3D OpenGL C#

96

Author

November 13, 2011 02:24 AM

Hello,

Well this is something that got me a migraine and it must be quite easy to solve but I'm just blocked.
I'm working on a program for my university (8th Semester), to be more precise, Robotics. Project is about a robot that has a manipulator and goes from one point to another in a defined map.
The tricky part is that the robot must evade auto-generated obstacles (for example, a set of cubes randomly placed in the map/world) and from the initial point, draw the shortest trajectory and actually draw it on the 3D OpenGL control, along with the rest of the lines.

To explain my self better, the trajectory must be something like, initial point -> detect of a cube/obstacle > compare the distances of and see which one is the shortest > draw the one that is the shortest and keep the trajectory, if it finds another obstacle, do the same process and finish.

So what I'm having trouble with is with that and...:

* Dunno why my initial coords are like X = -1.47, Y= 1.1, they should be like 0,0
* When I send the coords in a loop/cycle to reach the final position (X = 8, Y = -11), program just freezes and stops working, curious enough, the parts do move, like the tires and manipulator but the robot itself, doesnt.
* When I actually succeeded in moving the robot, it just recreates it in multiple positions across the map and on random spots (the trajectory function is not included) :/

So yeh... im actually burnt with this, I see no end to this misery and im quite stressed.
Please do apologize me if this is the wrong forum, tho I think since its OpenGL related, it should be fine.

To sum this all:

* Why is my initial coords X!=0 and Y! = 0? (!= as in different, just to shorten things up)
* Im looking for some help to make the function for it to move across the map, with a defined trajectory and the obstacle detection.

Functions:

So I create the grid this way

Grid





    	void Dibujar_Grid(Single GridScale, Single XSteps, Single ZSteps){

         	Single zExtent, xExtent;

         	Single xLocal, zLocal;

         	float loopX, loopZ;



         	Gl.glPushMatrix();

         	Gl.glRotated(77, 1, 0, 0);

         	Gl.glBegin(Gl.GL_LINES);

         	zExtent = GridScale*ZSteps;

         	for(loopX = -XSteps; loopX <=XSteps; loopX++ )

            	{

            	xLocal = GridScale*loopX;

            	Gl.glVertex3d( xLocal, 0.0, -zExtent );

            	Gl.glVertex3d( xLocal, 0.0,  zExtent );

            	}

         	xExtent = GridScale * XSteps ;

         	for(loopZ = -ZSteps; loopZ <= ZSteps; loopZ++ )

            	{

            	zLocal = GridScale * loopZ;

            	Gl.glVertex3d( -xExtent, 0.0, zLocal );

            	Gl.glVertex3d(  xExtent, 0.0, zLocal );

            	}

         	Gl.glEnd();

         	Gl.glPopMatrix();

Robot function



    	private void Robot(double X, double Y, double Z, double RotRueda1, double RotRueda2, double RotRueda3, double RotRueda4, double RotEje, double RotMotor1, double RotMotor2, double RotMotor3, double RotMotor4)

    	{

        	Gl.glScalef(10.0f, 10.0f, 10.0f);

        	Gl.glTranslated(X, Y, Z);   	// Posicion del Cuerpo en el Espacio



        	// Rueda1 

        	Gl.glPushMatrix();

        	Gl.glTranslated(-4.4, 4.8, 0.1);

        	Gl.glScalef(0.06f, 0.06f, 0.06f);

        	Gl.glRotated(90, 1, 0, 0); // Gira 90 grados con respecto a X

        	Gl.glRotated(90, 0, 1, 0); // Gira 90 grados con respecto a Y

        	Gl.glRotated(RotRueda1, 0, 0, 1); // Gira RotRueda grados con respecto a Z

        	Piñon.dibujar();

        	Gl.glPopMatrix();



        	// Rueda 2

        	Gl.glPushMatrix();

        	Gl.glTranslated(-4.4, 4.6, 0.1);

        	Gl.glScalef(0.06f, 0.06f, 0.06f);

        	Gl.glRotated(90, 1, 0, 0); // Gira 90 grados con respecto a X

        	Gl.glRotated(90, 0, 1, 0); // Gira 90 grados con respecto a Y

        	Gl.glRotated(RotRueda2, 0, 0, 1); // Gira RotRueda grados con respecto a Z

        	Rueda.dibujar();

        	Gl.glPopMatrix();



        	// Rueda 3

        	Gl.glPushMatrix();

        	Gl.glTranslated(-4.2, 4.8, 0.1);

        	Gl.glScalef(0.06f, 0.06f, 0.06f);

        	Gl.glRotated(90, 1, 0, 0); // Gira 90 grados con respecto a X

        	Gl.glRotated(90, 0, 1, 0); // Gira 90 grados con respecto a Y

        	Gl.glRotated(RotRueda3, 0, 0, 1); // Gira RotRueda grados con respecto a Z

        	Piñon.dibujar();

        	Gl.glPopMatrix();



        	// Rueda 4

        	Gl.glPushMatrix();

        	Gl.glTranslated(-4.2, 4.6, 0.1);

        	Gl.glScalef(0.06f, 0.06f, 0.06f);

        	Gl.glRotated(90, 1, 0, 0); // Gira 90 grados con respecto a X

        	Gl.glRotated(90, 0, 1, 0); // Gira 90 grados con respecto a Y

        	Gl.glRotated(RotRueda4, 0, 0, 1); // Gira RotRueda grados con respecto a Z

        	Rueda.dibujar();

        	Gl.glPopMatrix();



        	// Eje

        	Gl.glPushMatrix();

        	Gl.glTranslated(-4.3, 4.6, 0.1);

        	Gl.glScalef(0.2f, 0.8f, 0.8f);

        	Gl.glRotated(90, 1, 0, 0); // Gira 90 grados con respecto a X

        	Gl.glRotated(90, 0, 1, 0); // Gira 90 grados con respecto a X

        	Gl.glRotated(RotEje, 0, 0, 1); // Gira RotEje grados con respecto a Z

        	Eje.dibujar();

        	Gl.glPopMatrix();



        	// Motor 1

        	Gl.glPushMatrix();

        	Gl.glTranslated(-4.376, 4.8, 0.1);

        	Gl.glScalef(0.06f, 0.06f, 0.06f);

        	Gl.glRotated(90, 1, 0, 0); // Gira 90 grados con respecto a X

        	Gl.glRotated(-90, 0, 1, 0); // Gira 90 grados con respecto a Y

        	Motor.dibujar();

        	Gl.glPopMatrix();



        	// Motor 2

        	Gl.glPushMatrix();

        	Gl.glTranslated(-4.228, 4.8, 0.1);

        	Gl.glScalef(0.06f, 0.06f, 0.06f);

        	Gl.glRotated(90, 1, 0, 0); // Gira 90 grados con respecto a X

        	Gl.glRotated(90, 0, 1, 0); // Gira 90 grados con respecto a X

        	Motor.dibujar();

        	Gl.glPopMatrix();



        	// Lado Grande 1

        	Gl.glPushMatrix();

        	Gl.glTranslated(-4.364, 4.7, 0.1168);

        	Gl.glScalef(0.12f, 0.3f, 0.12f);

        	Gl.glRotated(90, 1, 0, 0); // Gira 90 grados con respecto a X

        	Gl.glRotated(90, 0, 1, 0); // Gira 90 grados con respecto a Y

        	Gl.glRotated(-90, 0, 1, 0); // Gira 90 grados con respecto a Y

        	LadoGrande.dibujar();

        	Gl.glPopMatrix();



        	// Lado Grande 2

        	Gl.glPushMatrix();

        	Gl.glTranslated(-4.24, 4.7, 0.1168);

        	Gl.glScalef(0.12f, 0.3f, 0.12f);

        	Gl.glRotated(90, 1, 0, 0); // Gira 90 grados con respecto a X

        	Gl.glRotated(180, 0, 1, 0); // Gira 90 grados con respecto a Y

        	//Gl.glRotated(zz, 0, 0, 1); // Gira 90 grados con respecto a Z

        	LadoGrande.dibujar();

        	Gl.glPopMatrix();



        	// Lado Pequeño 1

        	Gl.glPushMatrix();

        	Gl.glTranslated(-4.302, 4.56, 0.116);

        	Gl.glScalef(0.148f, 0.12f, 0.12f);

        	Gl.glRotated(90, 1, 0, 0); // Gira 90 grados con respecto a X

        	Gl.glRotated(90, 0, 1, 0); // Gira 90 grados con respecto a Y

        	LadoPequeño.dibujar();

        	Gl.glPopMatrix();



        	// Lado Pequeño 2

        	Gl.glPushMatrix();

        	Gl.glTranslated(-4.302, 4.84, 0.116);

        	Gl.glScalef(0.148f, 0.12f, 0.12f);

        	Gl.glRotated(90, 1, 0, 0); // Gira 90 grados con respecto a X

        	Gl.glRotated(-90, 0, 1, 0); // Gira 90 grados con respecto a Y

        	LadoPequeño.dibujar();

        	Gl.glPopMatrix();



        	// Acrilico Inferior

        	Gl.glPushMatrix();

        	Gl.glTranslated(-4.3, 4.7, 0.11);

        	Gl.glScalef(0.14f, 0.28f, 0.2f);

        	Gl.glRotated(90, 1, 0, 0); // Gira 90 grados con respecto a X

        	Gl.glRotated(90, 0, 1, 0); // Gira 90 grados con respecto a Y

        	AcrilicoInferior.dibujar();

        	Gl.glPopMatrix();



        	// Angulo 1

        	Gl.glPushMatrix();

        	Gl.glTranslated(-4.368, 4.64, 0.128);

        	Gl.glScalef(0.02f, 0.02f, 0.02f);

        	Gl.glRotated(-90, 1, 0, 0); // Gira 90 grados con respecto a X

        	Angulos.dibujar();

        	Gl.glPopMatrix();



        	// Angulo 2

        	Gl.glPushMatrix();

        	Gl.glTranslated(-4.368, 4.764, 0.128);

        	Gl.glScalef(0.02f, 0.02f, 0.02f);

        	Gl.glRotated(-90, 1, 0, 0); // Gira 90 grados con respecto a X

        	Angulos.dibujar();

        	Gl.glPopMatrix();



        	// Angulo 3

        	Gl.glPushMatrix();

        	Gl.glTranslated(-4.236, 4.64, 0.128);

        	Gl.glScalef(0.02f, 0.02f, 0.02f);

        	Gl.glRotated(-90, 1, 0, 0); // Gira 90 grados con respecto a X

        	Gl.glRotated(180, 0, 1, 0); // Gira 90 grados con respecto a Y

        	Angulos.dibujar();

        	Gl.glPopMatrix();



        	// Angulo 4

        	Gl.glPushMatrix();

        	Gl.glTranslated(-4.236, 4.764, 0.128);

        	Gl.glScalef(0.02f, 0.02f, 0.02f);

        	Gl.glRotated(-90, 1, 0, 0); // Gira 90 grados con respecto a X

        	Gl.glRotated(180, 0, 1, 0); // Gira 90 grados con respecto a Y

        	Angulos.dibujar();

        	Gl.glPopMatrix();



        	// Piso Superior

        	Gl.glPushMatrix();

        	Gl.glTranslated(-4.302, 4.699, 0.14);

        	Gl.glScalef(0.3f, 0.4f, 0.2f);

        	Gl.glRotated(90, 1, 0, 0); // Gira 90 grados con respecto a X

        	PisoSuperior.dibujar();

        	Gl.glPopMatrix();



        	// Angulo Brazo

        	Gl.glPushMatrix();

        	Gl.glTranslated(-4.27, 4.7, 0.152);

        	Gl.glScalef(0.02f, 0.02f, 0.02f);

        	Gl.glRotated(90, 1, 0, 0); // Gira 90 grados con respecto a X

        	Angulos.dibujar();

        	Gl.glPopMatrix();



        	// Barra Brazo

        	Gl.glPushMatrix();

        	Gl.glTranslated(-4.289, 4.7, 0.192);

        	Gl.glScalef(0.15f, 0.1f, 0.1f);

        	Gl.glRotated(90, 1, 0, 0); // Gira 90 grados con respecto a X

        	Gl.glRotated(90, 1, 0, 0); // Gira 90 grados con respecto a Y

        	BarraBrazo.dibujar();

        	Gl.glPopMatrix();



        	// Funcion que contiene el movimiento de todo el brazo

        	Gl.glPushMatrix();

        	// Servomotor 1

        	Gl.glTranslated(-4.289, 4.7, 0.24);

        	Gl.glScaled(0.012, 0.012, 0.012);

        	Gl.glRotated(90, 1, 0, 0); // Gira 90 grados con respecto a X

        	Gl.glRotated(RotMotor1, 0, 1, 0); // Gira RotMotor1 grados con respecto a Y

        	Servomotor.dibujar();

        	Gl.glTranslated(0, 1, 4.40);

        	Gl.glScaled(10, 10, 10);

        	BarraBrazo.dibujar();

        	// Servomotor 2

        	Gl.glTranslated(0, 0.036, 0.45);

        	Gl.glScaled(0.12, 0.12, 0.12);

        	Gl.glRotated(RotMotor2, 0, 1, 0); // Gira RotMotor2 grados con respecto a Y

        	Servomotor.dibujar();

        	Gl.glTranslated(0, 1, 4.40);

        	Gl.glScaled(10, 10, 10);

        	BarraBrazo.dibujar();

        	// Servomotor 3

        	Gl.glTranslated(-0.038, 0, 0.424);

        	Gl.glScaled(0.12, 0.12, 0.12);

        	Gl.glRotated(90, 0, 0, 1); // Gira 90 grados con respecto a X

        	Servomotor.dibujar();

        	Gl.glRotated(90, 1, 0, 0);

        	Gl.glTranslated(0, 0, -0.44);

        	Gl.glScaled(2, 2, 1);

        	Piñon.dibujar();

        	Gl.glTranslated(0, 0.49, 0);

        	Gl.glTranslated(RotMotor3, 0, 0);

        	Gl.glScaled(2, 2, 2);

        	Gl.glRotated(90, 1, 0, 0);

        	Gl.glRotated(-90, 0, 0, 1);

        	Cremallera.dibujar();

        	Gl.glTranslated(0, 0, -0.112);

        	Gl.glScaled(1.2, 1.2, 1.2);

        	Gl.glRotated(90, 1, 0, 0);

        	BarraBrazo.dibujar();

        	Gl.glTranslated(0, 0, 0.56);

        	Gl.glScaled(1.0, 1.0, 1.0);

        	Gl.glRotated(90, 1, 0, 0);

        	Gl.glRotated(90, 0, 1, 0);

        	BarraBrazo.dibujar();

        	Gl.glPopMatrix();

    	}

Obstacle random generation (upon clicking a button)

Button Function



    	private void button1_Click(object sender, EventArgs e)

    	{

        	cubos = Convert.ToDouble(textBox6.Text);



        	draw_cubos = 1;

        	for (int k = 0; k < cubos; k++)

        	{

            	coord_cubos[k, 0] = randomx.Next(-50, 50);

            	coord_cubos[k, 0] += 2;

        	}

        	for (int k = 0; k < cubos; k++)

        	{

            	coord_cubos[k, 1] = randomx.Next(-50, 50);

            	coord_cubos[k, 1] += 2;

        	}

    	}

Loop that generates them



// Cubos	

        	if(draw_cubos==1)

        	{

            	for (int i = 0; i < cubos; i++)

            	{

                	if (coord_cubos[i, 0] != 0 && coord_cubos[i, 1] != 0)

                	{

                    	Gl.glBegin(Gl.GL_QUADS);

                    	Gl.glColor3f(1.0f, 1.0f, 1.0f); // color 



                    	Gl.glVertex3d(coord_cubos[i, 0], coord_cubos[i, 1], altura);

                    	Gl.glVertex3d(coord_cubos[i, 0] + lado, coord_cubos[i, 1], altura);

                    	Gl.glVertex3d(coord_cubos[i, 0] + lado, coord_cubos[i, 1] + lado, altura);

                    	Gl.glVertex3d(coord_cubos[i, 0], coord_cubos[i, 1] + lado, altura);



                    	Gl.glVertex3d(coord_cubos[i, 0], coord_cubos[i, 1], altura+lado);

                    	Gl.glVertex3d(coord_cubos[i, 0] + lado, coord_cubos[i, 1], altura + lado);

                    	Gl.glVertex3d(coord_cubos[i, 0] + lado, coord_cubos[i, 1] + lado, altura + lado);

                    	Gl.glVertex3d(coord_cubos[i, 0], coord_cubos[i, 1] + lado, altura + lado);



                    	Gl.glVertex3d(coord_cubos[i, 0], coord_cubos[i, 1], altura);

                    	Gl.glVertex3d(coord_cubos[i, 0], coord_cubos[i, 1], altura+lado);

                    	Gl.glVertex3d(coord_cubos[i, 0], coord_cubos[i, 1] + lado, altura+lado);

                    	Gl.glVertex3d(coord_cubos[i, 0], coord_cubos[i, 1] + lado, altura);



                    	Gl.glVertex3d(coord_cubos[i, 0], coord_cubos[i, 1], altura + lado);

                    	Gl.glVertex3d(coord_cubos[i, 0] + lado, coord_cubos[i, 1], altura + lado);

                    	Gl.glVertex3d(coord_cubos[i, 0] + lado, coord_cubos[i, 1], altura);

                    	Gl.glVertex3d(coord_cubos[i, 0], coord_cubos[i, 1], altura );



                    	Gl.glVertex3d(coord_cubos[i, 0], coord_cubos[i, 1]+lado, altura + lado);

                    	Gl.glVertex3d(coord_cubos[i, 0] + lado, coord_cubos[i, 1]+lado, altura + lado);

                    	Gl.glVertex3d(coord_cubos[i, 0] + lado, coord_cubos[i, 1]+lado, altura);

                    	Gl.glVertex3d(coord_cubos[i, 0], coord_cubos[i, 1]+lado, altura);



                    	Gl.glVertex3d(coord_cubos[i, 0]+lado, coord_cubos[i, 1], altura);

                    	Gl.glVertex3d(coord_cubos[i, 0]+lado, coord_cubos[i, 1], altura + lado);

                    	Gl.glVertex3d(coord_cubos[i, 0]+lado, coord_cubos[i, 1] + lado, altura + lado);

                    	Gl.glVertex3d(coord_cubos[i, 0]+lado, coord_cubos[i, 1] + lado, altura);



                    	Gl.glEnd();

                	}

            	}

        	}

Any help would be gladly appreciated as im really stressed and I know it must be something really dumb im failing to do so :/

RyukZilla

96

Author

November 13, 2011 07:44 PM

Well, I've come to know that this forum does sucks, no help whatsoever

DarklyDreaming

367

November 13, 2011 08:06 PM

Well, I've come to know that this forum does sucks, no help whatsoever

Great attitude after not even waiting a day...

Have you also considered that knowing nil about the actual robot makes it a tad bit hard to help? I don't know how relevant this is to OpenGL either... surely the coordinates are derived from elsewhere and it is there the logic fails? OpenGL doesn't automagically define coordinates to be any different than what you tell them to be.

Your #2 question belongs in AI, for example, as it relates to pathfinding. This verges on homework, but since you asked for general help we can provide that. Not me though, since I haven't touched robotics in far too long to be useful -- someone else will chime in if you give it some time (and btw, we're not your paid mentors; insulting the site won't earn you any karma around here...)

"I will personally burn everything I've made to the fucking ground if I think I can catch them in the flames."
~ Gabe
"I don't mean to rush you but you are keeping two civilizations waiting!"
~ Cavil, BSG.
"If it's really important to you that other people follow your True Brace Style, it just indicates you're inexperienced. Go find something productive to do."
[size=2]~ Bregma

"Well, you're not alone.

There's a club for people like that. It's called Everybody and we meet at the bar[size=2].

"

[size=2]~

[size=1]Antheus

RyukZilla

96

Author

November 14, 2011 01:23 AM

I'm not insulting the site but common, a lot of views and no one cared to say anything?
I'm not saying or asking for someone to do it, just to guide me thats it.

Shaarigan

1,471

November 14, 2011 02:24 PM

Even if i would visit your post isnt there any garante that i either understand the problem or
could solve a solution to you. Learn to be social bevor posting!!

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