QML 3D 加载多个模型，无边框，透明背景，机械臂联动装置
最编程
2024-04-14 13:28:14
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3ds max2018导出obj文件在Qt5.7.1会报错
Qt3D.Renderer.IO: Missing position index
ASSERT failure in QVector<T>::operator[]: "index out of range", file c:\Users\qt\work\install\include\QtCore/qvector.h, line 433
换成Qt5.11.2或者使用3ds max2014就可以了,还有一种可能是模型太大,导出的时候需要按比例缩小
机械臂联动的算法采用的是旋转矩阵和四元数.
function clawOpenAndClose(){
var a = clawOpenClose*Math.PI/180.0
var m = Qt.matrix4x4(Math.cos(a), -Math.sin(a), 0, 0,
Math.sin(a), Math.cos(a), 0, 0,
0, 0, 1, 0,
0, 0, 0, 1)
clawLeftTransform.matrix = backend.matrix4x4Multip(clawTransform.matrix,m)
var n = Qt.matrix4x4(Math.cos(-a), -Math.sin(-a), 0, 0,
Math.sin(-a), Math.cos(-a), 0, 0,
0, 0, 1, 0,
0, 0, 0, 1)
clawRightTransform.matrix = backend.matrix4x4Multip(clawTransform.matrix,n)
}
function clawTransformRotationY(){
var a = clawLeftRight*Math.PI/180.0
var m = Qt.matrix4x4(Math.cos(a), 0, Math.sin(a), 0,
0, 1, 0, -2.0173,
-Math.sin(a), 0, Math.cos(a), -0.151733,
0, 0, 0, 1)
clawTransform.matrix = backend.matrix4x4Multip(wristClawTransform.matrix,m)
clawOpenAndClose()
}
//腕部变换
function wristClawTransformRotationX(){
wristClawMatrix()
clawTransformRotationY()
clawOpenAndClose()
}
function wristClawMatrix(){
var a = wristClawRota*Math.PI/180.0
// 旋转x 旋转y 旋转z
var m = Qt.matrix4x4(1, 0, 0, -0.83, //平移x
0, Math.cos(a), -Math.sin(a), 0.24856, //平移y
0, Math.sin(a), Math.cos(a), -10.0608, //平移z
0, 0, 0, 1)
wristClawTransform.matrix = backend.matrix4x4Multip(upperArmTransform.matrix,m)
}
//上臂变换
function upperArmTransformRotationX(){
//上臂
upperArmMatrix()
wristClawMatrix()
clawTransformRotationY()
clawOpenAndClose()
}
function upperArmMatrix(){
var a = upperArmRota*Math.PI/180.0
var m = Qt.matrix4x4(1, 0, 0, 1.0032,
0, Math.cos(a), -Math.sin(a), 1.63431,
0, Math.sin(a), Math.cos(a), 7.84555,
0, 0, 0, 1)
upperArmTransform.matrix = backend.matrix4x4Multip(lowerArmTransform.matrix,m)
wristClawMatrix()
}
function lowerArmMatrix(){
var a = lowerArmRota*Math.PI/180.0
var m = Qt.matrix4x4(1, 0, 0, 0,
0, Math.cos(a), -Math.sin(a), -0.33856,
0, Math.sin(a), Math.cos(a), 0,
0, 0, 0, 1)
lowerArmTransform.matrix = backend.matrix4x4Multip(turretTransform.matrix,m)
}
//下臂变换
function lowerArmTransformRotationX(){
//下臂
lowerArmMatrix()
upperArmMatrix()
clawTransformRotationY()
clawOpenAndClose()
}
function turretTransformFunction(){
//下臂
lowerArmMatrix()
upperArmMatrix()
clawTransformRotationY()
clawOpenAndClose()
}
function turretTransformRotationY(){
turretVect3d = backend.matrix4x4Index2(baseTransform.matrix)
turretAngle = -turretRota - turretL
turretTransform.rotation = backend.quaternionMultip(trans.rotation,turretBaseQuaternion)
turretTransformFunction()
}
function baseTransformFunctionX(){
var a = turretRota*Math.PI/180.0
var m = Qt.matrix4x4(Math.cos(a), 0, Math.sin(a), 0,
0, 1, 0, 4.27978,
-Math.sin(a), 0, Math.cos(a), -4.50885,
0, 0, 0, 1)
turretTransform.matrix = backend.matrix4x4Multip(baseTransform.matrix,m)
turretL = turretRota
turretTransformFunction()
}
function baseTransformFunctionY(){
var a = turretRota*Math.PI/180.0
var m = Qt.matrix4x4(Math.cos(a), 0, Math.sin(a), 0,
0, 1, 0, 4.27978,
-Math.sin(a), 0, Math.cos(a), -4.50885,
0, 0, 0, 1)
turretTransform.matrix = backend.matrix4x4Multip(baseTransform.matrix,m)
turretL = turretRota
turretTransformFunction()
}
function baseTransformFunctionZ(){
var a = turretRota*Math.PI/180.0
var m = Qt.matrix4x4(Math.cos(a), 0, Math.sin(a), 0,
0, 1, 0, 4.27978,
-Math.sin(a), 0, Math.cos(a), -4.50885,
0, 0, 0, 1)
turretTransform.matrix = backend.matrix4x4Multip(baseTransform.matrix,m)
turretL = turretRota
turretTransformFunction()
}
function baseTransformRotationZ(){
baseTransform.rotationZ = basePitch
baseTransformFunctionZ()
turretBaseQuaternion = turretTransform.rotation
}
function baseTransformRotationY(){
baseTransform.rotationY = baseHeading //角度
baseTransformFunctionY()
turretBaseQuaternion = turretTransform.rotation
}
function baseTransformRotationX(){
baseTransform.rotationX = baseRoll
baseTransformFunctionX()
turretBaseQuaternion = turretTransform.rotation
}
function baseHeadingFunction(){
return baseHeading
}
function baseRollFunction(){
return baseRoll
}
function basePitchFunction(){
return basePitch
}
function turretRotaFunction(){
return turretRota
}
function lowerArmRotaFunction(){
return lowerArmRota
}
function upperArmRotaFunction(){
return upperArmRota
}
function wristClawRotaFunction(){
return wristClawRota
}
function clawLeftRightFunction(){
return clawLeftRight
}
function clawOpenCloseFunction(){
return clawOpenClose
}
function setBaseHeading(delta){
baseHeading = delta
baseTransformRotationY()
}
function setBaseRoll(delta){
baseRoll = delta
baseTransformRotationX()
}
function setBasePitch(delta){
basePitch = delta
baseTransformRotationZ()
}
function setTurretRota(delta){
turretRota = delta
turretTransformRotationY()
}
function setLowerArmRota(delta){
lowerArmRota = delta
lowerArmTransformRotationX()
}
function setUpperArmRota(delta){
upperArmRota = delta
upperArmTransformRotationX()
}
function setWristClawRota(delta){
wristClawRota = delta
wristClawTransformRotationX()
}
function setClawLeftRight(delta){
clawLeftRight = delta
clawTransformRotationY()
}
function setClawOpenClose(delta){
clawOpenClose = delta
clawOpenAndClose()
//console.info(delta)
}main.cpp
#include <Qt3DQuickExtras/qt3dquickwindow.h>
#include <QGuiApplication>
#include <QQuickView>
#include <QQmlEngine>
#include <QQmlApplicationEngine>
#include <QQmlContext>
#include <QQuickItem>
int main(int argc, char* argv[])
{
QGuiApplication app(argc, argv);
QQuickView view;
view.setFlags(Qt::FramelessWindowHint | Qt::WindowStaysOnTopHint);
view.setColor(QColor(Qt::transparent));
view.setSource(QUrl("qrc:/main.qml"));
view.show();
return app.exec();
}
用于显示3d模型
import QtQuick 2.2 as QQ2
import QtQuick 2.0
import QtQuick.Scene3D 2.0
import Qt3D.Core 2.0
import Qt3D.Render 2.0
import Qt3D.Input 2.0
import Qt3D.Extras 2.0
Entity {
id: sceneRoot
property alias upperArmPos: upperArmTransform
property alias wristClawPos: wristClawTransform
property real wristClawRota: 0.0 //腕部旋转度数Y
property real upperArmRota: 0.0 //上臂旋转度数Y
property real lowerArmRota: 0.0 //下臂旋转度数Y
property real turretRota: 0.0 //塔台旋转度数Y
property real baseRotaY: 0.0 //基座旋转度数Y
property real baseRotaZ: 0.0 //基座旋转度数Z
Component.onCompleted:{
var upperArmPos = upperArmTransform.translation
var wristClawPos = wristClawTransform.translation
//console.log(upperArmPos,wristClawPos)
}
components: [
RenderSettings {
activeFrameGraph: ForwardRenderer {
camera: camera
clearColor: "transparent"
}
},
// Event Source will be set by the Qt3DQuickWindow
InputSettings {
}
]
Camera {
id: camera
projectionType: CameraLens.PerspectiveProjection
fieldOfView: 25
aspectRatio: 16/9
nearPlane : 0.01
farPlane : 1000.0
position: Qt.vector3d( 0.0, 10.0, -40.0 )
upVector: Qt.vector3d( 0.0, 1.0, 0.0 )
viewCenter: Qt.vector3d( 0.0, 0.0, 0.0 )
}
OrbitCameraController {
camera: camera
}
FirstPersonCameraController { camera: camera }
Entity {
id: base
Transform {
id: baseTransform
translation:Qt.vector3d(-4.01445,-5.87275,0.02425)
}
PhongMaterial {
id: materialBase
ambient: Qt.rgba( 0.1, 0.2, 0.3, 1 ) //环境光
diffuse: Qt.rgba( 0.1, 0.1, 0.1, 1 ) //漫反射
specular: Qt.rgba( 0.2, 0.2, 0.1, 1 ) //高光反射
// shininess: 0.6
shininess: 10.0
}
Mesh {
id: meshBase
source: "qrc:/obj/obj/Base.obj"
}
components: [meshBase, materialBase,baseTransform]
}
}main.qml调用
import QtQuick 2.0
import QtQuick.Scene3D 2.0
import QtQuick.Controls 1.4
Rectangle {
width: 600
height: 400
color: "transparent"
focus: true
Rectangle {
id: scene
anchors.fill: parent
anchors.margins: 0
color: "transparent"
Scene3D {
id: scene3d
anchors.fill: parent
anchors.margins: 0
aspects: ["input", "logic"]
cameraAspectRatioMode: Scene3D.AutomaticAspectRatio
AnimatedEntity {
id:unicorn
}
}
}
}解压之后打开Ego/bin/Jaguar3D.exe,需要动关节的话，按下f6就可以操作了
链接：https://pan.baidu.com/s/1TFcKMDA6OoROTVCUI50cww
提取码：uu50
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