Commit iniziale: è presente una base del progetto con joint di base

src/pieces/headers/coscia.hpp

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+#include "piece_interface.hpp"
+
+#ifndef COSCIA_H
+#define COSCIA_H
+
+const sf::Vector2f coscia_Dim = {80, 200};
+const sf::Color coscia_Col = sf::Color::Yellow;
+
+
+class Coscia : public PieceInterface{
+    public: 
+
+        Coscia(rb::Vector3 coords, _Float16 mass);
+        ~Coscia();
+
+        void update(sf::Clock cl) override;
+        sf::Shape* draw(ReferencePlane plane) override;
+};
+
+#endif

src/pieces/headers/joint_piece.hpp

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+#include "piece_interface.hpp"

src/pieces/headers/piece_interface.hpp

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+#include <SFML/Graphics.hpp>
+#include <math.h>
+#include "../../rigidbody/headers/rb.hpp"
+//#include "../../joints/headers/joint_interface.hpp"
+
+#ifndef PIECE_INTERFACE_H
+#define PIECE_INTERFACE_H
+
+
+// costanti
+
+const sf::Vector2f caviglia_Dim = {50, 200};
+const sf::Color caviglia_Col = sf::Color::Red;
+
+enum class ReferencePlane {
+    XY,
+    YZ,
+    XZ
+};
+
+//classi
+class PieceInterface{
+    protected:
+        
+        //std::vector<JointInterface*> joints;
+
+    public:
+        sf::Shape* shape;
+        sf::Vector2f size;
+        rb::Vector3 globalPos;
+        rb::rigidbody body;
+        sf::Color color;
+
+        virtual void update(sf::Clock cl) = 0;
+        virtual sf::Shape* draw(ReferencePlane plane) = 0;
+        virtual ~PieceInterface(){}
+};
+
+
+#endif

src/pieces/headers/sensore.hpp

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+#include "piece_interface.hpp"
+
+#ifndef SENSORE_H
+#define SENSORE_H
+
+const sf::Vector2f sensore_Dim = {30, 60};
+const sf::Color sensore_Col = sf::Color::Red;
+
+class Sensore : public PieceInterface{
+    private:
+        std::vector<std::vector<float>> accData;
+        std::vector<std::vector<float>> gData;
+        std::vector<std::vector<float>> rotData;
+        std::vector<float> timeData;
+        rb::Vector3 stPos;
+
+        //in che punto sto controllando il segnale 
+        unsigned int dataPos;
+        unsigned int dataIntvl; 
+        
+
+        //funzioni ausiliarie
+        void calcRotWithG(unsigned int index);
+
+    public: 
+        Sensore(rb::Vector3 coords, _Float16 mass);
+        Sensore(rb::Vector3 coords, _Float16 mass, unsigned int st, unsigned int dataIntvl, std::vector<std::vector<float>> data);
+        ~Sensore();
+
+        void update(sf::Clock cl) override;
+        sf::Shape* draw(ReferencePlane plane) override;
+
+        //funzioni specifiche
+        void initCSV(std::vector<std::vector<float>> data);
+
+};
+
+#endif