coin3d的安裝和配置可參考網上教程。coin3d建模步驟主要分為是實物建模和座標系建模，要學會用分隔符節點 soseparator node。裡邊的座標系變換具體參考如下程式碼：

// stdafx.h : 標準系統包含檔案的包含檔案，
// 或是經常使用但不常更改的
// 特定於專案的包含檔案
//

#pragma once

#include "targetver.h"
#include <stdio.h>
#include <tchar.h>
#include <Inventor/Win/SoWin.h>
#include <Inventor/Win/viewers/SoWinExaminerViewer.
 
h>
#include <Inventor/nodes/SoCube.h>
#include <Inventor/nodes/SoSphere.h>
#include <Inventor/nodes/SoTransform.h>
#include <Inventor/nodes/SoGroup.h>
#include <Inventor/nodes/SoMaterial.h>
#include <Inventor/nodes/SoCylinder.h>
#include <Inventor/nodes/SoSeparator.h>

// robot.cpp : 定義控制檯應用程式的入口點。
 

//

#include "stdafx.h"

SoSeparator *makeScene()
{
    SoSeparator* robot = new SoSeparator;
    SoSeparator* body = new SoSeparator;
    SoSeparator* head = new SoSeparator;
    SoSeparator* leftleg = new SoSeparator;
    SoSeparator* rightleg = new SoSeparator;
    SoSeparator* leg = new SoSeparator;

    //軀幹 socylinder圓柱形
 

    SoCylinder* bodycylinder = new SoCylinder;
    bodycylinder->radius = 2.5;
    bodycylinder->height = 6;

    SoMaterial* bronze = new SoMaterial;  //設定軀幹顏色材質
    bronze->ambientColor.setValue(0.33, 0.22, 0.27);
    bronze->diffuseColor.setValue(0.78, 0.57, 0.11);
    bronze->specularColor.setValue(0.99, 0.94, 0.81);
    bronze->shininess = 0.28;

    //建立機器人的基本腿群組，它由大腿、小腿、和腳構成
    SoCube* thigh = new SoCube;                          //大腿 socube方形
    thigh->width = 1.2;
    thigh->height = 2.2;
    thigh->depth = 1.1;

    SoCube* calf = new SoCube;                           //小腿
    calf->width = 1.0;
    calf->height = 2.2;
    calf->depth = 1.0;

    SoCube* foot = new SoCube;                          //腳
    foot->width = 0.8;
    foot->height = 0.8;
    foot->depth = 2.0;

    //建立機器人的頭部
    SoSphere* headsphere = new SoSphere;
    SoMaterial* sliver = new SoMaterial;
    sliver->ambientColor.setValue(0.2, 0.2, 0.2);
    sliver->diffuseColor.setValue(0.6, 0.6, 0.6);
    sliver->specularColor.setValue(0.5, 0.5, 0.5);
    sliver->shininess = 0.5;

    //座標系建立，自頂向下，方便理解座標系，設定使所有零件接觸
    SoTransform* bodytransform = new SoTransform;  //預設body座標系與世界座標系重合

    bodytransform->translation.setValue(0.0, 0.0, 0.0); 

    SoTransform* headtransform = new SoTransform;
    headtransform->translation.setValue(0.0, 4.0, 0.0); //頭部預設半徑為1，軀幹高為6，所以座標系應該Y軸走4

    SoTransform* lefttransform = new SoTransform;      
    lefttransform->translation.setValue(1.0, -4.1 , 0.0); //因為左腿座標系和大腿座標系重合的，所以Y軸3+1.1 = 4.1

    SoTransform* righttransform = new SoTransform;         
    righttransform->translation.setValue(-1.0, -4.1, 0.0);

    //同一行的座標系是相對的，soseparator中
    SoTransform* thightransform = new SoTransform;
    thightransform->translation.setValue(0.0, 0.0, 0.0);  //大腿座標系與leg的座標系重合

    SoTransform* calfTransform = new SoTransform;          //小腿1.1+1.1
    calfTransform->translation.setValue(0.0, -2.2, 0.0);

    SoTransform* foottransform = new SoTransform;            //腳1.1+0.4
    foottransform->translation.setValue(0.0, -1.5, 0.5);

    //組建層次結構，從底向下
    leg->addChild(thightransform);
    leg->addChild(thigh);
    leg->addChild(calfTransform);
    leg->addChild(calf);
    leg->addChild(foottransform);
    leg->addChild(foot);

    leftleg->addChild(lefttransform);
    leftleg->addChild(leg);

    rightleg->addChild(righttransform);
    rightleg->addChild(leg);

    body->addChild(bodytransform);
    body->addChild(bronze);
    body->addChild(bodycylinder);
    body->addChild(leftleg);
    body->addChild(rightleg);


    head->addChild(headtransform);
    head->addChild(sliver);
    head->addChild(headsphere);

    //組裝頭部和身體，形成機器人
    /*SoSeparator* robot = new SoSeparator;*/
    robot->addChild(body);
    robot->addChild(head);

    return robot;

}
int _tmain(int argc, _TCHAR* argv[])
{
    HWND mywindow = SoWin::init("");
    if (mywindow = NULL)
    {
        exit(1);
    }
    SoSeparator* root = new SoSeparator;
    root->ref();
    root->addChild(makeScene());

    SoWinExaminerViewer* myviewer = new SoWinExaminerViewer(mywindow);
    myviewer->setSceneGraph(root);
    myviewer->setBackgroundColor(SbColor(0.8, 0.8, 0.8));
    myviewer->setTitle("open invenor robot");
    myviewer->show();
    myviewer->viewAll();

    SoWin::show(mywindow);
    SoWin::mainLoop();

    return 0;
}