void norm_triangle(double n[VEC_SIZE], double v0[VEC_SIZE], double v1[VEC_SIZE], double v2[VEC_SIZE])
{
double v01[VEC_SIZE], v02[VEC_SIZE], norm_tri[VEC_SIZE];
setVec4h(v01, v0[0] - v1[0], v0[1] - v1[1], v0[2] - v1[2]);
setVec4h(v02, v0[0] - v2[0], v0[1] - v2[1], v0[2] - v2[2]);
cross4h(norm_tri, v01, v02);
normalize4h(n, norm_tri);
}
void set_tetra(double vs[][VEC_SIZE])
{
char inputfile[128] = "../plot/tetra_point.dat";
POINT input[TETRA_V_NUM];
InputDatFile(input, inputfile, TETRA_V_NUM);
for (int i = 0; i < TETRA_V_NUM; ++i){
setVec4h(vs[i], input[i].x, input[i].y, input[i].z);
}
}
void set_triprism(double vs[][VEC_SIZE], double h)
{
char inputfile[128] = "../plot/tetra_point.dat";
POINT input[TRIPRISM_V_NUM ];
InputDatFile(input,inputfile, 3);
for (int i = 0; i < 3; ++i){
input[i+3].x = input[i].x;
input[i+3].y = input[i].y;
input[i+3].z = input[i].z + h;
}
for (int i = 0; i < TRIPRISM_V_NUM ; ++i){
setVec4h(vs[i], input[i].x, input[i].y, input[i].z);
// printf("%lf %lf %lf", input[i].x, input[i].y, input[i].z);
}
}
void kadai2B_3()
{
double L1 = 3.0;
double L3 = 2.0;
double L5 = 1.0;
double T1 = 45.0;
double T2 = 30.0;
double T3 = 135.0;
double T4 = -30.0;
double T5 = 60.0;
double origin[COORDINATE_NUM][VECTOR_LEN];
double vec_0[COORDINATE_NUM][VECTOR_LEN];
double vec_1[COORDINATE_NUM][VECTOR_LEN];
double vec_2[COORDINATE_NUM][VECTOR_LEN];
set_base_coordinate(origin[0], vec_0[0], vec_1[0], vec_2[0]);
output_as_coordinate(origin[0], vec_0[0], vec_1[0], vec_2[0]);
double transform_mat[8][VECTOR_LEN][VECTOR_LEN];
double temporary_mat[16][VECTOR_LEN][VECTOR_LEN];
double temporary_vec[VECTOR_LEN];
//初期化
for (int i = 0; i < 8; i++)
{
unitMat4h(transform_mat[i]);
}
for (int i = 0; i < 16; i++)
{
unitMat4h(temporary_mat[i]);
}
for (int i = 0; i < COORDINATE_NUM; i++)
{
asDirVec4h(vec_0[i]);
asDirVec4h(vec_1[i]);
asDirVec4h(vec_2[i]);
}
// 1軸目 z軸周りに T1
double translate_vector[VECTOR_LEN];
setVec4h(translate_vector, 0.0, 0.0, 0);
translate4h(transform_mat[0], translate_vector);
rotateZ4h(transform_mat[0], T1*3.14 / 180.0);
printf("[0]");
printMat(transform_mat[0]);
// 2軸目 z軸方向に L1
setVec4h(translate_vector, 0.0, 0.0, L1);
translate4h(transform_mat[1], translate_vector);
printf("[1]");
printMat(transform_mat[1]);
// 3軸目 x軸周りに T2
rotateX4h(transform_mat[2], T2*3.14 / 180.0);
printf("[2]");
printMat(transform_mat[2]);
// 4軸目 y軸周りに T3
setVec4h(translate_vector, 0.0, 0.0, 0.0);
translate4h(transform_mat[3], translate_vector);
rotateY4h(transform_mat[3], T3*3.14 / 180.0);
printf("[3]");
printMat(transform_mat[3]);
// 5軸目 y軸方向に L3
setVec4h(translate_vector, 0.0, L3, 0.0);
translate4h(transform_mat[4], translate_vector);
printf("[4]");
printMat(transform_mat[4]);
// 6軸目 x軸周りに T4
rotateX4h(transform_mat[5], T4*3.14 / 180.0);
printf("[5]");
printMat(transform_mat[5]);
// 7軸目 y軸周りにT5
setVec4h(translate_vector, 0.0, 0, 0.0);
translate4h(transform_mat[6], translate_vector);
rotateY4h(transform_mat[6], T5*3.14 / 180.0);
printf("[6]");
printMat(transform_mat[6]);
// EndEffect y軸方向に L5
setVec4h(translate_vector, 0.0, L5, 0.0);
translate4h(transform_mat[7], translate_vector);
printf("[7]");
printMat(transform_mat[7]);
//それぞれ変換していく
// 1番目
mulMV4h(origin[1], transform_mat[0], origin[0]);
mulMV4h(vec_0[1], transform_mat[0], vec_0[0]);
mulMV4h(vec_1[1], transform_mat[0], vec_1[0]);
mulMV4h(vec_2[1], transform_mat[0], vec_2[0]);
output_as_coordinate(origin[1], vec_0[1], vec_1[1], vec_2[1]);
// 2番目
mulMM4h(temporary_mat[0], transform_mat[0], transform_mat[1]);
mulMV4h(origin[2], temporary_mat[0], origin[0]);
mulMV4h(vec_0[2], temporary_mat[0], vec_0[0]);
mulMV4h(vec_1[2], temporary_mat[0], vec_1[0]);
mulMV4h(vec_2[2], temporary_mat[0], vec_2[0]);
output_as_coordinate(origin[2], vec_0[2], vec_1[2], vec_2[2]);
// 3番目
mulMM4h(temporary_mat[1], temporary_mat[0], transform_mat[2]);
mulMV4h(origin[3], temporary_mat[1], origin[0]);
mulMV4h(vec_0[3], temporary_mat[1], vec_0[0]);
mulMV4h(vec_1[3], temporary_mat[1], vec_1[0]);
mulMV4h(vec_2[3], temporary_mat[1], vec_2[0]);
output_as_coordinate(origin[3], vec_0[3], vec_1[3], vec_2[3]);
// 4番目
mulMM4h(temporary_mat[2], temporary_mat[1], transform_mat[3]);
mulMV4h(origin[4], temporary_mat[2], origin[0]);
mulMV4h(vec_0[4], temporary_mat[2], vec_0[0]);
mulMV4h(vec_1[4], temporary_mat[2], vec_1[0]);
mulMV4h(vec_2[4], temporary_mat[2], vec_2[0]);
output_as_coordinate(origin[4], vec_0[4], vec_1[4], vec_2[4]);
// 5番目
mulMM4h(temporary_mat[3], temporary_mat[2], transform_mat[4]);
mulMV4h(origin[5], temporary_mat[3], origin[0]);
mulMV4h(vec_0[5], temporary_mat[3], vec_0[0]);
mulMV4h(vec_1[5], temporary_mat[3], vec_1[0]);
mulMV4h(vec_2[5], temporary_mat[3], vec_2[0]);
output_as_coordinate(origin[5], vec_0[5], vec_1[5], vec_2[5]);
// 6番目
mulMM4h(temporary_mat[4], temporary_mat[3], transform_mat[5]);
mulMV4h(origin[6], temporary_mat[4], origin[0]);
mulMV4h(vec_0[6], temporary_mat[4], vec_0[0]);
mulMV4h(vec_1[6], temporary_mat[4], vec_1[0]);
mulMV4h(vec_2[6], temporary_mat[4], vec_2[0]);
output_as_coordinate(origin[6], vec_0[6], vec_1[6], vec_2[6]);
// 7番目
mulMM4h(temporary_mat[5], temporary_mat[4], transform_mat[6]);
mulMV4h(origin[7], temporary_mat[5], origin[0]);
mulMV4h(vec_0[7], temporary_mat[5], vec_0[0]);
mulMV4h(vec_1[7], temporary_mat[5], vec_1[0]);
mulMV4h(vec_2[7], temporary_mat[5], vec_2[0]);
output_as_coordinate(origin[7], vec_0[7], vec_1[7], vec_2[7]);
// 8番目
mulMM4h(temporary_mat[6], temporary_mat[5], transform_mat[7]);
mulMV4h(origin[8], temporary_mat[6], origin[0]);
mulMV4h(vec_0[8], temporary_mat[6], vec_0[0]);
mulMV4h(vec_1[8], temporary_mat[6], vec_1[0]);
mulMV4h(vec_2[8], temporary_mat[6], vec_2[0]);
output_as_coordinate(origin[8], vec_0[8], vec_1[8], vec_2[8]);
//3角柱座標指定用配列
double link_1[TRIPRISM_V_NUM][DIM];
double link_2[TRIPRISM_V_NUM][DIM];
double link_3[TRIPRISM_V_NUM][DIM];
double pre_link_2[TRIPRISM_V_NUM][DIM];
double pre_link_3[TRIPRISM_V_NUM][DIM];
double transed_link_1[TRIPRISM_V_NUM][DIM];
double transed_link_2[TRIPRISM_V_NUM][DIM];
double transed_link_3[TRIPRISM_V_NUM][DIM];
set_triprism(link_1, 3);
set_triprism(pre_link_2, 2);
set_triprism(pre_link_3, 1);
// アームの初期座標を変換する行列
double rotate_link[VECTOR_LEN][VECTOR_LEN];
unitMat4h(rotate_link);
rotateX4h(rotate_link, -90*3.14/180.0);
// link2とlink3の初期座標を変換
for (int i = 0; i < TRIPRISM_V_NUM; i++)
{
mulMV4h(link_2[i], rotate_link, pre_link_2[i]);
mulMV4h(link_3[i], rotate_link, pre_link_3[i]);
printVec(link_2[i]);
}
// 変換行列を用いて三角柱を変換
for (int i = 0; i < TRIPRISM_V_NUM; i++)
{
mulMV4h(transed_link_1[i], transform_mat[0], link_1[i]);
}
for (int i = 0; i < TRIPRISM_V_NUM; i++)
{
mulMV4h(transed_link_2[i], temporary_mat[2], link_2[i]);
}
for (int i = 0; i < TRIPRISM_V_NUM; i++)
{
mulMV4h(transed_link_3[i], temporary_mat[5], link_3[i]);
}
FILE *outputfile;
outputfile = fopen("arm.stl", "w");
if (outputfile == NULL)
{
printf("cannot open [arm.stl]\n");
}
prStlTriprism2file(transed_link_1, "link_1", outputfile);
prStlTriprism2file(transed_link_2, "link_2", outputfile);
prStlTriprism2file(transed_link_3, "link_3", outputfile);
fclose(outputfile);
//gnuplotにプロット
//plot2gnuplot();
}
// 2. アームの寸法と各関節の回転角を指定すると，各関節の座標系([X0, Y0, Z0] ~ [X5, Y5, Z5])が得られる計算プログラムを作成せよ．
void kadai2B_2()
{
double L1 = 3.0;
double L3 = 2.0;
double L5 = 1.0;
double T1 = 45.0;
double T2 = 30.0;
double T3 = 135.0;
double T4 = -30.0;
double T5 = 60.0;
double origin[COORDINATE_NUM][VECTOR_LEN];
double vec_0[COORDINATE_NUM][VECTOR_LEN];
double vec_1[COORDINATE_NUM][VECTOR_LEN];
double vec_2[COORDINATE_NUM][VECTOR_LEN];
set_base_coordinate(origin[0], vec_0[0], vec_1[0], vec_2[0]);
output_as_coordinate(origin[0], vec_0[0], vec_1[0], vec_2[0]);
double transform_mat[8][VECTOR_LEN][VECTOR_LEN];
double temporary_mat[16][VECTOR_LEN][VECTOR_LEN];
double temporary_vec[VECTOR_LEN];
//初期化
for (int i = 0; i < 8; i++)
{
unitMat4h(transform_mat[i]);
}
for (int i = 0; i < 16; i++)
{
unitMat4h(temporary_mat[i]);
}
for (int i = 0; i < COORDINATE_NUM; i++)
{
asDirVec4h(vec_0[i]);
asDirVec4h(vec_1[i]);
asDirVec4h(vec_2[i]);
}
// 1軸目 z軸方向に L1/2, z軸周りに T1
double translate_vector[VECTOR_LEN];
setVec4h(translate_vector, 0.0, 0.0, L1 / 2.0);
translate4h(transform_mat[0], translate_vector);
rotateZ4h(transform_mat[0], T1*3.14 / 180.0);
printf("[0]");
printMat(transform_mat[0]);
// 2軸目 z軸方向に L1/2
setVec4h(translate_vector, 0.0, 0.0, L1 / 2.0);
translate4h(transform_mat[1], translate_vector);
printf("[1]");
printMat(transform_mat[1]);
// 3軸目 x軸周りに T2
rotateX4h(transform_mat[2], T2*3.14 / 180.0);
printf("[2]");
printMat(transform_mat[2]);
// 4軸目 y軸方向に L3/2, y軸周りに T3
setVec4h(translate_vector, 0.0, L3 / 2.0, 0.0);
translate4h(transform_mat[3], translate_vector);
rotateY4h(transform_mat[3], T3*3.14 / 180.0);
printf("[3]");
printMat(transform_mat[3]);
// 5軸目 y軸方向に L3/2
setVec4h(translate_vector, 0.0, L3 / 2.0, 0.0);
translate4h(transform_mat[4], translate_vector);
printf("[4]");
printMat(transform_mat[4]);
// 6軸目 x軸周りに T4
rotateX4h(transform_mat[5], T4*3.14 / 180.0);
printf("[5]");
printMat(transform_mat[5]);
// 7軸目 y軸方向に L5/2, y軸周りにT5
setVec4h(translate_vector, 0.0, L5 / 2.0, 0.0);
translate4h(transform_mat[6], translate_vector);
rotateY4h(transform_mat[6], T5*3.14 / 180.0);
printf("[6]");
printMat(transform_mat[6]);
// EndEffect y軸方向に L5/2
setVec4h(translate_vector, 0.0, L5 / 2.0, 0.0);
translate4h(transform_mat[7], translate_vector);
printf("[7]");
printMat(transform_mat[7]);
//それぞれ変換していく
// 1番目
mulMV4h(origin[1], transform_mat[0], origin[0]);
mulMV4h(vec_0[1], transform_mat[0], vec_0[0]);
mulMV4h(vec_1[1], transform_mat[0], vec_1[0]);
mulMV4h(vec_2[1], transform_mat[0], vec_2[0]);
output_as_coordinate(origin[1], vec_0[1], vec_1[1], vec_2[1]);
// 2番目
mulMM4h(temporary_mat[0], transform_mat[0], transform_mat[1]);
mulMV4h(origin[2], temporary_mat[0], origin[0]);
mulMV4h(vec_0[2], temporary_mat[0], vec_0[0]);
mulMV4h(vec_1[2], temporary_mat[0], vec_1[0]);
mulMV4h(vec_2[2], temporary_mat[0], vec_2[0]);
output_as_coordinate(origin[2], vec_0[2], vec_1[2], vec_2[2]);
// 3番目
mulMM4h(temporary_mat[1], temporary_mat[0], transform_mat[2]);
mulMV4h(origin[3], temporary_mat[1], origin[0]);
mulMV4h(vec_0[3], temporary_mat[1], vec_0[0]);
mulMV4h(vec_1[3], temporary_mat[1], vec_1[0]);
mulMV4h(vec_2[3], temporary_mat[1], vec_2[0]);
output_as_coordinate(origin[3], vec_0[3], vec_1[3], vec_2[3]);
// 4番目
mulMM4h(temporary_mat[2], temporary_mat[1], transform_mat[3]);
mulMV4h(origin[4], temporary_mat[2], origin[0]);
mulMV4h(vec_0[4], temporary_mat[2], vec_0[0]);
mulMV4h(vec_1[4], temporary_mat[2], vec_1[0]);
mulMV4h(vec_2[4], temporary_mat[2], vec_2[0]);
output_as_coordinate(origin[4], vec_0[4], vec_1[4], vec_2[4]);
// 5番目
mulMM4h(temporary_mat[3], temporary_mat[2], transform_mat[4]);
mulMV4h(origin[5], temporary_mat[3], origin[0]);
mulMV4h(vec_0[5], temporary_mat[3], vec_0[0]);
mulMV4h(vec_1[5], temporary_mat[3], vec_1[0]);
mulMV4h(vec_2[5], temporary_mat[3], vec_2[0]);
output_as_coordinate(origin[5], vec_0[5], vec_1[5], vec_2[5]);
// 6番目
mulMM4h(temporary_mat[4], temporary_mat[3], transform_mat[5]);
mulMV4h(origin[6], temporary_mat[4], origin[0]);
mulMV4h(vec_0[6], temporary_mat[4], vec_0[0]);
mulMV4h(vec_1[6], temporary_mat[4], vec_1[0]);
mulMV4h(vec_2[6], temporary_mat[4], vec_2[0]);
output_as_coordinate(origin[6], vec_0[6], vec_1[6], vec_2[6]);
// 7番目
mulMM4h(temporary_mat[5], temporary_mat[4], transform_mat[6]);
mulMV4h(origin[7], temporary_mat[5], origin[0]);
mulMV4h(vec_0[7], temporary_mat[5], vec_0[0]);
mulMV4h(vec_1[7], temporary_mat[5], vec_1[0]);
mulMV4h(vec_2[7], temporary_mat[5], vec_2[0]);
output_as_coordinate(origin[7], vec_0[7], vec_1[7], vec_2[7]);
// 8番目
mulMM4h(temporary_mat[6], temporary_mat[5], transform_mat[7]);
mulMV4h(origin[8], temporary_mat[6], origin[0]);
mulMV4h(vec_0[8], temporary_mat[6], vec_0[0]);
mulMV4h(vec_1[8], temporary_mat[6], vec_1[0]);
mulMV4h(vec_2[8], temporary_mat[6], vec_2[0]);
output_as_coordinate(origin[8], vec_0[8], vec_1[8], vec_2[8]);
//gnuplotにプロット
plot2gnuplot();
}