螺旋工具包，获取新的旋转矢量

我想让每个轴独立移动。当第一个轴位于其原点角度时，机器人轴全部正确移动，但是当它被修改时，所有其他轴都不正确移动。它们保留正确的旋转点而不是新的矢量。

我跟着这个教程http://www.barth-dev.de/getting-started-3d-wpf/

//moves axis_1 
void move_axis_1(double angle) 
{ 
    //rotate the object by "angle", the vector describes the axis 
    RotateTransform3D axis_1_transform = new RotateTransform3D(new AxisAngleRotation3D(new Vector3D(0, 0, 1), angle)); 
    //tells where the point of rotation is 
    axis_1_transform.CenterX = 77.5; 
    axis_1_transform.CenterY = 21.5; 
    axis_1_transform.CenterZ = -8; 
    //apply transformation 
    axis_1.Transform = axis_1_transform; 
    //also move the axis 2 
    move_axis_2(axis_2_angle);    
} 

//moves axis_2 
void move_axis_2(double angle) 
{ 
    //new group of transformations, the group will "add" movements 
    var Group_3D = new Transform3DGroup(); 
    Group_3D.Children.Add(axis_1.Transform); 

    //we need to find out where our old point is now 
    Point3D origin = Group_3D.Transform(new Point3D(84.6, 21, -2)); 

    //create new transformation 
    RotateTransform3D axis_2_transform = new RotateTransform3D(new AxisAngleRotation3D(new Vector3D(0, 1, 0), angle)); 
    axis_2_transform.CenterX = origin.X; 
    axis_2_transform.CenterY = origin.Y; 
    axis_2_transform.CenterZ = origin.Z; 

    //add it to the transformation group (and therefore to axis_1 movement 
    Group_3D.Children.Add(axis_2_transform); 

    //Apply the transform 
    axis_2.Transform = Group_3D; 

    //also move 
    move_axis_3(axis_3_angle);   
} 

//moves axis_3 
void move_axis_3(double angle) 
{ 
    //new group of transformations, the group will "add" movements 
    var Group_3D = new Transform3DGroup(); 
    Group_3D.Children.Add(axis_2.Transform); 

    //we need to find out where our old point is now 
    Point3D origin = Group_3D.Transform(new Point3D(84.6, 17, 16.2)); 

    //create new transformation 
    RotateTransform3D axis_3_transform = new RotateTransform3D(new AxisAngleRotation3D(new Vector3D(0, 1, 0), angle)); 
    axis_3_transform.CenterX = origin.X; 
    axis_3_transform.CenterY = origin.Y; 
    axis_3_transform.CenterZ = origin.Z; 

    //add it to the transformation group 
    Group_3D.Children.Add(axis_3_transform); 

    //Apply the transform 
    axis_3.Transform = Group_3D; 

    //also move 
    move_axis_4(axis_4_angle);   
}

来源

2017-02-15 Nostromo

日子会把你必须转换矢量为好。

//we need to find out where our old point is now 
Point3D origin = Group_3D.Transform(new Point3D(84.6, 21, -2)); 

//we also need to find out where our old vector is pointing now 
Vector3D vector = Group_3D.Transform(new Vector3D(0, 1, 0)); 

//create new transformation 
RotateTransform3D axis_2_transform = new RotateTransform3D(new AxisAngleRotation3D(vector, angle)); 
axis_2_transform.CenterX = origin.X; 
axis_2_transform.CenterY = origin.Y; 
axis_2_transform.CenterZ = origin.Z;

我也更喜欢过载与旋转中心。之后你不需要设置中心。但那只是我的意见：

//create new transformation 
RotateTransform3D axis_2_transform = 
     new RotateTransform3D(new AxisAngleRotation3D(vector, angle), origin);

来源

2017-02-17 16:53:45 egse

螺旋工具包，获取新的旋转矢量

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