C++ Qt/VTK装配体组成联动连接杆

效果

关键代码

#include "View3D.h"
#include "Axis.h"#include <vtkActor.h>
#include <vtkAppendPolyData.h >
#include <vtkAreaPicker.h>
#include <vtkAxesActor.h>
#include <vtkBox.h>
#include <vtkCamera.h>
#include <vtkCaptionActor2D.h>
#include <vtkCellArray.h>
#include <vtkCleanPolyData.h >
#include <vtkContourFilter.h>
#include <vtkCubeSource.h>
#include <vtkCylinder.h>
#include <vtkCylinderSource.h>
#include <vtkDataSet.h>
#include <vtkGenericOpenGLRenderWindow.h>
#include <vtkImplicitBoolean.h>
#include <vtkInteractorStyleTrackballCamera.h>
#include <vtkLine.h>
#include <vtkMinimalStandardRandomSequence.h>
#include <vtkNamedColors.h>
#include <vtkObjectFactory.h>
#include <vtkOrientationMarkerWidget.h>
#include <vtkPlane.h>
#include <vtkPolyDataMapper.h>
#include <vtkPolyDataNormals.h>
#include <vtkPropPicker.h>
#include <vtkProperty.h>
#include <vtkRenderWindow.h>
#include <vtkRenderWindowInteractor.h>
#include <vtkRenderer.h>
#include <vtkRendererCollection.h>
#include <vtkReverseSense.h>
#include <vtkSTLReader.h>
#include <vtkSampleFunction.h>
#include <vtkSmartPointer.h>
#include <vtkSphere.h>
#include <vtkTransform.h>
#include <vtkTransformPolyDataFilter.h>// 主体为长方体，端部两个半圆，半圆的圆心是空洞
decltype(auto) View3D::buildBoard(double r, double g, double b)
{// 创建长方体vtkNew<vtkCubeSource> cube;// 长度1，宽度0.2，厚度0.05cube->SetXLength(1);cube->SetYLength(0.05);cube->SetZLength(0.2);cube->Update();// 创建半圆vtkNew<vtkCylinderSource> cy;// 半径0.1，高度0.05，圆心0.5，0，0cy->SetRadius(0.1);cy->SetHeight(0.05);cy->SetCenter(0.5, 0, 0);cy->SetResolution(100);cy->Update();// 创建独立的对称半圆vtkNew<vtkCylinderSource> cy1;// 半径0.1，高度0.05，圆心-0.5，0，0cy1->SetRadius(0.1);cy1->SetHeight(0.05);cy1->SetResolution(100);cy1->SetCenter(-0.5, 0, 0);cy1->Update();// 小圆柱vtkNew<vtkCylinderSource> cy2;cy2->SetRadius(0.05);cy2->SetHeight(0.06);cy2->SetResolution(100);cy2->SetCenter(0.5, 0, 0);cy2->Update();// 小圆柱vtkNew<vtkCylinderSource> cy3;cy3->SetRadius(0.05);cy3->SetHeight(0.06);cy3->SetResolution(100);cy3->SetCenter(-0.5, 0, 0);cy3->Update();// 创建长方体和半圆的合体vtkNew<vtkAssembly> assembly;// cube actorvtkNew<vtkPolyDataMapper> cudeMapper;cudeMapper->SetInputConnection(cube->GetOutputPort());vtkNew<vtkActor> cudeActor;cudeActor->SetMapper(cudeMapper);cudeActor->GetProperty()->SetColor(r, g, b);assembly->AddPart(cudeActor);vtkNew<vtkPolyDataMapper> cyMapper;cyMapper->SetInputConnection(cy->GetOutputPort());vtkNew<vtkActor> cyActor;cyActor->SetMapper(cyMapper);cyActor->GetProperty()->SetColor(r, g, b);assembly->AddPart(cyActor);vtkNew<vtkPolyDataMapper> cy1Mapper;cy1Mapper->SetInputConnection(cy1->GetOutputPort());vtkNew<vtkActor> cy1Actor;cy1Actor->SetMapper(cy1Mapper);cy1Actor->GetProperty()->SetColor(r, g, b);assembly->AddPart(cy1Actor);vtkNew<vtkPolyDataMapper> cy2Mapper;cy2Mapper->SetInputConnection(cy2->GetOutputPort());vtkNew<vtkActor> cy2Actor;cy2Actor->SetMapper(cy2Mapper);cy2Actor->GetProperty()->SetColor(0.8, 0, 0);assembly->AddPart(cy2Actor);vtkNew<vtkPolyDataMapper> cy3Mapper;cy3Mapper->SetInputConnection(cy3->GetOutputPort());vtkNew<vtkActor> cy3Actor;cy3Actor->SetMapper(cy3Mapper);cy3Actor->GetProperty()->SetColor(0.8, 0, 0);assembly->AddPart(cy3Actor);return assembly;
}decltype(auto) View3D::buildConnectRod()
{// 淡绿色auto actor1 = buildBoard(0.5, 1, 0.5);// 淡黄色auto actor2 = buildBoard(1, 1, 0.5);// 淡蓝色auto actor3 = buildBoard(0.5, 1, 1);// 平移actoractor1->AddPosition(0.5, 0, 0);actor2->AddPosition(1.5, 0.05, 0);actor3->AddPosition(2.5, 0.1, 0);vtkNew<vtkAssembly> assembly1, assembly2, assembly3;assembly1->AddPart(actor1);assembly1->AddPart(assembly2);assembly2->AddPart(actor2);assembly2->AddPart(assembly3);assembly3->AddPart(actor3);assembly2->SetOrigin(1, 0.05, 0);assembly3->SetOrigin(2, 0, 0);return std::make_tuple(vtkSmartPointer<vtkAssembly>(assembly1),vtkSmartPointer<vtkAssembly>(assembly2),vtkSmartPointer<vtkAssembly>(assembly3));
}View3D::View3D(QWidget* parent): QVTKOpenGLNativeWidget(parent)
{vtkNew<vtkRenderer> renderer;this->renderWindow()->AddRenderer(renderer);renderer->AddActor(baseAxes = getBaseAxes());addGuideLine(3, 0.2);connectRods = buildConnectRod();auto&& [actor1, actor2, actor3] = connectRods;renderer->AddActor(actor1);// 水平旋转renderer->GetActiveCamera()->Azimuth(90);renderer->GetActiveCamera()->SetRoll(-90);renderer->GetActiveCamera()->Azimuth(45);renderer->GetActiveCamera()->Elevation(15);renderer->GetActiveCamera()->SetPosition(3, 3, 1);vtkSmartPointer<vtkOrientationMarkerWidget> widget = vtkSmartPointer<vtkOrientationMarkerWidget>::New();;this->borderWidget = widget;vtkSmartPointer<vtkAxesActor> widgetAxesActor = vtkSmartPointer<vtkAxesActor>::New();widgetAxesActor->SetPosition(0, 0, 0);widgetAxesActor->SetShaftType(0);widgetAxesActor->SetCylinderRadius(0.02);// 设置大小widgetAxesActor->SetTotalLength(2, 2, 2);widget->SetOrientationMarker(widgetAxesActor);widget->SetInteractor(this->interactor());widget->SetEnabled(1);widget->InteractiveOn();// 连接信号槽connect(this, &View3D::rotateBased, this, &View3D::rotateBaseSlot);connect(this, &View3D::rotateBigArmed, this, &View3D::rotateBigArmSlot);connect(this, &View3D::rotateMiddleArmed, this, &View3D::rotateMiddleArmSlot);connect(this, &View3D::rotateSmallArmed, this, &View3D::rotateSmallArmSlot);
}void View3D::addAxis(const Axis& axis)
{vtkNew<vtkTransform> transform;transform->Translate(axis.xyz.x(), axis.xyz.y(), axis.xyz.z());vtkAxesActor* axes = vtkAxesActor::New();transform->RotateX(axis.xyzR.x());transform->RotateY(axis.xyzR.y());transform->RotateZ(axis.xyzR.z());axes->SetUserTransform(transform);// 设置大小axes->SetTotalLength(axis.xyzL.x(), axis.xyzL.y(), axis.xyzL.z());// 设置箭头大小axes->SetConeRadius(axis.xyzL[0] * 0.1);axes->SetCylinderRadius(axis.xyzL[0] * 0.1);axes->SetConeResolution(100);axes->SetCylinderResolution(100);axes->SetXAxisLabelText(axis.labels[0].toStdString().c_str());axes->SetYAxisLabelText(axis.labels[1].toStdString().c_str());axes->SetZAxisLabelText(axis.labels[2].toStdString().c_str());auto xLabelProperty = axes->GetXAxisCaptionActor2D();// 缩小xLabelProperty->SetWidth(axis.xyzL.x() * 0.1);auto yLabelProperty = axes->GetYAxisCaptionActor2D();yLabelProperty->SetWidth(axis.xyzL.y() * 0.1);auto zLabelProperty = axes->GetZAxisCaptionActor2D();zLabelProperty->SetWidth(axis.xyzL.z() * 0.1);// 添加到第一个renderthis->renderWindow()->GetRenderers()->GetFirstRenderer()->AddActor(axes);this->renderWindow()->Render();
}void View3D::rotateBaseSlot(double angle)
{auto&& [a, b, c] = connectRods;// a世界坐标系旋转角归零a->SetOrientation(0, 0, 0);// a 绕世界坐标系旋转到anglea->RotateWXYZ(angle, 0, 0, 1);refresh();
}void View3D::rotateBigArmSlot(double angle)
{auto&& [a, b, c] = connectRods;a->RotateY(angle - a->GetOrientation()[1]);refresh();
}void View3D::rotateMiddleArmSlot(double angle)
{auto&& [a, b, c] = connectRods;b->RotateY(angle - b->GetOrientation()[1]);refresh();
}void View3D::rotateSmallArmSlot(double angle)
{auto&& [a, b, c] = connectRods;c->RotateY(angle - c->GetOrientation()[1]);refresh();
}void View3D::addGuideLine(float r, float space)
{// 创建网格线，间距space,范围-r~rvtkNew<vtkCellArray> lines;vtkNew<vtkPoints> points;for (size_t i = 0; i <= static_cast<unsigned long long>(r / space) * 2; i++) {points->InsertNextPoint(-r, r - space * i, 0);points->InsertNextPoint(r, r - space * i, 0);points->InsertNextPoint(-r + space * i, r, 0);points->InsertNextPoint(-r + space * i, -r, 0);}for (size_t i = 0; i <= static_cast<unsigned long long>(r / space) * 4 + 1; i++) {vtkNew<vtkLine> line;line->GetPointIds()->SetId(0, i * 2);line->GetPointIds()->SetId(1, i * 2 + 1);lines->InsertNextCell(line);}vtkNew<vtkPolyData> linesPolyData;linesPolyData->SetPoints(points);linesPolyData->SetLines(lines);vtkNew<vtkPolyDataMapper> mapper;mapper->SetInputData(linesPolyData);vtkNew<vtkActor> actor;actor->SetMapper(mapper);// 设置透明度actor->GetProperty()->SetOpacity(0.5);this->renderWindow()->GetRenderers()->GetFirstRenderer()->AddActor(actor);this->renderWindow()->Render();
}vtkNew<vtkAxesActor> View3D::getBaseAxes()
{vtkNew<vtkAxesActor> axes;axes->SetTotalLength(1.0, 1.0, 1.0);axes->SetPosition(0, 0, 0);axes->SetShaftType(0);axes->SetConeResolution(100);axes->SetCylinderResolution(100);axes->SetConeRadius(0.1);axes->SetCylinderRadius(0.01);return axes;
}void View3D::refresh()
{this->renderWindow()->Render();
}