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

This commit is contained in:
2026-05-30 22:58:06 +02:00
parent 62fbb000d8
commit 30c8f35b28
81 changed files with 113139 additions and 0 deletions
Executable
+23
View File
@@ -0,0 +1,23 @@
cmake_minimum_required(VERSION 3.28)
project(CMakeSFMLProject LANGUAGES CXX)
set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}/bin)
include(FetchContent)
FetchContent_Declare(SFML
GIT_REPOSITORY https://github.com/SFML/SFML.git
GIT_TAG 3.0.0
GIT_SHALLOW ON
EXCLUDE_FROM_ALL
SYSTEM)
FetchContent_MakeAvailable(SFML)
set(METHODS_PATH "./src/*/methods/*.cpp")
#V1
set(VERSION "V1")
file(GLOB_RECURSE METHODS_SRC "${METHODS_PATH}")
add_executable(main${VERSION} ./src/testMain.cpp ${METHODS_SRC} )
target_compile_features(main${VERSION} PRIVATE cxx_std_17)
target_link_libraries(main${VERSION} PRIVATE SFML::Graphics)
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#include <iostream>
#include <fstream>
#include <sstream>
#include <vector>
#include <string>
class CSVProcessor {
private:
std::vector<std::string> headers;
std::vector<std::vector<float>> data;
public:
// Method to read CSV file and store data in vectors
void readCSVFile(const std::string& filename);
// Getter for headers
const std::vector<std::string>& getHeaders() const;
// Getter for data
const std::vector<std::vector<float>>& getData() const;
};
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#include "../headers/csv.hpp"
void CSVProcessor::readCSVFile(const std::string& filename) {
std::ifstream file(filename);
if (!file.is_open()) {
throw std::runtime_error("Could not open file: " + filename);
}
std::string line;
// Read headers (first line)
if (std::getline(file, line)) {
std::stringstream ss(line);
std::string header;
while (std::getline(ss, header, ',')) {
headers.push_back(header);
}
}
data.clear();
// Read data
while (std::getline(file, line)) {
std::vector<float> row;
std::stringstream ss(line);
std::string value;
while (std::getline(ss, value, ',')) {
try {
row.push_back(std::stof(value));
} catch (const std::invalid_argument& e) {
// Handle non-integer values if needed
row.push_back(0); // or some other default/error value
}
}
data.push_back(row);
}
file.close();
}
// Getter for headers
const std::vector<std::string>& CSVProcessor::getHeaders() const {
return headers;
}
// Getter for data
const std::vector<std::vector<float>>& CSVProcessor::getData() const {
return data;
}
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#include<math.h>
#include"rb_class.cpp"
#include<time.h>
/*
Questo namespace deve contenere le funzioni di gestione della fisica del motore.
Ogni moto in questo engine sarà ti tipo uniformemente accelerato per dare una semplificazione della realtà.
Le funzioni necessarie sono:
- Calcolo velocità, richiede:
(Oggetto rigidbody)
(time di partenza, time di arrivo o delta t)
(Accelerazione media)
(velocità iniziale)
- Calcolo rotazione, richiede:
(Oggetto rigidbody)
(time di partenza, time di arrivo o delta t)
(Accelerazione tangenziale)
(RAD/s iniziale)
- Calcolo accelerazione, deve modificare i valori di accelerazione su oggetti di tipo rigidbody, richiede:
(Oggetto rigidbody)
- Calcolo posizione, deve calcolare la posizione di un rigidbody in in un intervallo di tempo
- Calcolo energia potenziale
- Calcolo inerzia
- Calcolo energia meccanica
*/
using namespace rb;
namespace fis{
void calcVel(rigidbody body, const time_t Dtime);
void calcRot(rigidbody body, const time_t Dtime);
void calcAcc(rigidbody body, const std::vector<float> Dacc);
void calcTanAcc(rigidbody body, const std::vector<float> Dacc);
void calcPos(rigidbody body, const time_t Dtime);
}
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#include <iostream>
#include "csv/headers/csv.hpp"
#include "sfml_util.cpp"
#include "pieces/headers/coscia.hpp"
#include "pieces/headers/sensore.hpp"
#include "joints/headers/rigid_joint.hpp"
#include "joints/headers/pivot_joint.hpp"
+33
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#include "../../pieces/headers/piece_interface.hpp"
#ifndef JOINT_INTERFACE_H
#define JOINT_INTERFACE_H
/*
1) il joint può essere tra più pezzi
2) esistono 3 tipi di joint:
- completi / rigidi
- a pivot / 1 grado di libertà di rotazione
- spillo / completa libertà di rotazione
*/
class JointInterface{
protected:
virtual void rotate(unsigned int id) = 0;
virtual void traslate(unsigned int id) = 0;
public:
std::vector<rb::Vector3> offset;
std::vector<rb::Vector3_s> rotOffset;
PieceInterface* father;
std::vector<PieceInterface*> childs;
virtual ~JointInterface(){};
virtual void movechild() = 0;
};
#endif
+22
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#include "joint_interface.hpp"
class PivotJoint : public JointInterface {
protected:
void rotate(unsigned int id) override;
void traslate(unsigned int id) override;
rb::Vector3_s oldRot;
rb::Vector3 pivot;
std::vector<rb::Vector3_s> oldCRot;
//possono servire per calcolare l'offset rispetto alla posizione precedente
rb::Vector3 oldPos;
std::vector<rb::Vector3> oldCPos;
public:
void movechild() override;
PivotJoint(PieceInterface* father,std::vector<PieceInterface*> childs, rb::Vector3 pivotPoint);
~PivotJoint();
};
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#include "joint_interface.hpp"
class RigidJoint : public JointInterface {
protected:
void rotate(unsigned int id) override;
void traslate(unsigned int id) override;
//possono servire per calcolare l'offset rispetto alla posizione precedente
rb::Vector3 oldPos;
std::vector<rb::Vector3> oldCPos;
public:
void movechild() override;
RigidJoint(PieceInterface* father,std::vector<PieceInterface*> childs);
~RigidJoint();
};
+111
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#include "../headers/pivot_joint.hpp"
#define ZERO_INT 0.00001
void PivotJoint::rotate(unsigned int id){
rb::Vector3_s fRot = father->body.getRot();
rb::Vector3_s cRot = childs[id]->body.getRot();
//// sposto l'origine passivamente su tutti gli assi ////
float r1 = sqrt(pow(pivot[0],2)+pow(pivot[2],2)); //calcolo modulo dell'offset (per ora solo sul piano xz)
float r2 = sqrt(pow(offset[id][0],2)+pow(offset[id][2],2));
if (r1>ZERO_INT){
float sign = pivot[2] >= 0 ? 1 : -1;
sf::Angle alpha = sf::radians(fRot[2] - oldRot[2]); // angolo aggiunto
sf::Angle alpha1 = sf::radians(acos(sign * pivot[0]/r1)); // angolo rispetto alla posizione del pivot
sf::Angle alpha2 = alpha + alpha1;
sf::Vector2f tmpCoordsX = sf::Vector2f(r1,alpha2);
pivot = {sign * tmpCoordsX.x,pivot[1],sign * tmpCoordsX.y};
//calcolo la posizione in base alla rotazione del child
sign = offset[id][2] >= 0 ? 1 : -1;
sf::Angle beta = sf::radians(cRot[2] - oldCRot[id][2]);
sf::Angle beta1 = sf::radians(acos(sign * offset[id][0]/r2));
sf::Angle beta2 = beta + beta1;
sf::Vector2f tmpCoordsC = sf::Vector2f(r2,beta2);
offset[id] = {sign * tmpCoordsC.x,offset[id][1],sign * tmpCoordsC.y};
//ora devo muovere il child rispetto al nuovo offset
rb::Vector3 pivotPos = father->body.getPos()+father->globalPos+pivot;
rb::Vector3 cPos = childs[id]->body.getPos() + childs[id]->globalPos;
rb::Vector3 tmpChild = pivotPos + offset[id];
childs[id]->body.setPos(tmpChild - childs[id]->globalPos);
}
oldRot = fRot; //aggiorno la rotazione per il ciclo successivo
oldCRot[id] = cRot;
// r cosA = x -> x/r = cosA
/*
Devo spostare l'offset per poter ricalcolare la posizione relativa dei child rispetto al father dopo aver eseguito la rotazione.
La rotazione va eseguita nella posizione del mondo, ovvero sulle coordinate di body
Le coordinate camera non vanno toccate, determinano solo lo spostamento rispetto alla telecamera
*/
}
void PivotJoint::traslate(unsigned int id){
}
PivotJoint::PivotJoint(PieceInterface* father,std::vector<PieceInterface*> childs, rb::Vector3 pivotPoint){
this->childs = childs;
this->father = father;
rb::Vector3 fCoords = father->globalPos + father->body.getPos();
rb::Vector3_s fRot = father->body.getRot();
pivot = pivotPoint;
rb::Vector3 pivotCenter = father->globalPos + father->body.getPos() + pivot;
/*
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) )} );
*/
oldRot = father->body.getRot();
//mi calcolo l'offset per ogni child rispetto al pivot
for(PieceInterface* c : childs){
rb::Vector3 tmpCoords;
rb::Vector3 cCoords = c->globalPos + c->body.getPos();
tmpCoords = cCoords - pivotCenter;
/*
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(c->body.getRot());
offset.push_back(tmpCoords);
}
}
PivotJoint::~PivotJoint(){
}
void PivotJoint::movechild(){
for ( unsigned int i = 0; i < childs.size(); i++){
traslate(i);
rotate(i);
}
}
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#include "../headers/rigid_joint.hpp"
#define ZERO_INT 0.00001
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 cPos = childs[id]->body.getPos() + childs[id]->globalPos;
childs[id]->body.setRot(fRot + rotOffset[id]);
//// sposto l'origine passivamente su tutti gli assi ////
//se si muove il child devo muovere anche il padre -> devo trovare la differenza di posizione prima di ricalcolare l'offset
/*
if (cPos != oldCPos[id]);*/
float r = sqrt(pow(offset[id][0],2)+pow(offset[id][2],2)); //calcolo modulo dell'offset (per ora solo sul piano xz)
if (r>ZERO_INT){
float sign = offset[id][2] >= 0 ? 1 : -1;
sf::Angle alpha = sf::radians(fRot[2] - fRotOld[2]); // angolo aggiunto
sf::Angle alpha1 = sf::radians(acos(sign * offset[id][0]/r)); // angolo rispetto alla posizione del child
sf::Angle beta = alpha + alpha1;
sf::Vector2f tmpCoordsX = sf::Vector2f(r,beta);
offset[id] = {sign * tmpCoordsX.x,offset[id][1],sign * tmpCoordsX.y};
//ora devo muovere il child rispetto al nuovo offset
rb::Vector3 fPos = father->body.getPos() + father->globalPos;
rb::Vector3 tmpChild = fPos + offset[id];
childs[id]->body.setPos(tmpChild - childs[id]->globalPos);
}
else{
childs[id]->body.setPos(father->body.getPos()+father->globalPos-childs[id]->globalPos);
}
// r cosA = x -> x/r = cosA
/*
Devo spostare l'offset per poter ricalcolare la posizione relativa dei child rispetto al father dopo aver eseguito la rotazione.
La rotazione va eseguita nella posizione del mondo, ovvero sulle coordinate di body
Le coordinate camera non vanno toccate, determinano solo lo spostamento rispetto alla telecamera
*/
}
void RigidJoint::traslate(unsigned int id){
}
RigidJoint::RigidJoint(PieceInterface* father,std::vector<PieceInterface*> childs){
this->childs = childs;
this->father = father;
rb::Vector3 fCoords = father->globalPos + father->body.getPos();
rb::Vector3_s fRot = father->body.getRot();
//mi calcolo l'offset per ogni child rispetto al padre
for(PieceInterface* c : childs){
rb::Vector3 tmpCoords;
rb::Vector3_s tmpRot;
rb::Vector3 cCoords = c->globalPos + c->body.getPos();
tmpCoords = cCoords - fCoords;
tmpRot = c->body.getRot() - fRot;
offset.push_back(tmpCoords);
rotOffset.push_back(tmpRot);
}
}
RigidJoint::~RigidJoint(){
}
void RigidJoint::movechild(){
for ( unsigned int i = 0; i < childs.size(); i++){
traslate(i);
rotate(i);
}
}
+20
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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
+1
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#include "piece_interface.hpp"
+40
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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
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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
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#include "../headers/coscia.hpp"
Coscia::Coscia(rb::Vector3 coords, _Float16 mass){
size = coscia_Dim;
rb::Vector3 com = {size.x/2,0, size.y/2};
body = rb::rigidbody(coords, com, mass);
color = coscia_Col;
shape = new sf::RectangleShape(size);
shape->setOrigin({size.x/2,size.y/2});
globalPos = {0,0,0};
}
Coscia::~Coscia(){
delete shape;
}
void Coscia::update(sf::Clock cl){
//body.step(cl);
}
sf::Shape* Coscia::draw(ReferencePlane plane){
shape->setFillColor(color);
rb::Vector3 tmpPos = body.getPos();
rb::Vector3_s tmpRot = body.getRot();
switch (plane)
{
case ReferencePlane::XZ:
shape->setPosition({tmpPos[0]+globalPos[0],tmpPos[2]+globalPos[2]});
shape->setRotation(sf::Angle(sf::radians(tmpRot[2])));
break;
default:
break;
}
return shape;
}
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#include "../headers/sensore.hpp"
Sensore::Sensore(rb::Vector3 coords, _Float16 mass){
size = sensore_Dim;
rb::Vector3 com = {size.x/2,0, size.y/2};
body = rb::rigidbody({0,0,0}, com, mass);
color = sensore_Col;
shape = new sf::RectangleShape(size);
globalPos = coords;
}
Sensore::Sensore(rb::Vector3 coords, _Float16 mass, unsigned int st, unsigned int dataIntvl, std::vector<std::vector<float>> data) : Sensore(coords, mass){
dataPos = st;
this->dataIntvl = dataIntvl;
initCSV(data);
}
Sensore::~Sensore(){
delete shape;
}
void Sensore::initCSV(std::vector<std::vector<float>> data){
//timestamp_ns, wx, wy, wz, ax, ay, az, gx, gy, gz
if (data.size() < 1) throw "Sensor data empty";
float stTime = int64_t( data[0][0] ) ;
for (std::vector<float> row : data){
timeData.push_back(int64_t( row[0] ) - stTime);
std::vector<float> tmpR = {row[2],row[3],row[1]};
std::vector<float> tmpA = {row[5],row[6],row[4]};
std::vector<float> tmpG = {-row[8],-row[9],-row[7]};
rotData.push_back(tmpR);
accData.push_back(tmpA);
gData.push_back(tmpG);
}
}
void Sensore::update(sf::Clock cl){
// Aggiorno la posizione nei dati
int64_t currTime = cl.getElapsedTime().asMicroseconds() *100000;
if (timeData[dataPos] < currTime && dataIntvl - dataPos > 0) { //aggiorno solo se ho cambiato posizione
dataPos++;
//calcolo la posizione e velocità
calcRotWithG(dataPos);
body.setAcc(rb::Vector3{accData[dataPos]});
body.step(cl);
}
}
sf::Shape* Sensore::draw(ReferencePlane plane){
shape->setFillColor(color);
shape->setOrigin({sensore_Dim.x/2, sensore_Dim.y/2});
rb::Vector3_s tmpRot = body.getRot();
rb::Vector3 tmpPos = body.getPos();
switch (plane)
{
case ReferencePlane::XZ:
shape->setRotation(sf::Angle(sf::radians(tmpRot[2])));
shape->setPosition({tmpPos[0]+globalPos[0],tmpPos[2]+globalPos[2]});
break;
default:
break;
}
return shape;
}
void Sensore::calcRotWithG(unsigned int index){ // calcolo rotazione con valori della gravità
std::vector<float> grav = gData[index];
float modG = sqrt(pow(grav[0],2)+pow(grav[1],2)+pow(grav[2],2));
//x = mod * cosX -> mod = x/cosx -> cosx = x/mod
float tmpSinX = -grav[0] / modG;
float tmpSinY = -grav[1] / modG;
float tmpSinZ = -grav[2] / modG;
float tmpAX = acos(tmpSinY);
float tmpAY = acos(tmpSinZ);
float tmpAZ = acos(tmpSinX);
body.setRot(rb::Vector3_s{_Float16( tmpAX),_Float16( tmpAY),_Float16( tmpAZ) });
}
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#include<math.h>
#include<vector>
#include <SFML/Graphics.hpp>
#ifndef RB_H
#define RB_H
namespace rb{
typedef std::vector<float> Vector3;
typedef std::vector<_Float16> Vector3_s;
class rigidbody
{
private:
Vector3 vel = {0,0,0};
Vector3 acc = {0,0,0};
Vector3_s rot = {0,0,0};
Vector3 tanAcc = {0,0,0};
_Float16 mass = 1;
Vector3 coords = {0,0,0};
Vector3 centerOfMass = {0,0,0};
int64_t prevT = 0;
//funzioni
void calcVel(const float Dtime);
void calcRot(const time_t Dtime);
void calcAcc(const Vector3 Dacc);
void calcTanAcc(const Vector3 Dacc);
void calcPos(const float Dtime);
public:
rigidbody(){}
rigidbody(Vector3 coords, Vector3 centerOfMass, _Float16 mass);
~rigidbody();
Vector3 getPos();
Vector3_s getRot();
void setPos(const Vector3 Npos);
void setRot(const Vector3_s Nrot);
void setVel(const Vector3 Nacc);
void setAcc(const Vector3 Nvel);
void step(const sf::Clock time);
//complesso, deve definire accelerazione e accelerazione tangenziale
void appForce(Vector3 f, Vector3 pos);
};
}
inline rb::Vector3 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.");
}
return rb::Vector3{
v1[0] + v2[0],
v1[1] + v2[1],
v1[2] + v2[2]
};
}
inline rb::Vector3 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.");
}
return rb::Vector3{
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 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) {
if (v1.size() != 3 || v2.size() != 3) {
throw std::invalid_argument("I vettori devono avere esattamente 3 elementi.");
}
return true;
}*/
#endif
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#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);
}
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#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();
}
///
////////////////////////////////////////////////////////////
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#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;
}