Aggiunta viusalizzazione collection su sfml_util

build/bin/imgui.ini

@@ -3,8 +3,8 @@ Pos=60,60
 Size=400,400
 
 [Window][Dear ImGui Demo]
-Pos=473,13
+Pos=781,47
-Size=936,873
+Size=455,873
 
 [Window][Hello, world!]
 Pos=11,12

src/collections/headers/collection_interface.hpp

@@ -24,9 +24,16 @@ inline collection operator+(collection c1, collection c2){
     for (PieceInterface* i : c1.pieces){
         res.pieces.push_back(i);
     }
+    for (PieceInterface* i : c2.pieces){
+        res.pieces.push_back(i);
+    }
     for (JointInterface* i : c1.joints){
         res.joints.push_back(i);
     }
+    for (JointInterface* i : c2.joints){
+        res.joints.push_back(i);
+    }
+    
     return res;
 }
 

src/collections/headers/lower_body.hpp

@@ -28,6 +28,7 @@ public:
     ~Lower_Body();
 
     void setVisibility(bool c);
+    void setTransparency(float t);
     collection create(ReferencePlane plane) override;
 };
 

src/collections/methods/gamba.cpp

@@ -3,15 +3,15 @@
 Gamba::Gamba(rb::Vector3 pos, unsigned int* dataPos, std::string cosciaData, std::string cavigliaData){
     CSVProcessor processor;
     try {
-        processor.readCSVFile (DATA_PATH + "coscia_filt.csv");
-        const auto& coscia = processor.getData();
-        processor.readCSVFile(DATA_PATH + "caviglia_filt.csv");
-        const auto& caviglia = processor.getData();
-
         pezzi.push_back(new Coscia(pos,2));
         pezzi.push_back(new Caviglia(rb::Vector3{pos[0],pos[1],pos[2]+200},2));
-
+        
+        processor.readCSVFile (DATA_PATH + cosciaData);
+        const auto& coscia = processor.getData();
         sensori.push_back(new Sensore(pos,_Float16( 0.2 ),dataPos,coscia));
+        
+        processor.readCSVFile(DATA_PATH + cavigliaData);
+        const auto& caviglia = processor.getData();
         sensori.push_back(new Sensore (rb::Vector3{pos[0],pos[1],pos[2]+200},_Float16( 0.2 ),dataPos,caviglia));
 
         // modifico la rotazione relativa della gamba

src/collections/methods/lower_body.cpp

@@ -4,7 +4,7 @@ Lower_Body::Lower_Body(rb::Vector3 pos,std::vector<gamba_data> data){
     if (data.size() != 2) throw "Lower_Body_Error: data vector size must be 2";
 
     sx = new Gamba({pos[0],pos[1],pos[2]+150},data[0].dataPos,data[0].cosciaData,data[0].cavigliaData);
-    dx = new Gamba({pos[0],pos[1],pos[2]+150},data[1].dataPos,data[1].cosciaData,data[1].cavigliaData);
+    dx = new Gamba({pos[0],pos[1]+100,pos[2]+150},data[1].dataPos,data[1].cosciaData,data[1].cavigliaData);
     t = new Torso({pos[0],pos[1]+100,pos[2]},_Float16(3.0));
 
     PieceInterface* psx = sx->getJointPiece();
@@ -18,7 +18,6 @@ Lower_Body::Lower_Body(rb::Vector3 pos,std::vector<gamba_data> data){
 collection Lower_Body::create(ReferencePlane plane){
     collection coll;
 
-
     switch (plane)
     {
     case ReferencePlane::XZ: case ReferencePlane::XZN:
@@ -33,6 +32,10 @@ collection Lower_Body::create(ReferencePlane plane){
     default:
         break;
     }
+    coll.pieces.push_back(t);
+    coll.joints.push_back(jsx);
+    coll.joints.push_back(jdx);
+    
     
     return coll;
 }

src/sfml_util.cpp

@@ -2,6 +2,7 @@
 #include <math.h>
 #include "pieces/headers/piece_interface.hpp"
 #include "joints/headers/joint_interface.hpp"
+#include "collections/headers/collection_interface.hpp"
 #include <imgui.h>
 #include <imgui-SFML.h>
 
@@ -21,6 +22,10 @@ struct State
     int menubar_height = 50;
     std::vector<PieceInterface*> pieces;
     std::vector<JointInterface*> joints;
+    std::vector<CollectionInterface*> collections;
+
+    std::vector<collection> createdColl;
+
     sf::Vector2f cameraOffset = {0.,0.};
 
     sf::Clock clock;
@@ -48,11 +53,19 @@ struct State
         intervalMajLimit = maj;
         intervalMinLimit = min;
         this->pos = pos; 
+        updateCollections();
     }
     void update();
     void setIntervall(int n){
         maxEntries = n;
     }
+
+    void updateCollections(){
+        createdColl.clear();
+        for (auto c: collections){
+            createdColl.push_back(c->create(selectedPlane));
+        }
+    }
 };
 
 ///
@@ -62,7 +75,23 @@ struct State
 /// Fisics functions
 
 void State::update(){
-    
+
+    /*
+    std::vector<PieceInterface*> collPieces;
+    std::vector<JointInterface*> collJoints;
+    */
+
+    for (auto i : createdColl){
+        if (play){
+            for (auto j : i.pieces){
+                j->update(clock);
+            }
+        }
+        for (auto j : i.joints){
+            j->movechild();
+        }
+    }
+
     if (play){
         for(PieceInterface* p : pieces){
             p->update(clock);
@@ -97,6 +126,7 @@ void handle_keyPressed(const sf::Event::KeyPressed &keyPressed, State &gs)
         else 
             gs.selectedPlane = ReferencePlane::XZ;
     }
+    gs.updateCollections();
 }
 
 
@@ -125,6 +155,11 @@ void handle_mouseMove(const sf::Event::MouseMoved &mouseMoved, State &gs)
         for(PieceInterface* p : gs.pieces){
             p->globalPos = {p->globalPos[0] + (offset.x * px), p->globalPos[1]+ (offset.x * py),p->globalPos[2] + offset.y};
         }
+        for(collection c : gs.createdColl){
+            for(auto p : c.pieces){
+                p->globalPos = {p->globalPos[0] + (offset.x * px), p->globalPos[1]+ (offset.x * py),p->globalPos[2] + offset.y};
+            }
+        }
     }
 
     #ifdef DEBUG_MODE
@@ -167,6 +202,7 @@ void handle_mousePressed(const sf::Event::MouseButtonPressed &mouseBP, State &gs
             }
             i++;
         }
+        
     }
     if ( mouseBP.button == sf::Mouse::Button::Right){
         gs.rot_Piece = true;
@@ -258,7 +294,7 @@ void doGUI(State &gs)
     ImGui::Begin("Set visualization plane",0,sdp_flags);
     const char* MyEnumNames[] = { "XZ", "YZ", "-XZ" };
     int currentPlane = (int)gs.selectedPlane;
-    ImGui::SliderInt("Selected Plane", &currentPlane,0,2,MyEnumNames[currentPlane]);
+    if (ImGui::SliderInt("Selected Plane", &currentPlane,0,2,MyEnumNames[currentPlane])) gs.updateCollections();
     gs.selectedPlane = (ReferencePlane)currentPlane;
     ImGui::End();
 
@@ -275,10 +311,19 @@ void doGraphics(State &gs)
 {
    
     gs.window.clear();
+
+    //disegno i pezzi singoli
     for(PieceInterface* p: gs.pieces){
         gs.window.draw(*p->draw(gs.selectedPlane));
     }
     
+    //disegno le collezioni
+    for(auto c : gs.createdColl){
+        for(auto p : c.pieces){
+            gs.window.draw(*p->draw(gs.selectedPlane));
+        }
+    }
+
     while (const std::optional event = gs.window.pollEvent()) {
         ImGui::SFML::ProcessEvent(gs.window, *event);
         if (event->is<sf::Event::Closed>())

src/testMain.cpp

@@ -38,11 +38,12 @@ int main() {
     printf("Costruisco gli oggetti\n");
 
     try{
+        
         processor.readCSVFile (DATA_PATH + "coscia_filt.csv");
         const auto& coscia = processor.getData();
         gs.setIntervall(coscia.size());
 
-
+        /*
         gs.pieces.push_back(new Coscia (rb::Vector3{300,300,300},2));
         gs.pieces.push_back(new Sensore (rb::Vector3{300,300,300},_Float16( 0.2 ),&pos,coscia));
         gs.pieces.push_back(new Caviglia (rb::Vector3{300,300,500},1));
@@ -67,19 +68,19 @@ int main() {
         gs.joints.push_back(new RigidJoint(gs.pieces[1], {gs.pieces[0]}));
         gs.joints.push_back(new PivotJoint(gs.pieces[1], {gs.pieces[3]}, rb::Vector3{0,0,100}));
         gs.joints.push_back(new RigidJoint(gs.pieces[3], {gs.pieces[2]}));
-        
+        */
 
         //provo ad aggiungere una collection
-        Gamba g = Gamba({0,0,0},&pos,"coscia_filt.csv","coscia_filt.csv");
+        gs.collections.push_back(new Gamba({220,0,220},&pos,"coscia_filt.csv","caviglia_filt.csv"));
 
         std::vector<gamba_data> data;
         gamba_data d;
         d.dataPos = &pos;
-        d.cavigliaData = "coscia_filt.csv";
+        d.cavigliaData = "caviglia_filt.csv";
         d.cosciaData = "coscia_filt.csv";
         data.push_back(d);
         data.push_back(d);
-        Lower_Body b = Lower_Body(rb::Vector3{0,0,0},data);
+        gs.collections.push_back(new Lower_Body(rb::Vector3{0,0,0},data));
 
         printf("Ho costruito tutto!\n");
     }
@@ -95,6 +96,7 @@ int main() {
 
     //Avvio il loop della GUI
     gs.clock.start();
+    gs.updateCollections();
 
     sf::Clock mainClock;
     while (gs.window.isOpen())