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Miglioramento precisione rotazioni

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This commit is contained in:
Endert0m
2026-05-31 12:47:46 +02:00
parent 57412060b5
commit 28abf04232
12 changed files with 29 additions and 50 deletions
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build/bin/mainV4
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src/joints/headers/joint_interface.hpp
+1 -1
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@@ -21,7 +21,7 @@ class JointInterface{
public:
std::vector<rb::Vector3> offset;
std::vector<rb::Vector3_s> rotOffset;
std::vector<rb::Vector3> rotOffset;
PieceInterface* father;
std::vector<PieceInterface*> childs;
src/joints/headers/pivot_joint.hpp
+2 -2
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@@ -5,9 +5,9 @@ class PivotJoint : public JointInterface {
void rotate(unsigned int id) override;
void traslate(unsigned int id) override;
rb::Vector3_s oldRot;
rb::Vector3 oldRot;
rb::Vector3 pivot;
std::vector<rb::Vector3_s> oldCRot;
std::vector<rb::Vector3> oldCRot;
//possono servire per calcolare l'offset rispetto alla posizione precedente
rb::Vector3 oldPos;
src/joints/methods/pivot_joint_class.cpp
+5 -5
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@@ -3,9 +3,9 @@
#define ZERO_INT 0.00001
void PivotJoint::rotate(unsigned int id){
rb::Vector3_s fRot = father->body.getRot();
rb::Vector3 fRot = father->body.getRot();
rb::Vector3 fPos = father->body.getPos();
rb::Vector3_s cRot = childs[id]->body.getRot();
rb::Vector3 cRot = childs[id]->body.getRot();
//// sposto l'origine passivamente su tutti gli assi ////
@@ -75,7 +75,7 @@ PivotJoint::PivotJoint(PieceInterface* father,std::vector<PieceInterface*> child
this->childs = childs;
this->father = father;
rb::Vector3 fCoords = father->globalPos + father->body.getPos();
rb::Vector3_s fRot = father->body.getRot();
rb::Vector3 fRot = father->body.getRot();
pivot = pivotPoint;
rb::Vector3 pivotCenter = father->body.getPos() + pivot;
@@ -83,7 +83,7 @@ PivotJoint::PivotJoint(PieceInterface* father,std::vector<PieceInterface*> child
/*
float sign = pivot[2] >= 0 ? 1 : -1;
float r = sqrt(pow(pivot[0],2)+pow(pivot[2],2));
rotOffset.push_back( rb::Vector3_s{0,0,_Float16( acos(sign * pivot[0]/r) )} );
rotOffset.push_back( rb::Vector3{0,0,_Float16( acos(sign * pivot[0]/r) )} );
*/
@@ -97,7 +97,7 @@ PivotJoint::PivotJoint(PieceInterface* father,std::vector<PieceInterface*> child
/*
float r = sqrt(pow(tmpCoords[0],2)+pow(tmpCoords[2],2));
oldCRot.push_back( rb::Vector3_s{0,0,_Float16( acos(tmpCoords[0]/r) )} );
oldCRot.push_back( rb::Vector3{0,0,_Float16( acos(tmpCoords[0]/r) )} );
*/
oldCRot.push_back(c->body.getRot());
src/joints/methods/rigid_joint_class.cpp
+4 -4
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@@ -5,8 +5,8 @@
//using namespace glm;
void RigidJoint::rotate(unsigned int id){
rb::Vector3_s fRot = father->body.getRot();
rb::Vector3_s fRotOld = childs[id]->body.getRot() - rotOffset[id];
rb::Vector3 fRot = father->body.getRot();
rb::Vector3 fRotOld = childs[id]->body.getRot() - rotOffset[id];
rb::Vector3 fPos = father->body.getPos();
rb::Vector3 cPos = childs[id]->body.getPos();
@@ -65,7 +65,7 @@ RigidJoint::RigidJoint(PieceInterface* father,std::vector<PieceInterface*> child
this->childs = childs;
this->father = father;
rb::Vector3 fCoords = father->globalPos + father->body.getPos();
rb::Vector3_s fRot = father->body.getRot();
rb::Vector3 fRot = father->body.getRot();
@@ -73,7 +73,7 @@ RigidJoint::RigidJoint(PieceInterface* father,std::vector<PieceInterface*> child
//mi calcolo l'offset per ogni child rispetto al padre
for(PieceInterface* c : childs){
rb::Vector3 tmpCoords;
rb::Vector3_s tmpRot;
rb::Vector3 tmpRot;
rb::Vector3 cCoords = c->globalPos + c->body.getPos();
src/pieces/methods/caviglia_class.cpp
+1 -1
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@@ -22,7 +22,7 @@ void Caviglia::update(sf::Clock cl){
sf::Shape* Caviglia::draw(ReferencePlane plane){
rb::Vector3 tmpPos = body.getPos();
rb::Vector3_s tmpRot = body.getRot();
rb::Vector3 tmpRot = body.getRot();
switch (plane)
{
src/pieces/methods/coscia_class.cpp
+1 -1
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@@ -20,7 +20,7 @@ void Coscia::update(sf::Clock cl){
sf::Shape* Coscia::draw(ReferencePlane plane){
rb::Vector3 tmpPos = body.getPos();
rb::Vector3_s tmpRot = body.getRot();
rb::Vector3 tmpRot = body.getRot();
switch (plane)
src/pieces/methods/sensore_class.cpp
+2 -2
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@@ -61,7 +61,7 @@ void Sensore::update(sf::Clock cl){
sf::Shape* Sensore::draw(ReferencePlane plane){
rb::Vector3_s tmpRot = body.getRot();
rb::Vector3 tmpRot = body.getRot();
rb::Vector3 tmpPos = body.getPos();
switch (plane)
@@ -105,7 +105,7 @@ void Sensore::calcRotWithG(unsigned int index){ // calcolo rotazione con valori
float tmpAY = acos(tmpSinY);
float tmpAZ = acos(tmpSinZ);
body.setRot(rb::Vector3_s{_Float16( tmpAY),_Float16( tmpAX),_Float16( tmpAZ) });
body.setRot(rb::Vector3{tmpAY, tmpAX, tmpAZ });
}
/*
src/pieces/methods/torso.cpp
+1 -1
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@@ -20,7 +20,7 @@ void Torso::update(sf::Clock cl){
sf::Shape* Torso::draw(ReferencePlane plane){
rb::Vector3_s tmpRot = body.getRot();
rb::Vector3 tmpRot = body.getRot();
rb::Vector3 tmpPos = body.getPos();
src/rigidbody/headers/rb.hpp
+5 -26
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@@ -7,14 +7,14 @@
namespace rb{
typedef std::vector<float> Vector3;
typedef std::vector<_Float16> Vector3_s;
//typedef std::vector<_Float16> Vector3;
class rigidbody
{
private:
Vector3 vel = {0,0,0};
Vector3 acc = {0,0,0};
Vector3_s rot = {0,0,0};
Vector3 rot = {0,0,0};
Vector3 tanAcc = {0,0,0};
_Float16 mass = 1;
@@ -40,9 +40,9 @@
Vector3 getPos();
Vector3_s getRot();
Vector3 getRot();
void setPos(const Vector3 Npos);
void setRot(const Vector3_s Nrot);
void setRot(const Vector3 Nrot);
void setVel(const Vector3 Nacc);
void setAcc(const Vector3 Nvel);
void step(const sf::Clock time);
@@ -77,29 +77,8 @@
};
}
inline rb::Vector3_s operator+(const rb::Vector3_s& v1, const rb::Vector3_s& v2) {
if (v1.size() != 3 || v2.size() != 3) {
throw std::invalid_argument("I vettori devono avere esattamente 3 elementi.");
}
return rb::Vector3_s{
v1[0] + v2[0],
v1[1] + v2[1],
v1[2] + v2[2]
};
}
inline rb::Vector3_s operator-(const rb::Vector3_s& v1, const rb::Vector3_s& v2) {
if (v1.size() != 3 || v2.size() != 3) {
throw std::invalid_argument("I vettori devono avere esattamente 3 elementi.");
}
return rb::Vector3_s{
v1[0] - v2[0],
v1[1] - v2[1],
v1[2] - v2[2]
};
}
/*
inline bool operator!=(const rb::Vector3_s& v1, const rb::Vector3_s& v2) {
inline bool operator!=(const rb::Vector3& v1, const rb::Vector3& v2) {
if (v1.size() != 3 || v2.size() != 3) {
throw std::invalid_argument("I vettori devono avere esattamente 3 elementi.");
}
src/rigidbody/methods/rb_class.cpp
+3 -3
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@@ -21,8 +21,8 @@ rigidbody::~rigidbody()
Vector3 rigidbody::getPos(){
return Vector3 {coords};
}
Vector3_s rigidbody::getRot(){
return Vector3_s {rot};
Vector3 rigidbody::getRot(){
return Vector3 {rot};
}
void rigidbody::setPos(Vector3 Npos){
@@ -47,7 +47,7 @@ void rigidbody::setAcc(const Vector3 Nacc){
}
void rigidbody::setRot(const Vector3_s Nrot){
void rigidbody::setRot(const Vector3 Nrot){
if (Nrot.size() != 3) throw "Vel vector must be 3 in lenght!";
int i = 0;
src/sfml_util.cpp
+3 -3
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@@ -112,10 +112,10 @@ void handle(const sf::Event::MouseMoved &mouseMoved, State &gs)
gs.pieces[gs.selected]->body.setPos({tmp[0]+ (offset.x * px),tmp[1]+ (offset.x * py),tmp[2]+offset.y});
}
if (gs.selected != -1 && gs.rot_Piece){
rb::Vector3_s tmp = gs.pieces[gs.selected]->body.getRot();
rb::Vector3 tmp = gs.pieces[gs.selected]->body.getRot();
_Float16 nrot = _Float16(offset.x)/100;
gs.pieces[gs.selected]->body.setRot({tmp[0]+(nrot*_Float16(py)),tmp[1]+(nrot*_Float16(px)),tmp[2]});
float nrot = float(offset.x)/100;
gs.pieces[gs.selected]->body.setRot({tmp[0]+(nrot*py),tmp[1]+(nrot*px),tmp[2]});
//printf("Rotation : %f,%f,%f \n",gs.pieces[gs.selected]->body.getRot()[0],gs.pieces[gs.selected]->body.getRot()[1],gs.pieces[gs.selected]->body.getRot()[2]);
}