diff --git a/build/bin/mainV10.exe b/build/bin/mainV10.exe
index 3fd404f..0083684 100644
Binary files a/build/bin/mainV10.exe and b/build/bin/mainV10.exe differ
diff --git a/src/include.hpp b/src/include.hpp
index a2485f5..a2e1ac2 100644
--- a/src/include.hpp
+++ b/src/include.hpp
@@ -5,7 +5,8 @@
 #include "pieces/headers/caviglia.hpp"
 #include "pieces/headers/sensore.hpp"
 #include "pieces/headers/torso.hpp"
+#include "pieces/headers/pavimento.hpp"
 #include "joints/headers/rigid_joint.hpp"
 #include "joints/headers/pivot_joint.hpp"
 #include "collections/headers/gamba.hpp"
-#include "collections/headers/lower_body.hpp"
\ No newline at end of file
+#include "collections/headers/lower_body.hpp"
diff --git a/src/pieces/headers/joint_piece.hpp b/src/pieces/headers/joint_piece.hpp
deleted file mode 100644
index df4a2e1..0000000
--- a/src/pieces/headers/joint_piece.hpp
+++ /dev/null
@@ -1 +0,0 @@
-#include "piece_interface.hpp"
\ No newline at end of file
diff --git a/src/pieces/headers/pavimento.hpp b/src/pieces/headers/pavimento.hpp
new file mode 100644
index 0000000..b35749f
--- /dev/null
+++ b/src/pieces/headers/pavimento.hpp
@@ -0,0 +1,25 @@
+#include "piece_interface.hpp"
+
+
+#ifndef PAVIMENTO_H
+#define PAVIMENTO_H
+
+class Pavimento : public PieceInterface{
+    private:
+        const sf::Vector3f pavimento_Dim = {600, 20, 600};
+        const sf::Color pavimento_Col = sf::Color(255,255,255,255);
+        
+        const std::string TEXTURE_F = std::string("pavimentoF.png");
+        const std::string TEXTURE_L = std::string("pavimentoL.png");
+
+
+    public: 
+
+        Pavimento(rb::Vector3 coords, _Float16 mass);
+        ~Pavimento();
+
+        void update(sf::Clock cl, float multiplier) override {};
+        sf::Shape* draw(ReferencePlane plane) override;
+};
+
+#endif
\ No newline at end of file
diff --git a/src/pieces/methods/coscia_class.cpp b/src/pieces/methods/coscia_class.cpp
index 716e030..834bcc2 100644
--- a/src/pieces/methods/coscia_class.cpp
+++ b/src/pieces/methods/coscia_class.cpp
@@ -11,7 +11,7 @@ Coscia::Coscia(rb::Vector3 coords, _Float16 mass){
         setTextures(TEXTURE_F,TEXTURE_L);
     }
     catch (const char* &e ){
-        printf("Caviglia: %s\n", e);
+        printf("Coscia: %s\n", e);
     }
 }
 
diff --git a/src/pieces/methods/pavimento.cpp b/src/pieces/methods/pavimento.cpp
new file mode 100644
index 0000000..c80c6c6
--- /dev/null
+++ b/src/pieces/methods/pavimento.cpp
@@ -0,0 +1,57 @@
+#include "../headers/pavimento.hpp"
+
+Pavimento::Pavimento(rb::Vector3 coords, _Float16 mass){
+    rb::Vector3 com = {pavimento_Dim.x/2,pavimento_Dim.z/2,pavimento_Dim.y/2};
+    body = rb::rigidbody(coords, com, mass, pavimento_Dim.z/2);
+    color = pavimento_Col;
+    globalPos = {0,0,0};
+    initialize_shapes(pavimento_Dim);
+
+    try{
+        setTextures(TEXTURE_F,TEXTURE_L);
+    }
+    catch (const char* &e ){
+        printf("Pavimento: %s\n", e);
+    }
+}
+
+Pavimento::~Pavimento(){
+    delete shapeXZ;
+    delete shapeYZ;
+}
+
+ sf::Shape* Pavimento::draw(ReferencePlane plane){
+     
+    rb::Vector3 tmpPos = body.getPos();
+    rb::Vector3 tmpRot = body.getRot();
+
+
+    switch (plane)
+    {
+    case ReferencePlane::XZ : case ReferencePlane::XZN:
+        {
+        sf::Shape* shape = shapeXZ;
+        shape->setRotation(sf::Angle(sf::radians(tmpRot[1])));
+        shape->setPosition({tmpPos[0]+globalPos[0],tmpPos[2]+globalPos[2]});
+        shape->setScale({plane == ReferencePlane::XZ ? float(1.0) : float(-1.0),cos(float(tmpRot[0]))});
+        shape->setFillColor(color*sf::Color(255,255,255,transparency*255));
+        return shape;}
+        break;
+    
+    case ReferencePlane::YZ:
+        {
+        sf::Shape* shape = shapeYZ;
+        shape->setRotation(sf::Angle(sf::radians(tmpRot[0])));
+        shape->setPosition({tmpPos[1]+globalPos[1],tmpPos[2]+globalPos[2]});
+        shape->setFillColor(color*sf::Color(255,255,255,transparency*255));
+        shape->setScale({1,cos(float(tmpRot[1]))});
+        return shape;}
+        break;
+    
+    default:
+        break;
+    }
+
+   
+    return nullptr;
+ }
\ No newline at end of file
diff --git a/src/testMain.cpp b/src/testMain.cpp
index 4d53cd8..123d775 100755
--- a/src/testMain.cpp
+++ b/src/testMain.cpp
@@ -71,6 +71,11 @@ int main() {
         
         gs.pieces[2]->setDirection(Direction::R);
         */
+
+
+
+
+
         //provo ad aggiungere una collection
         //gs.collections.push_back(new Gamba({220,0,220},&pos,"coscia_filt.csv","caviglia_filt.csv"));
         
@@ -86,6 +91,11 @@ int main() {
         data.push_back(d);
         data.push_back(s);
         gs.collections.push_back(new Lower_Body(rb::Vector3{200,200,100},data));
+
+
+
+        //aggiungo il pavimento 
+        gs.pieces.push_back(new Pavimento({200,200,550},0.2));
         
         printf("Ho costruito tutto!\n");
     }