function AnimaMoto(t,q)
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
%ANIMA EL MOVIMIENTO OBTENIDO%
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
persistent h2 h3 h4 h5
global Parametr
x3 = Parametr(5);
z3 = Parametr(6);
x4 = Parametr(7);
z4 = Parametr(8);
x5 = Parametr(9);
z5 = Parametr(10);
Rt = Parametr(3);
Rd = Parametr(4);
a = Parametr(38);
b = Parametr(39);
c = Parametr(40);
d = Parametr(41);
e = Parametr(42);
h = Parametr(44);
i = Parametr(45);
k = Parametr(47);
Rx3=q(1);
Ry3=q(2);
Rz3=q(3);
%EVALUA EN CADA t%
%%%%%%%%%%%%%%%%%
rg2=RG2(q);
rg5=RG5(q);
a2=A2(q);
a3=A3(q);
a4=A4(q);
a5=A5(q);
%%DESCRIBE CADA SOLIDO CON LINEAS%%
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
RA3= [q(1) q(2) q(3)]' + a3*[a 0 -b]'; %baja a inicio sillin
RB3= [q(1) q(2) q(3)]' + a3*[-h 0 -(c+b)]'; %hacia rueda trasera
RC3= rg2 + a3*[(h+i) 0 0]'; %ahora de rueda trasera hacia plato
RE3= RA3 + a3*[k-a 0 0]';
RA4=[q(1) q(2) q(3)]' + a3*[k 0 -e]'; %manillar
RB4=RA4 + a4*[0 0.3 0]';
RC4=RA4 + a4*[0 -0.3 0]';
rp3=[[q(1) q(2) q(3)]' RA3 RB3 RC3 RA3 RE3 RC3]; %cuadro
rp4=[RA4 RB4 RC4 RA4 RE3 rg5];
%ruedas, solidos 2 y 5 se describen con parámetro angular
alfa = 0:0.3:(2*pi+0.3);
rP2=zeros(3,length(alfa));%trasera
rP5=zeros(3,length(alfa));%delantera
for j=1:length(alfa) %para dibujar 2 y 5 en glob
rP2(1:3,j)=rg2+a2*[Rt*cos(alfa(j)) 0 Rt*sin(alfa(j))]';
rP22(1:3,j)=rg2+a2*[(Rt-0.06)*cos(alfa(j)) 0 (Rt-0.06)*sin(alfa(j))]';
rP5(1:3,j)=rg5+a5*[Rd*cos(alfa(j)) 0 Rd*sin(alfa(j))]';
rP55(1:3,j)=rg5+a5*[(Rd-0.06)*cos(alfa(j)) 0 (Rd-0.06)*sin(alfa(j))]';
end
rP2=[rP2 rP22 rg2]; %contorno y cdg de 2
rP5=[rP5 rP55 rg5]; %contorno y cdg de 5
%%% LAS REPRESENTA %%%
%%%%%%%%%%%%%%%%%%%%%%
if t==0
scrsz = get(0,'ScreenSize');
figure('Position',[0.1*scrsz(4) 0.1*scrsz(4) 0.8*scrsz(3) 0.8*scrsz(4)])
h2 = plot3(rP2(1,:),rP2(2,:),rP2(3,:),'XDataSource','rP2(1,:)','YDataSource','rP2(2,:)','ZDataSource','rP2(3,:)'); %rueda trasera OK
hold on;
h5 = plot3(rP5(1,:),rP5(2,:),rP5(3,:),'XDataSource','rP5(1,:)','YDataSource','rP5(2,:)','ZDataSource','rP5(3,:)'); %rueda delantera OK
h3 = plot3(rp3(1,:), rp3(2,:),rp3(3,:),'XDataSource','rp3(1,:)','YDataSource','rp3(2,:)','ZDataSource','rp3(3,:)'); %cuadro OK
h4 = plot3(rp4(1,:),rp4(2,:),rp4(3,:),'XDataSource','rp4(1,:)','YDataSource','rp4(2,:)','ZDataSource','rp4(3,:)'); %manillar OK
axis equal;
axis([Rx3-1.3 Rx3+1.3 Ry3-1.3 Ry3+1.3 Rz3-0.3 Rz3+1.3]); %intervalo en x y z visible
%superficie para hacer "suelo" plano
%
% [x,y]=meshgrid(-3:.3:3,-2.5:.3:2.5);
% [m,n]=size(x);
% z=zeros(m,n);
% surf(x,y,z,'FaceColor','k')
%
else
axis equal;
axis([Rx3-1.3 Rx3+1.3 Ry3-1.3 Ry3+1.3 Rz3-0.3 Rz3+1.3]);
refreshdata(h2,'caller')
refreshdata(h5,'caller')
refreshdata(h3,'caller')
refreshdata(h4,'caller')
drawnow;
end
end
e-REdING. Biblioteca de la Escuela Superior de Ingenieros de Sevilla.
