Caricamento v0.3

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;
+}