多自由度机械臂模拟

模拟多个自由度的机械臂

hArm = osg::Matrix::rotate(osg::DegreesToRadians(rotateArm1), 1, 0, 0);
osg::Matrix originPos = rotArm->getMatrix();
osg::Vec3d set_center = osg::Vec3d(0, 0, 4);
rotArm->setMatrix(originPos*osg::Matrix::translate(-set_center)*hArm*osg::Matrix::translate(set_center));