Endertom/FCG_VisualizzatoreCamminata
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Caricamento v4

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Endert0m
2026-05-31 11:58:56 +02:00
parent 5169bc4096
commit 5da309b43f
13 changed files with 147 additions and 72 deletions
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src/pieces/methods/caviglia_class.cpp
+4 -2
View File
@@ -29,16 +29,18 @@ sf::Shape* Caviglia::draw(ReferencePlane plane){
case ReferencePlane::XZ:
{
sf::Shape* shape = shapeXZ;
shape->setRotation(sf::Angle(sf::radians(tmpRot[2])));
shape->setRotation(sf::Angle(sf::radians(tmpRot[1])));
shape->setPosition({tmpPos[0]+globalPos[0],tmpPos[2]+globalPos[2]});
shape->setScale({1,cos(float(tmpRot[0]))});
return shape;}
break;
case ReferencePlane::YZ:
{
sf::Shape* shape = shapeYZ;
shape->setRotation(sf::Angle(sf::radians(tmpRot[1])));
shape->setRotation(sf::Angle(sf::radians(tmpRot[0])));
shape->setPosition({tmpPos[1]+globalPos[1],tmpPos[2]+globalPos[2]});
shape->setScale({1,cos(float(tmpRot[1]))});
return shape;}
break;
src/pieces/methods/coscia_class.cpp
+12 -2
View File
@@ -28,16 +28,26 @@ sf::Shape* Coscia::draw(ReferencePlane plane){
case ReferencePlane::XZ:
{
sf::Shape* shape = shapeXZ;
shape->setRotation(sf::Angle(sf::radians(tmpRot[2])));
shape->setRotation(sf::Angle(sf::radians(tmpRot[1])));
shape->setPosition({tmpPos[0]+globalPos[0],tmpPos[2]+globalPos[2]});
//calcolo ridimensionamento dato da cos(x)-> questo per definire l'ancoraggio corretto del pivot
shape->setScale({1,cos(float(tmpRot[0]))});
//shape->setScale({1,(0.5* cos(float(tmpRot[0]*2)))+0.5});
return shape;}
break;
case ReferencePlane::YZ:
{
sf::Shape* shape = shapeYZ;
shape->setRotation(sf::Angle(sf::radians(tmpRot[1])));
shape->setRotation(sf::Angle(sf::radians(tmpRot[0])));
shape->setPosition({tmpPos[1]+globalPos[1],tmpPos[2]+globalPos[2]});
//calcolo ridimensionamento dato da cos(x) -> questo per definire l'ancoraggio corretto del pivot
shape->setScale({1,cos(float(tmpRot[1]))});
//shape->setScale({1,(0.5* cos(float(tmpRot[1]*2)))+0.5});
return shape;}
break;
src/pieces/methods/sensore_class.cpp
+9 -6
View File
@@ -33,6 +33,9 @@ void Sensore::initCSV(std::vector<std::vector<float>> data){
std::vector<float> tmpA = {row[5],row[6],row[4]};
std::vector<float> tmpG = {-row[8],-row[9],-row[7]};
/////// DA CAMBIARE QUI ///////////
rotData.push_back(tmpR);
accData.push_back(tmpA);
gData.push_back(tmpG);
@@ -66,7 +69,7 @@ sf::Shape* Sensore::draw(ReferencePlane plane){
case ReferencePlane::XZ:
{
sf::Shape* shape = shapeXZ;
shape->setRotation(sf::Angle(sf::radians(tmpRot[2])));
shape->setRotation(sf::Angle(sf::radians(tmpRot[1])));
shape->setPosition({tmpPos[0]+globalPos[0],tmpPos[2]+globalPos[2]});
return shape;}
break;
@@ -74,7 +77,7 @@ sf::Shape* Sensore::draw(ReferencePlane plane){
case ReferencePlane::YZ:
{
sf::Shape* shape = shapeYZ;
shape->setRotation(sf::Angle(sf::radians(tmpRot[1])));
shape->setRotation(sf::Angle(sf::radians(tmpRot[0])));
shape->setPosition({tmpPos[1]+globalPos[1],tmpPos[2]+globalPos[2]});
return shape;}
break;
@@ -98,11 +101,11 @@ void Sensore::calcRotWithG(unsigned int index){ // calcolo rotazione con valori
float tmpSinY = -grav[1] / modG;
float tmpSinZ = -grav[2] / modG;
float tmpAX = acos(tmpSinY);
float tmpAY = acos(tmpSinZ);
float tmpAZ = acos(tmpSinX);
float tmpAX = acos(tmpSinX);
float tmpAY = acos(tmpSinY);
float tmpAZ = acos(tmpSinZ);
body.setRot(rb::Vector3_s{_Float16( tmpAX),_Float16( tmpAY),_Float16( tmpAZ) });
body.setRot(rb::Vector3_s{_Float16( tmpAY),_Float16( tmpAX),_Float16( tmpAZ) });
}
/*
src/pieces/methods/torso.cpp
+2 -2
View File
@@ -29,7 +29,7 @@ sf::Shape* Torso::draw(ReferencePlane plane){
case ReferencePlane::XZ:
{
sf::Shape* shape = shapeXZ;
shape->setRotation(sf::Angle(sf::radians(tmpRot[2])));
shape->setRotation(sf::Angle(sf::radians(tmpRot[1])));
shape->setPosition({tmpPos[0]+globalPos[0],tmpPos[2]+globalPos[2]});
return shape;}
break;
@@ -37,7 +37,7 @@ sf::Shape* Torso::draw(ReferencePlane plane){
case ReferencePlane::YZ:
{
sf::Shape* shape = shapeYZ;
shape->setRotation(sf::Angle(sf::radians(tmpRot[1])));
shape->setRotation(sf::Angle(sf::radians(tmpRot[0])));
shape->setPosition({tmpPos[1]+globalPos[1],tmpPos[2]+globalPos[2]});
return shape;}
break;