Caricamento v0.3

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");
     }