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/testMain.cpp
+8 -8
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@@ -38,30 +38,30 @@ int main() {
const auto& coscia = processor.getData();
gs.pieces.push_back(new Coscia (rb::Vector3{300,10,300},2));
gs.pieces.push_back(new Coscia (rb::Vector3{300,300,300},2));
gs.pieces.push_back(new Sensore (rb::Vector3{300,300,300},_Float16( 0.2 ),900,3000,coscia));
gs.pieces.push_back(new Caviglia (rb::Vector3{300,10,500},1));
gs.pieces.push_back(new Caviglia (rb::Vector3{300,300,500},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));
gs.pieces.push_back(new Sensore (rb::Vector3{300,300,500},_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)});
gs.pieces[1]->body.setRot({_Float16 (1.3),_Float16 (1.5),0});
gs.pieces[3]->body.setRot({_Float16 (1.8),_Float16 (1.5),0});
// aggiungo i joint
gs.joints.push_back(new PivotJoint(gs.pieces[4], {gs.pieces[1]}, rb::Vector3{0,-100,50}));
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");