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

src/rigidbody/methods/rb_class.cpp

@@ -0,0 +1,100 @@
+#include "../headers/rb.hpp"
+
+
+using namespace rb ;
+
+rigidbody::rigidbody(Vector3 coords, Vector3 centerOfMass, _Float16 mass)
+{
+    if (coords.size() != 3) throw "Coords must be 3";
+    if (centerOfMass.size() != 3) throw "COM coords must be 3";
+
+    this->coords = coords;
+    this->centerOfMass = centerOfMass;
+    this->mass = mass;
+
+}
+
+rigidbody::~rigidbody()
+{
+}
+
+Vector3 rigidbody::getPos(){
+    return Vector3 {coords};
+}
+Vector3_s rigidbody::getRot(){
+    return Vector3_s {rot};
+}
+
+void rigidbody::setPos(Vector3 Npos){
+    if (Npos.size() != 3) throw "Pos must be 3 in lenght!";
+
+    int i = 0;
+    for (float axis : Npos){
+        coords[i] = axis;
+        i++;
+    }
+
+}
+
+void rigidbody::setAcc(const Vector3 Nacc){
+    if (Nacc.size() != 3) throw "Vel vector must be 3 in lenght!";
+    
+    int i = 0;
+    for (float axis : Nacc){
+        acc[i] = axis;
+        i++;
+    }
+
+}
+
+void rigidbody::setRot(const Vector3_s Nrot){
+    if (Nrot.size() != 3) throw "Vel vector must be 3 in lenght!";
+    
+    int i = 0;
+    for (float axis : Nrot){
+        rot[i] = axis;
+        i++;
+    }
+
+}
+
+void rigidbody::calcVel(const float Dtime){
+    Vector3 tmpVel;
+
+    for (float a : acc){
+        //if (a>0.8 || a<-0.8)
+        tmpVel.push_back( a*Dtime );
+    }
+
+    int i = 0;
+    for (float nv : tmpVel){
+        vel[i++] += nv;
+    }
+}
+
+void rigidbody::calcPos(const float Dtime){
+    Vector3 tmpPos;
+    
+    for (float v : vel){
+        tmpPos.push_back( v*Dtime );
+    }
+
+    int i = 0;
+    for (float np : tmpPos){
+        coords[i++] += np *100;//(np* cos(float(rot[i]))) *100;
+    }
+}
+
+void rigidbody::step(const sf::Clock time){
+    int64_t Dtime = time.getElapsedTime().asMicroseconds();
+    if (prevT == 0) prevT = Dtime;
+
+
+    float dt = (float(Dtime) / 1000000.0) - (float(prevT) / 1000000.0);
+    prevT = Dtime;
+
+    calcPos(dt);
+    calcVel(dt);
+}
+    
+