Caricamento v0.3

src/include.hpp

@@ -4,5 +4,6 @@
 #include "pieces/headers/coscia.hpp"
 #include "pieces/headers/caviglia.hpp"
 #include "pieces/headers/sensore.hpp"
+#include "pieces/headers/torso.hpp"
 #include "joints/headers/rigid_joint.hpp"
 #include "joints/headers/pivot_joint.hpp"

src/pieces/headers/caviglia.hpp

@@ -3,11 +3,12 @@
 #ifndef CAVIGLIA_H
 #define CAVIGLIA_H
 
-const sf::Vector2f caviglia_Dim = {60, 200};
-const sf::Color caviglia_Col = sf::Color(230,160,11,255);
-
 
 class Caviglia : public PieceInterface{
+    private:
+        const sf::Vector3f caviglia_Dim = {60, 200, 60};
+        const sf::Color caviglia_Col = sf::Color(230,160,11,255);
+
     public: 
 
         Caviglia(rb::Vector3 coords, _Float16 mass);

src/pieces/headers/coscia.hpp

@@ -3,11 +3,13 @@
 #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{
+    private:
+        const sf::Vector3f coscia_Dim = {80, 200, 80};
+        const sf::Color coscia_Col = sf::Color::Yellow;
+        
     public: 
 
         Coscia(rb::Vector3 coords, _Float16 mass);

src/pieces/headers/piece_interface.hpp

@@ -17,11 +17,17 @@ enum class ReferencePlane {
 class PieceInterface{
     protected:
         
-        //std::vector<JointInterface*> joints;
+        void initialize_shapes(sf::Vector3f dim){
+            shapeXZ = new sf::RectangleShape({dim.x, dim.y});
+            shapeYZ = new sf::RectangleShape({dim.z, dim.y});
+            shapeXZ->setOrigin({dim.x/2,dim.y/2});
+            shapeYZ->setOrigin({dim.z/2,dim.y/2});
+            shapeXZ->setFillColor(color);
+            shapeYZ->setFillColor(color);
+        }
 
     public:
-        sf::Shape* shape;
-        sf::Vector2f size;
+        sf::Shape* shapeXZ, *shapeYZ;
         rb::Vector3 globalPos;
         rb::rigidbody body;
         sf::Color color;

src/pieces/headers/sensore.hpp

@@ -3,11 +3,13 @@
 #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:
+        const sf::Vector3f sensore_Dim = {30, 60, 30};
+        const sf::Color sensore_Col = sf::Color::Red;
+        
         std::vector<std::vector<float>> accData;
         std::vector<std::vector<float>> gData;
         std::vector<std::vector<float>> rotData;
@@ -21,6 +23,7 @@ class Sensore : public PieceInterface{
 
         //funzioni ausiliarie
         void calcRotWithG(unsigned int index);
+        
 
     public: 
         Sensore(rb::Vector3 coords, _Float16 mass);

src/pieces/headers/torso.hpp

@@ -0,0 +1,21 @@
+#include "piece_interface.hpp"
+
+#ifndef TORSO_H
+#define TORSO_H
+
+
+
+
+class Torso : public PieceInterface{
+    private:
+        const sf::Vector3f torso_Dim = {100, 100, 250};
+        const sf::Color torso_Col = sf::Color::Red;
+    public:
+        Torso(rb::Vector3 coords, _Float16 mass);
+        ~Torso();
+
+        void update(sf::Clock cl) override;
+        sf::Shape* draw(ReferencePlane plane) override;
+};
+
+#endif

src/pieces/methods/caviglia_class.cpp

@@ -1,17 +1,18 @@
 #include "../headers/caviglia.hpp"
 
 Caviglia::Caviglia(rb::Vector3 coords, _Float16 mass){
-    size = caviglia_Dim;
-    rb::Vector3 com = {size.x/2,0, size.y/2};
+    rb::Vector3 com = {caviglia_Dim.x/2,caviglia_Dim.x/2, caviglia_Dim.y/2};
     body = rb::rigidbody(coords, com, mass);
     color = caviglia_Col;
-    shape = new sf::RectangleShape(size);
-    shape->setOrigin({size.x/2,size.y/2});
     globalPos = {0,0,0};
+
+    initialize_shapes(caviglia_Dim);
 }
 
+
 Caviglia::~Caviglia(){
-    delete shape;
+    delete shapeXZ;
+    delete shapeYZ;
 }
 
 void Caviglia::update(sf::Clock cl){
@@ -19,22 +20,31 @@ void Caviglia::update(sf::Clock cl){
 }
 
 sf::Shape* Caviglia::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]});
+        {
+        sf::Shape* shape = shapeXZ;
         shape->setRotation(sf::Angle(sf::radians(tmpRot[2])));
+        shape->setPosition({tmpPos[0]+globalPos[0],tmpPos[2]+globalPos[2]});
+        return shape;}
+        break;
+    
+    case ReferencePlane::YZ:
+        {
+        sf::Shape* shape = shapeYZ;
+        shape->setRotation(sf::Angle(sf::radians(tmpRot[1])));
+        shape->setPosition({tmpPos[1]+globalPos[1],tmpPos[2]+globalPos[2]});
+        return shape;}
         break;
     
-
     default:
         break;
     }
-
    
-    return shape;
+    return nullptr;
 }

src/pieces/methods/coscia_class.cpp

@@ -1,17 +1,16 @@
 #include "../headers/coscia.hpp"
 
 Coscia::Coscia(rb::Vector3 coords, _Float16 mass){
-    size = coscia_Dim;
-    rb::Vector3 com = {size.x/2,0, size.y/2};
+    rb::Vector3 com = {coscia_Dim.x/2,coscia_Dim.z/2,coscia_Dim.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};
+    initialize_shapes(coscia_Dim);
 }
 
 Coscia::~Coscia(){
-    delete shape;
+    delete shapeXZ;
+    delete shapeYZ;
 }
 
 void Coscia::update(sf::Clock cl){
@@ -19,22 +18,33 @@ void Coscia::update(sf::Clock 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]});
+        {
+        sf::Shape* shape = shapeXZ;
         shape->setRotation(sf::Angle(sf::radians(tmpRot[2])));
+        shape->setPosition({tmpPos[0]+globalPos[0],tmpPos[2]+globalPos[2]});
+        return shape;}
+        break;
+    
+    case ReferencePlane::YZ:
+        {
+        sf::Shape* shape = shapeYZ;
+        shape->setRotation(sf::Angle(sf::radians(tmpRot[1])));
+        shape->setPosition({tmpPos[1]+globalPos[1],tmpPos[2]+globalPos[2]});
+        return shape;}
         break;
     
-
     default:
         break;
     }
 
    
-    return shape;
+    return nullptr;
 }

src/pieces/methods/sensore_class.cpp

@@ -2,12 +2,11 @@
 
 
 Sensore::Sensore(rb::Vector3 coords, _Float16 mass){
-    size = sensore_Dim;
-    rb::Vector3 com = {size.x/2,0, size.y/2};
+    rb::Vector3 com = {sensore_Dim.x/2,sensore_Dim.z/2, sensore_Dim.y/2};
     body = rb::rigidbody(coords, com, mass);
     color = sensore_Col;
-    shape = new sf::RectangleShape(size);
     globalPos = {0,0,0};
+    initialize_shapes(sensore_Dim);
 }
 
 Sensore::Sensore(rb::Vector3 coords, _Float16 mass, unsigned int st, unsigned int dataIntvl, std::vector<std::vector<float>> data) : Sensore(coords, mass){
@@ -18,7 +17,8 @@ Sensore::Sensore(rb::Vector3 coords, _Float16 mass, unsigned int st, unsigned in
 
 
 Sensore::~Sensore(){
-    delete shape;
+    delete shapeXZ;
+    delete shapeYZ;
 }
 
 void Sensore::initCSV(std::vector<std::vector<float>> data){
@@ -48,6 +48,8 @@ void Sensore::update(sf::Clock cl){
 
         //calcolo la posizione e velocità
         calcRotWithG(dataPos);
+
+
         body.setAcc(rb::Vector3{accData[dataPos]});
         body.step(cl);
     }
@@ -55,30 +57,33 @@ void Sensore::update(sf::Clock 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:
+        {
+        sf::Shape* shape = shapeXZ;
         shape->setRotation(sf::Angle(sf::radians(tmpRot[2])));
         shape->setPosition({tmpPos[0]+globalPos[0],tmpPos[2]+globalPos[2]});
+        return shape;}
+        break;
+    
+    case ReferencePlane::YZ:
+        {
+        sf::Shape* shape = shapeYZ;
+        shape->setRotation(sf::Angle(sf::radians(tmpRot[1])));
+        shape->setPosition({tmpPos[1]+globalPos[1],tmpPos[2]+globalPos[2]});
+        return shape;}
         break;
     
     default:
         break;
     }
-    
 
-    
-
-    return shape;
+    return nullptr;
 }
 
 
@@ -99,4 +104,10 @@ void Sensore::calcRotWithG(unsigned int index){ // calcolo rotazione con valori
 
     body.setRot(rb::Vector3_s{_Float16( tmpAX),_Float16( tmpAY),_Float16( tmpAZ) });
 
-}
+}
+/*
+void Sensore::calcRotWithConstraint(){
+
+};*/
+
+/////////////// cinematica inversa

src/pieces/methods/torso.cpp

@@ -0,0 +1,50 @@
+#include "../headers/torso.hpp"
+
+Torso::Torso(rb::Vector3 coords, _Float16 mass){
+    rb::Vector3 com = {torso_Dim.x/2, torso_Dim.y/2, torso_Dim.z/2};
+    body = rb::rigidbody(coords,com, mass);
+    color = torso_Col;
+    globalPos = {0,0,0};
+
+    initialize_shapes(torso_Dim);
+}
+
+Torso::~Torso(){
+    delete shapeXZ;
+    delete shapeYZ;
+}
+
+void Torso::update(sf::Clock cl){
+    
+}
+
+sf::Shape* Torso::draw(ReferencePlane plane){
+   
+    rb::Vector3_s tmpRot = body.getRot();
+    rb::Vector3 tmpPos = body.getPos();
+
+
+    switch (plane)
+    {
+    case ReferencePlane::XZ:
+        {
+        sf::Shape* shape = shapeXZ;
+        shape->setRotation(sf::Angle(sf::radians(tmpRot[2])));
+        shape->setPosition({tmpPos[0]+globalPos[0],tmpPos[2]+globalPos[2]});
+        return shape;}
+        break;
+    
+    case ReferencePlane::YZ:
+        {
+        sf::Shape* shape = shapeYZ;
+        shape->setRotation(sf::Angle(sf::radians(tmpRot[1])));
+        shape->setPosition({tmpPos[1]+globalPos[1],tmpPos[2]+globalPos[2]});
+        return shape;}
+        break;
+    
+    default:
+        break;
+    }
+
+    return nullptr;
+}

src/sfml_util.cpp

@@ -22,6 +22,7 @@ struct State
     sf::Vector2f cameraOffset = {0.,0.};
 
     sf::Clock clock;
+    ReferencePlane selectedPlane = ReferencePlane::XZ;
 
     int selected = -1;
 
@@ -72,6 +73,12 @@ void handle(const sf::Event::TextEntered &textEnter, State &gs)
 
 void handle(const sf::Event::KeyPressed &keyPressed, State &gs)
 {
+    if (keyPressed.scancode == sf::Keyboard::Scancode::Space){
+        if (gs.selectedPlane == ReferencePlane::XZ)
+            gs.selectedPlane = ReferencePlane::YZ;
+        else 
+            gs.selectedPlane = ReferencePlane::XZ;
+    }
 }
 
 void handle(const sf::Event::MouseMoved &mouseMoved, State &gs)
@@ -113,7 +120,6 @@ void handle(const sf::Event::MouseButtonPressed &mouseBP, State &gs)
 
             if (dist(pos,mouseBP.position) < 20){
                 gs.selected = i;
-                break;
             }
             i++;
         }
@@ -127,7 +133,6 @@ void handle(const sf::Event::MouseButtonPressed &mouseBP, State &gs)
 
             if (dist(pos,mouseBP.position) < 20){
                 gs.selected = i;
-                break;
             }
             i++;
         }
@@ -173,7 +178,7 @@ void doGraphics(State &gs)
     doGUI(gs);
 
     for(PieceInterface* p: gs.pieces){
-        gs.window.draw(*p->draw(ReferencePlane::XZ));
+        gs.window.draw(*p->draw(gs.selectedPlane));
     }
     
     // TODO: add here code to display shapes in your canvas

src/testMain.cpp

@@ -40,7 +40,7 @@ int main() {
 
         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.push_back(new Caviglia (rb::Vector3{300,10,500},1));
 
         gs.pieces[1]->body.setRot({0,0,0});
 
@@ -49,6 +49,8 @@ int main() {
         const auto& caviglia = processor.getData();
         gs.pieces.push_back(new Sensore (rb::Vector3{300,700,500},_Float16( 0.2 ),900,3000,caviglia));
         
+        gs.pieces.push_back(new Torso(rb::Vector3{300,400,150},2));
+
         // 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)});
@@ -59,6 +61,8 @@ int main() {
         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]}));
+        gs.joints.push_back(new PivotJoint(gs.pieces[4], {gs.pieces[1]}, rb::Vector3{0,0,50}));
+        
 
         printf("Ho costruito tutto!\n");
     }