课程设计（论文）-基于OpenGL的机器人运动仿真设计

on[0]=radius*ctheta;Р vertices[k].position[1]=radius*stheta;Р vertices[k].position[2]=z;Р ++k;Р }Р?}Р?k=0;Р?int ibase=0;Р?for (i=0; i<n-1; ++i)Р?{Р indices[k]=ibase;Р indices[k+1]=ibase+i+1;Р indices[k+2]=ibase+i+2;Р k+=3;Р?}Р?Р?indices[k]=ibase;Р?indices[k+1]=ibase+n;Р?indices[k+2]=ibase+1;Р?k+=3;Р?ibase=nv_disk;Р?for (i=0; i<n-1; ++i)Р?{Р indices[k]=ibase;Р indices[k+1]=ibase+i+2;Р indices[k+2]=ibase+i+1;Р k+=3;Р?}Р?Р?indices[k]=ibase;Р?indices[k+1]=ibase+1;Р?indices[k+2]=ibase+n;Р?k+=3;Р?ibase=2*nv_disk;Р?for (j=0; j<m; ++j)Р?{Р int v0=ibase+j*(n+1);Р for (i=0; i<n; ++i)Р {Р int v=v0+i;Р indices[k]=v;Р indices[k+1]=v+1;Р indices[k+2]=v+n+1;Р indices[k+3]=v+1;Р indices[k+4]=v+n+2;Р indices[k+5]=v+n+1;Р k+=6;Р }Р?}Р}Р 其球体和圆柱体建模图,左为渲染前,右为渲染后,如下: Р Р建立机器人下肢模型,程序如下:Р //建立机器人类Р class CRobotР{