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

src/sfml_util.cpp

@@ -0,0 +1,184 @@
+#include <SFML/Graphics.hpp>
+#include <math.h>
+#include "pieces/headers/piece_interface.hpp"
+#include "joints/headers/joint_interface.hpp"
+
+template <typename T1, typename T2>
+double dist(sf::Vector2<T1> p1, sf::Vector2<T2> p2)
+{
+    return sqrt((p1.x - p2.x) * (p1.x - p2.x) + (p1.y - p2.y) * (p1.y - p2.y));
+}
+
+
+////////////////////////////////////////////////////////////
+/// GUI state
+
+struct State
+{
+    sf::RenderWindow window;
+    int menubar_height = 50;
+    std::vector<PieceInterface*> pieces;
+    std::vector<JointInterface*> joints;
+    sf::Vector2f cameraOffset = {0.,0.};
+
+    sf::Clock clock;
+
+    int selected = -1;
+
+    bool rot_Piece = false;
+    bool drag_Piece = false;
+    bool drag = false;
+    sf::Vector2i mouse_pos;
+
+    State(unsigned w, unsigned h, std::string title) 
+    {
+        window = sf::RenderWindow(sf::VideoMode({w, h}), title);
+        clock.restart();
+    }
+    void update();
+};
+
+///
+////////////////////////////////////////////////////////////
+
+///////////////////////////////////////////////////////////
+/// Fisics functions
+
+void State::update(){
+    
+
+    for(PieceInterface* p : pieces){
+        p->update(clock);
+    }
+    for(JointInterface* j : joints){
+        j->movechild();
+    }
+}
+
+///
+//////////////////////////////////////////////////////////
+
+////////////////////////////////////////////////////////////
+/// Callback functions
+void handle(const sf::Event::Closed &, State &gs)
+{
+    gs.window.close();
+}
+
+void handle(const sf::Event::TextEntered &textEnter, State &gs)
+{
+   
+}
+
+void handle(const sf::Event::KeyPressed &keyPressed, State &gs)
+{
+}
+
+void handle(const sf::Event::MouseMoved &mouseMoved, State &gs)
+{
+    sf::Vector2i offset = mouseMoved.position - gs.mouse_pos;
+    gs.mouse_pos = mouseMoved.position;
+    if (gs.drag){
+        for(PieceInterface* p : gs.pieces){
+            p->globalPos = {p->globalPos[0] + offset.x, p->globalPos[1],p->globalPos[2] + offset.y};
+
+            /// Devo spostare sul piano di visualizzazione
+            /// Quindi dovrò settare una variabile che mi definisce qual è il piano preso in considerazione, questo sarà nello state
+        }
+    }
+    if (gs.selected != -1 && gs.drag_Piece){
+        rb::Vector3 tmp = gs.pieces[gs.selected]->body.getPos();
+        gs.pieces[gs.selected]->body.setPos({tmp[0]+offset.x,tmp[1],tmp[2]+offset.y});
+    }
+    if (gs.selected != -1 && gs.rot_Piece){
+        rb::Vector3_s tmp = gs.pieces[gs.selected]->body.getRot();
+
+        _Float16 nrot = _Float16(offset.x)/10;
+        gs.pieces[gs.selected]->body.setRot({tmp[0],tmp[1],tmp[2]+nrot});
+    }
+
+    
+}
+
+void handle(const sf::Event::MouseButtonPressed &mouseBP, State &gs)
+{
+    gs.mouse_pos = mouseBP.position;
+    if ( mouseBP.button == sf::Mouse::Button::Middle) gs.drag = true;
+    if ( mouseBP.button == sf::Mouse::Button::Left){
+        gs.drag_Piece = true;
+        int i = 0;
+        for (PieceInterface* p : gs.pieces){
+            
+            sf::Vector2f pos = {p->globalPos[0]+ p->body.getPos()[0], p->globalPos[2]+ p->body.getPos()[2]};
+
+            if (dist(pos,mouseBP.position) < 20){
+                gs.selected = i;
+                break;
+            }
+            i++;
+        }
+    }
+    if ( mouseBP.button == sf::Mouse::Button::Right){
+        gs.rot_Piece = true;
+        int i = 0;
+        for (PieceInterface* p : gs.pieces){
+            
+            sf::Vector2f pos = {p->globalPos[0]+ p->body.getPos()[0], p->globalPos[2]+ p->body.getPos()[2]};
+
+            if (dist(pos,mouseBP.position) < 20){
+                gs.selected = i;
+                break;
+            }
+            i++;
+        }
+    }
+
+}
+
+void handle(const sf::Event::MouseButtonReleased &, State &gs)
+{
+    gs.drag = false;
+    gs.drag_Piece = false;
+    gs.rot_Piece = false;
+    gs.selected = -1;
+}
+
+void handle(const sf::Event::Resized &resized, State &gs)
+{
+    sf::FloatRect visibleArea({0.f, 0.f}, sf::Vector2f(resized.size));
+    gs.window.setView(sf::View(visibleArea));
+}
+
+template <typename T>
+void handle(const T &, State &gs)
+{
+    // All unhandled events will end up here
+}
+///
+////////////////////////////////////////////////////////////
+
+
+////////////////////////////////////////////////////////////
+/// Graphics
+void doGUI(State &gs)
+{
+    // TODO: here code to display the menus
+    //Bottoni
+    
+}
+
+void doGraphics(State &gs)
+{
+    gs.window.clear();
+    doGUI(gs);
+
+    for(PieceInterface* p: gs.pieces){
+        gs.window.draw(*p->draw(ReferencePlane::XZ));
+    }
+    
+    // TODO: add here code to display shapes in your canvas
+
+    gs.window.display();
+}
+///
+////////////////////////////////////////////////////////////