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115 lines
2.0 KiB
115 lines
2.0 KiB
2 years ago
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package require vtk
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# This example demonstrates how to set up flexible joints using
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# the transformation pipeline and vtkTransformPolyDataFilter.
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# create a rendering window and renderer
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vtkRenderer ren1
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vtkRenderWindow renWin
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renWin AddRenderer ren1
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# set up first set of polydata
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vtkCylinderSource c1
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c1 SetHeight 1.6
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c1 SetRadius 0.2
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c1 SetCenter 0 0.8 0
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vtkTransform t1
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vtkTransformPolyDataFilter f1
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f1 SetInputConnection [c1 GetOutputPort]
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f1 SetTransform t1
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vtkDataSetMapper m1
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m1 SetInputConnection [f1 GetOutputPort]
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vtkActor a1
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a1 SetMapper m1
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[a1 GetProperty] SetColor 1 0 0
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# set up second set, at a relative transform to the first
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vtkCylinderSource c2
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c2 SetHeight 1.6
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c2 SetRadius 0.15
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c2 SetCenter 0 0.8 0
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# relative rotation for first joint
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vtkTransform joint1
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# set input to initial transform
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vtkTransform t2
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t2 SetInput t1
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t2 Translate 0 1.6 0
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t2 Concatenate joint1
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vtkTransformPolyDataFilter f2
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f2 SetInputConnection [c2 GetOutputPort]
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f2 SetTransform t2
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vtkDataSetMapper m2
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m2 SetInputConnection [f2 GetOutputPort]
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vtkActor a2
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a2 SetMapper m2
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[a2 GetProperty] SetColor 0.0 0.7 1.0
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# set up third set, at a relative transform to the second
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vtkCylinderSource c3
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c3 SetHeight 0.5
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c3 SetRadius 0.1
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c3 SetCenter 0 0.25 0
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# relative rotation
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vtkTransform joint2
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# set input to previous transform
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vtkTransform t3
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t3 SetInput t2
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t3 Translate 0 1.6 0
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t3 Concatenate joint2
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vtkTransformPolyDataFilter f3
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f3 SetInputConnection [c3 GetOutputPort]
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f3 SetTransform t3
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vtkDataSetMapper m3
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m3 SetInputConnection [f3 GetOutputPort]
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vtkActor a3
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a3 SetMapper m3
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[a3 GetProperty] SetColor 0.9 0.9 0
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# add actors to renderer
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ren1 AddActor a1
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ren1 AddActor a2
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ren1 AddActor a3
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# set clipping range
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ren1 ResetCamera -1 1 -0.1 2 -3 3
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# set angles for first joint
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set phi2 70
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set theta2 85
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# set angles for second joint
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set phi3 50
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set theta3 90
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joint1 Identity
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joint1 RotateY $phi2
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joint1 RotateX $theta2
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joint2 Identity
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joint2 RotateY $phi3
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joint2 RotateX $theta3
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renWin Render
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