 6.657395e+001 vertex 2.000000e+001
endloop endfacet 1.732051e+001 5.200000e+002 0.000000e+000
1.000000e+000 -1.000000e+001 5.200000e+002 -2.163119e+001
5.200000e+002 7.347881e-015 5.200000e+002
File *.STL c cu trc nh sau : C sau 7 dng th File li c cu trc li
l p li t u. Dng u tin trong File *.STL bao gi cng l tn ca chi tit m
khi v ta t trn Solidworks.Sau n cc Vector php tuyn ca b m t cn v v
ta ca 3 nh.Nh vy File *.STL s ha cc chi tit thnh rt nhiu b m t nh
hn v cc nh tng ng vi n.T y ta c c s xy dng Module c File *.STL phc
v qu trnh m phng. 2.4.3.Xy dng hm c file *.ST + Chng trnh c File
*.STL Trong Module ny em xin trnh by 2 cch c File *.STL v v li trn
mi trng ha OpenGL. Cch 1: Trong cch ny th hm ReadModel(GLint
&model, string filename) s
lu ton b cc thng tin v cc vector php tuyn v cc nh vo
glGenLists(1) v v li vi chu trnh l c 3 im s v thnh 1 b m t v chu
trnh v c t trong 1 vng l p while cho n khi c ht File *.STL v v hon
ch nh cc b m t ca chi tit th mi thi.Tuy nhin,cch ny vi s lng file
*.STL nhiu th s lm cho chng trnh b nn em xin gii thiu cch th
hai.#ifndef _READ_FILE_STL_H_ #define _READ_FILE_STL_H_ //#include
"stdlib.h" #include "string" #include "fstream" using namespace
std;
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NGHIP______________________________________________________________________________________void
ReadModel(GLint &model, string filename) { model =
glGenLists(1); if(model !=0) { GLdouble n[3], v[3][3]; ifstream
ifs(filename.c_str()); // ifs.setmode(filebuf::binary); string
str1, str2; //Start READ STL FILE getline(ifs, str1);//"solid ..."
glNewList(model, GL_COMPILE); glBegin(GL_TRIANGLES); while(1) {
//'face' OR 'endsolid' ifs>>str1; if(str1 == "endsolid")
break; //n[0] n[1] n[2]
ifs>>str1>>n[0]>>n[1]>>n[2]; getline(ifs,
str1); //outer loop getline(ifs, str1); //Vertex1, Vertex2, Vertex3
for(int i=0;
i>str1>>v[i][0]>>v[i][1]>>v[i][2];
getline(ifs, str1); } //Draw a triangle glNormal3dv(n);
glVertex3dv(v[0]); glVertex3dv(v[1]); glVertex3dv(v[2]); //end loop
getline(ifs, str1); //end face getline(ifs, str1); } glEnd();
glEndList(); ifs.close(); } } #endif _READ_FILE_STL_H_
Cch 2 : Trong cch ny th ta vit 1 hm c file *.STL .on u ca hm
ReadFileSTL() l cc khai bo cc bin cc b, tip sau l n dng lnh
:f=fopen("ROBOT.txt","rt");
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H
2.29 : C y
v
s
f
.*STL
y chnh l 1 file *.txt cha trong th mc ca chng trnh v ni dung ca
file l cha danh sch cc chi tit v trn Solidwork v chuyn sang file
*.STL trong qu trnh m phng n s v li m hnh ca Robot. Tip theo l cc
cu lnh if else while tin hnh kim tra file v c file
*.STL. Nu vic m File thnh cng th chng trnh s tin hnh c c tn ca
cc tp s liu v v lu vo mng filechitiet[]. Kt thc vic c trong File
ROBOT.txt th bin s chi tit s c gn gi tr cho tng s file cn np. Tip
theo l lnh lisct = glGenLists(SOCHITIET) l lnh khi to mt danh sch
list gm c s phn t b ng s chi tit.Mc ch l to ra mt list thc hin cc
thao tc v ri lu vo mng danh sch.Trong qu trnh m phng,ch cn gi ra m
khng cn tin hnh v li.Nh vy s ti u cho qu trnh m phng,sau 75
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chng trnh s thc hin m tng file s liu c lu trong mng
filechitiet[].Nu qu trnh m file thnh cng,qu trnh tip theo l vic np
v v li chi tit c thc hin theo lnh sau
:glNewList(listct+loop,GL_COMPILE)
lnh ny to ra 1 list mi lu qu trnh v ca chi tit ang cn np.Chng
trnh c s liu theo cu trc tp s liu phn tch trn.Tip theo , lnh
Vemat() l mt hm thc hin chc nng v mt m t, vi cc tham s u vo l 3
vector cha ta ca 3 nh.Cc lnh ca hm Vemat() nh sau:void
CMophongView::Vemat(float *p1, float *p2, float *p3) {
glVertex3f(p1[0],p1[1],p1[2]); glVertex3f(p2[0],p2[1],p2[2]);
glVertex3f(p3[0],p3[1],p3[2]); }
Tt c m lnh ca hm c File *.STL nh di y.void
CMophongView::ReadFileSTL() //Ham nay co chuc nang la doc File
.*STL { unsigned int SOCHITIET; FILE *f; char st[216]=""; char
filechitiet[100][256]; char xaudoc[216]=""; float dinh[1000][3];
float d1,d2,d3; //Toa do cac dinh cua moi facet float i1,i2,i3;
//Vecto phap tuyen tuong ung unsigned int i,j; unsigned int loop;
char catbo[20]=""; f=fopen("ROBOT.txt","rt"); if(f==NULL) {
MessageBox("Khong tim thay file chua danh sach cac chi
tiet!\n","Thong bao"); ExitThread(0); } else { loop=0;
while(!feof(f)) { fscanf(f,"%s",st);
sprintf(filechitiet[loop],"%s.STL",st); loop++;
76
N TT
NGHIP______________________________________________________________________________________}
fclose(f); srand((unsigned) time(NULL)); SOCHITIET=loop; for
(i=0;i
