- Qt 6.4
- Qt Quick 3D
- Qt Quick 3D Examples and Tutorials
- Qt Quick 3D - Robot Arm Example
- Qt Quick 3D | Commercial or GPLv3

# Qt Quick 3D - Robot Arm Example

     // Copyright (C) 2022 The Qt Company Ltd.
     // SPDX-License-Identifier: LicenseRef-Qt-Commercial OR BSD-3-Clause

     #include "backend.h"
     #include <QTransform>

     Backend::Backend(QObject *parent) : QObject(parent)
     {
         connect(&m_rotation1Angle, &AnimatedParam::valueChanged, this, &Backend::rot1AngleChanged);
         connect(&m_rotation2Angle, &AnimatedParam::valueChanged, this, &Backend::rot2AngleChanged);
         connect(&m_rotation3Angle, &AnimatedParam::valueChanged, this, &Backend::rot3AngleChanged);
         connect(&m_rotation4Angle, &AnimatedParam::valueChanged, this, &Backend::rot4AngleChanged);
         connect(&m_clawsAngle, &AnimatedParam::valueChanged, this, &Backend::clawsAngleChanged);

         m_status.setBinding([this]() {
             return m_isCollision.value() ? QString("Collision!")
                     : m_rotation1Angle.isRunning() || m_rotation2Angle.isRunning() || m_rotation3Angle.isRunning()
                             || m_rotation4Angle.isRunning()
                     ? QString("Busy")
                     : QString("Ready");
         });

         connect(&m_rotation1Angle, &AnimatedParam::valueChanged, this, &Backend::detectCollision);
         connect(&m_rotation2Angle, &AnimatedParam::valueChanged, this, &Backend::detectCollision);
         connect(&m_rotation3Angle, &AnimatedParam::valueChanged, this, &Backend::detectCollision);
         connect(&m_rotation4Angle, &AnimatedParam::valueChanged, this, &Backend::detectCollision);
     }

     int Backend::rotation1Angle() const
     {
         return m_rotation1Angle.value();
     }

     void Backend::setRot1Angle(const int angle)
     {
         m_rotation1Angle.setValue(angle);
     }

     int Backend::rotation2Angle() const
     {
         return m_rotation2Angle.value();
     }

     void Backend::setRot2Angle(const int angle)
     {
         m_rotation2Angle.setValue(angle);
     }

     int Backend::rotation3Angle() const
     {
         return m_rotation3Angle.value();
     }

     void Backend::setRot3Angle(const int angle)
     {
         m_rotation3Angle.setValue(angle);
     }

     int Backend::rotation4Angle() const
     {
         return m_rotation4Angle.value();
     }

     void Backend::setRot4Angle(const int angle)
     {
         m_rotation4Angle.setValue(angle);
     }

     int Backend::clawsAngle() const
     {
         return m_clawsAngle.value();
     }

     void Backend::setClawsAngle(const int angle)
     {
         m_clawsAngle.setValue(angle);
     }

     QString Backend::status() const
     {
         return m_status;
     }

     QBindable<QString> Backend::bindableStatus() const
     {
         return &m_status;
     }

     void Backend::detectCollision()
     {
         // simple aproximate collision detection, uses hardcoded model dimensions

         QPolygon pol1(QRect(-70, 0, 70, 300));

         QTransform t;

         t.rotate(8.7);
         t.translate(0, 259);

         t.rotate(-20.);
         t.rotate(rotation3Angle());

         QPolygon pol2 = t.mapToPolygon(QRect(-35, 0, 35, 233));
         t.translate(0, 233);
         t.rotate(15);
         t.rotate(rotation2Angle());

         QPolygon pol3 = t.mapToPolygon(QRect(-27, 0, 27, 212));
         t.translate(0, 212);
         t.rotate(rotation1Angle());

         QPolygon pol4 = t.mapToPolygon(QRect(-42, 0, 42, 180));

         m_isCollision.setValue(pol1.intersects(pol3) || pol1.intersects(pol4) || pol2.intersects(pol4));
     }