三维手臂动态matlab仿真,可以灵活控制手指运动

1.算法描述

三维手臂动态matlab仿真,可以灵活控制手指运动

 

2.仿真效果预览

matlab2022a仿真如下：

3.MATLAB核心程序 `clc;

clear;

close all;

warning off;

addpath(genpath(pwd));

 

% Load the faces, vertices and weights

faces = csvread('handfaces.txt');

V0 = csvread('handverts.txt');

V0=V0';

N = size(V0,1);

weights = csvread('handweights.txt');

sk = loadbvh('HandBase.bvh');

 

wmap = [1 2 3 4 0 15 16 17 0 5 6 7 0 8 9 10 0 11 12 13 0 14 0];

wzero = wmap==0;

 

W = sparse(weights(:,1)+1,weights(:,2)+1,weights(:,3));

W = full(W);%W = W./repmat(sum(W,2),[1 size(W,2)]);

W = W(:,wmap+wzero);

W(:,wzero)=0;

 

cla

for displayWeightIndex=find(~wzero)

    h = trisurf(faces+1,V0(1,:),V0(2,:),V0(3,:),W(:,displayWeightIndex));

    axis equal; axis vis3d;

    shading interp;

    set(h,'FaceAlpha',0.5)

    axis([-200 200 -100 100 -100 500]);

    pause(0.2);

end

hold on

 

for j=2:258

    

    V=V0*0;

    

    cla

    for i=1:length(sk)

        % -------------------------------------------------------------------------

        % Display the bones

        if sk(i).parent

            s=sk(i).t_xyz(:,j); sp = sk(sk(i).parent).t_xyz(:,j);

            plot3([s(1) sp(1)],[s(2) sp(2)],[s(3) sp(3)],'r','LineWidth',5);

        end

        plot3(sk(i).t_xyz(1,j),sk(i).t_xyz(2,j),sk(i).t_xyz(3,j),'g.','MarkerSize',10);

        if sk(i).Nchannels

            plotax(sk(i).t_xyz(:,j)',sk(i).T(1:3,1:3,j)*sk(i).R0,15)

        end

        % -------------------------------------------------------------------------

        

        if sk(i).Nchannels

            % Takes a local bone coordinate and puts it into the new pose global position

            poseMatrix(:,:,i,j) = [(sk(i).T(1:3,1:3,j)*sk(i).R0) sk(i).t_xyz(:,j);0 0 0 1];

            % Takes a local bone coordinate and puts it into the base pose global position

            restMatrix(:,:,i) = [((sk(i).R0)) sk(i).head0 ;0 0 0 1];

            

 

            

            M(:,:,j) = poseMatrix(:,:,i,j)*inv(restMatrix(:,:,i));

            R = M(1:3,1:3,j);

            t = M(1:3,4,j);

            

            % We add the influence from every bone

            V = V + (R*V0 + repmat(t,1,length(V0))) * spdiags(W(:,i),0,length(V),length(V));

            

            % --------------------------------------------------------------------------------

            

            

        end

    end

    

    % -------------------------------------------------------------------------

    % Display nicely

    h = trisurf(faces+1,V(1,:),V(2,:),V(3,:),W(:,2)*0);

    axis off;

    axis equal

    shading interp;

    light

    lighting phong

    set(h,'FaceAlpha',0.8)

    drawnow

    

end

 

i = 20; j=2;

T = poseMatrix(1:3,1:3,i,j); Tp = poseMatrix(1:3,1:3,i-1,j); T_0 = restMatrix(1:3,1:3,i); Tp_0 = restMatrix(1:3,1:3,i-1);

R = (T_0')(Tp_0)(Tp')*(T);

[Rx Ry Rz] = dcm2angle(R,'XYZ');

Rx = rad2deg(-Rx); Ry = rad2deg(-Ry); Rz = rad2deg(-Rz);

 

[Rx Ry Rz]

A_100`