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

2026-05-30 22:58:06 +02:00
parent 62fbb000d8
commit 30c8f35b28
81 changed files with 113139 additions and 0 deletions
@@ -0,0 +1,83 @@
+#include "include.hpp"
+
+#define DATA_PATH std::string("./../../data/")
+
+int main() {
+    CSVProcessor processor;
+    try {
+        processor.readCSVFile("data.csv");
+
+        // Access headers
+        const auto& headers = processor.getHeaders();
+        for (const auto& header : headers) {
+            std::cout << header << "\t";
+        }
+        std::cout << std::endl;
+
+        // Access data
+        int n = 0;
+        const auto& data = processor.getData();
+        for (const auto& row : data) {
+            if (n++ >40) break;
+            for (float value : row) {
+                std::cout << value << "\t";
+            }
+            std::cout << std::endl;
+        }
+    } catch (const std::exception& e) {
+        std::cerr << "Error: " << e.what() << std::endl;
+    }
+
+    //Costruisco la GUI 
+    State gs(800, 600, "Visualizzatore passo");
+    gs.window.setFramerateLimit(60);
+    printf("Costruisco gli oggetti\n");
+
+    try{
+        processor.readCSVFile (DATA_PATH + "coscia_filt.csv");
+        const auto& coscia = processor.getData();
+
+
+        gs.pieces.push_back(new Coscia (rb::Vector3{300,10,300},2));
+        gs.pieces.push_back(new Sensore (rb::Vector3{300,300,300},_Float16( 0.2 ),900,3000,coscia));
+        gs.pieces.push_back(new Coscia (rb::Vector3{300,10,500},1));
+
+        gs.pieces[1]->body.setRot({0,0,0});
+
+
+        processor.readCSVFile(DATA_PATH + "caviglia_filt.csv");
+        const auto& caviglia = processor.getData();
+        gs.pieces.push_back(new Sensore (rb::Vector3{300,700,500},_Float16( 0.2 ),900,3000,caviglia));
+        
+        // modifico la rotazione relativa della gamba
+        gs.pieces[1]->body.setRot({0,0,_Float16 (1.6)});
+        gs.pieces[3]->body.setRot({0,0,_Float16 (1.7)});
+
+
+        // aggiungo i joint
+
+        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]}));
+
+        printf("Ho costruito tutto!\n");
+    }
+    catch(char* e){
+        printf("%s\n",e);
+    }
+    printf("Avvio l'interfaccia grafica\n");
+    //Avvio il loop della GUI
+    gs.clock.start();
+    while (gs.window.isOpen()) 
+    {
+        // event loop and handler through callbacks
+        gs.window.handleEvents([&](const auto &event)
+                               { handle(event, gs); });
+        // Show update
+        gs.update();
+        doGraphics(gs);
+    }
+    
+    return 0;
+}
+