问导入机械臂(6轴)的连接零件并通过用户输入(C++代码)使每个关节旋转

EN

Qt3DCore::QEntity *root = new Qt3DCore::QEntity();
Qt3DExtras::Qt3DWindow view;

Joint *joint1 = new Joint(root);
joint1->mesh()->setSource(QUrl(QStringLiteral("qrc:/assets/base.obj")));
joint1->transform()->setTranslation(QVector3D(0.0f, 1.81f, 0.0f));
joint1->transform()->setScale(0.01f);
Qt3DExtras::QPhongMaterial *material1 = new Qt3DExtras::QPhongMaterial();
material1->setDiffuse(QColor(204, 91, 70));
material1->setSpecular(QColor(255, 171, 247 ));
material1->setShininess(500.0f);
joint1->addComponent(material1);


Joint *joint2 = new Joint(root);
joint2->mesh()->setSource(QUrl(QStringLiteral("qrc:/assets/j2.obj")));
joint2->transform()->setTranslation(QVector3D(0.0f, 1.9030f, 0.0f));
joint2->transform()->setScale(0.01f);
Qt3DExtras::QPhongMaterial *material2 = new Qt3DExtras::QPhongMaterial();
material2->setDiffuse(QColor(27, 176, 204));
material2->setSpecular(QColor(37, 95, 255 ));
material2->setShininess(500.0f);
joint2->addComponent(material2);

/*
 * Rest of the 4 joint meshes are defined in same way as above
 */

view.setRootEntity(root);

 #include "joint.h"

Joint::Joint(Qt3DCore::QNode *parent)
  : Qt3DCore::QEntity(parent)
  ,m_mesh(new Qt3DRender::QMesh())
  ,m_transform(new Qt3DCore::QTransform())
{
addComponent(m_mesh);
addComponent(m_transform);
}

Joint::~Joint()
{
}

Qt3DRender::QMesh *Joint::mesh() const
{
return m_mesh;
}

Qt3DCore::QTransform *Joint::transform() const
{
return m_transform;
}

#ifndef JOINT_H
#define JOINT_H

#include <Qt3DCore/QEntity>

#include <Qt3DCore/QTransform>

#include <Qt3DRender/QMesh>


class Joint : public Qt3DCore::QEntity

{

public:
Joint(Qt3DCore::QNode *parent= 0);
~Joint();

Qt3DRender::QMesh *mesh() const;
 Qt3DCore::QTransform *transform() const;




private:
Qt3DRender::QMesh *m_mesh;
Qt3DCore::QTransform *m_transform;


};


#endif //JOINT_H