Multi-degree of freedom simulation robot arm 6

A complete simulation lifting process, the initial state -> arm from -> down sling -> vertical lifting -> horizontal rotation -> lowering an object -> contraction sling.

osg::ref_ptr<osg::Node> createSimple() 
{
    osg::ref_ptr<osg::Geode> geode = new osg::Geode;
    osg::ref_ptr<osg::Geometry> geo = new osg::Geometry;

    //申请一些顶点
    osg::ref_ptr<osg::Vec3Array> vers = new osg::Vec3Array;
    geo->setVertexArray(vers.get());
#if 1
    geo->addPrimitiveSet(new osg::DrawArrays(osg::PrimitiveSet::LINE_LOOP, 0, 4));//创建一个线圈
#else
    geo->addPrimitiveSet(new:: DrawArrays OSG (OSG :: :: Quads primitives -, 0 , . 4 )); // Create a square 
#endif 


                                                                              // provided vertex 
    Vers> push_back (OSG :: Vec3 (- 15 , 3.0 , - 15 )); 
    Vers -> push_back (OSG :: Vec3 ( 15 , 3.0 , - 15 )); 
    Vers -> push_back (OSG :: Vec3 ( 15 , 3.0 , 15 )); 
    Vers -> push_back (OSG :: Vec3 (- 15 , 3.0 , 15 )); 

    // application color
    osg::ref_ptr<osg::Vec4Array> color = new osg::Vec4Array();
    color->push_back(osg::Vec4(1.0, 0.0, 0.0, 0.5));
    color->push_back(osg::Vec4(0.0, 1.0, 0.0, 0.5));
    color->push_back(osg::Vec4(0.0, 0.0, 1.0, 0.5));
    color->push_back(osg::Vec4(1.0, 1.0, 0.0, 0.5));

    //Set the color 
    Geo-> setColorArray (Color. GET ()); 
    GEO -> setColorBinding (OSG the Geometry :: :: :: AttributeBinding BIND_PER_VERTEX); // set the color bind 

                                                                           // set the normal, for the time being the brightest screen 
    :: ref_ptr OSG <OSG :: Vec3Array is> NORM = new new OSG Vec3Array is ::; 
    GEO -> setNormalArray (NORM); 
    GEO -> setNormalBinding (OSG AttributeBinding :: :: :: BIND_OVERALL the Geometry); 
    NORM -> push_back (OSG: : Vec3 ( 0.0 , - 1.0 , 0.0 )); 

    // open transparency 
    Geo> getOrCreateStateSet () -> the setMode (GL_BLEND, OSG :: :: StateAttribute the ON); 

    //设置线宽
    osg::ref_ptr<osg::LineWidth> w = new osg::LineWidth;
    w->setWidth(5.0);
    geo->getOrCreateStateSet()->setAttributeAndModes(w.get(), osg::StateAttribute::ON);

    geode->addDrawable(geo.get());

    return geode;
}

//代码参考：https://blog.csdn.net/wb175208/article/details/80513775