Caricamento v0.3

CMakeLists.txt

@@ -12,12 +12,20 @@ FetchContent_Declare(SFML
     SYSTEM)
 FetchContent_MakeAvailable(SFML)
 
+FetchContent_Declare(
+	glm
+	GIT_REPOSITORY	https://github.com/g-truc/glm.git
+	GIT_TAG 	0af55ccecd98d4e5a8d1fad7de25ba429d60e863 #refs/tags/1.0.1
+)
+FetchContent_MakeAvailable(glm)
+
+
 set(METHODS_PATH "./src/*/methods/*.cpp")
 
-#V1
+
-set(VERSION "V1")
+set(VERSION "V3")
 
 file(GLOB_RECURSE METHODS_SRC "${METHODS_PATH}")
 add_executable(main${VERSION} ./src/testMain.cpp ${METHODS_SRC} )
 target_compile_features(main${VERSION} PRIVATE cxx_std_17)
-target_link_libraries(main${VERSION} PRIVATE SFML::Graphics)
+target_link_libraries(main${VERSION} PRIVATE SFML::Graphics glm)

README.md

@@ -1,7 +1,7 @@
 # FCG_VisualizzatoreCamminata
 
 
-Nella versione versione v0.1 è presente la base del progetto.
+## Nella versione versione v0.1 è presente la base del progetto.
 
 - La gerarchia dei file e delle classi
 
@@ -17,10 +17,21 @@ Per questione di debug tutti i pezzi rappresentati si possono trascinare e ruota
 
 Per spostare l'intera scena si tiene premuto il tasto centrale del mouse.
 
-Per compliare:
+## Nella versione v0.2:
+- Applicato refactoring di diverse classi
+- Aggiustato calcolo dei pivot implementando le rotazioni con algebra affine e glm
+- Aggiuta classe caviglia (per differenziarla dalla coscia) 
+
+## Nella versione v0.3:
+- Applicato refactoring delle classi pieces
+- Aggiunta pezzo torso
+- Nel testMain vengono agganciate caviglia e coscia al nuovo torso
+
+
+# Per compliare:
 
     cmake --build
 
-Per lanciare:
+# Per lanciare:
 
-    ./build/bin/mainV1
+    ./build/bin/mainV3

build/.cmake/api/v1/reply/cache-v2-cf38a27fbc2746147de0.json

@@ -1107,7 +1107,7 @@
 				}
 			],
 			"type" : "INTERNAL",
-			"value" : "8"
+			"value" : "10"
 		},
 		{
 			"name" : "CMAKE_OBJCOPY",
@@ -1653,6 +1653,18 @@
 			"type" : "BOOL",
 			"value" : "ON"
 		},
+		{
+			"name" : "FETCHCONTENT_SOURCE_DIR_GLM",
+			"properties" : 
+			[
+				{
+					"name" : "HELPSTRING",
+					"value" : "When not empty, overrides where to find pre-populated content for glm"
+				}
+			],
+			"type" : "PATH",
+			"value" : ""
+		},
 		{
 			"name" : "FETCHCONTENT_SOURCE_DIR_SFML",
 			"properties" : 
@@ -1677,6 +1689,18 @@
 			"type" : "BOOL",
 			"value" : "OFF"
 		},
+		{
+			"name" : "FETCHCONTENT_UPDATES_DISCONNECTED_GLM",
+			"properties" : 
+			[
+				{
+					"name" : "HELPSTRING",
+					"value" : "Enables UPDATE_DISCONNECTED behavior just for population of glm"
+				}
+			],
+			"type" : "BOOL",
+			"value" : "OFF"
+		},
 		{
 			"name" : "FETCHCONTENT_UPDATES_DISCONNECTED_SFML",
 			"properties" : 
@@ -1869,6 +1893,234 @@
 			"type" : "FILEPATH",
 			"value" : "/usr/bin/git"
 		},
+		{
+			"name" : "GLM_BUILD_INSTALL",
+			"properties" : 
+			[
+				{
+					"name" : "HELPSTRING",
+					"value" : "Generate the install target"
+				}
+			],
+			"type" : "BOOL",
+			"value" : "OFF"
+		},
+		{
+			"name" : "GLM_BUILD_LIBRARY",
+			"properties" : 
+			[
+				{
+					"name" : "HELPSTRING",
+					"value" : "Build dynamic/static library"
+				}
+			],
+			"type" : "BOOL",
+			"value" : "ON"
+		},
+		{
+			"name" : "GLM_BUILD_TESTS",
+			"properties" : 
+			[
+				{
+					"name" : "HELPSTRING",
+					"value" : "Build the test programs"
+				}
+			],
+			"type" : "BOOL",
+			"value" : "OFF"
+		},
+		{
+			"name" : "GLM_DISABLE_AUTO_DETECTION",
+			"properties" : 
+			[
+				{
+					"name" : "HELPSTRING",
+					"value" : "Disable platform, compiler, arch and C++ language detection"
+				}
+			],
+			"type" : "BOOL",
+			"value" : "OFF"
+		},
+		{
+			"name" : "GLM_ENABLE_CXX_11",
+			"properties" : 
+			[
+				{
+					"name" : "HELPSTRING",
+					"value" : "Enable C++ 11"
+				}
+			],
+			"type" : "BOOL",
+			"value" : "OFF"
+		},
+		{
+			"name" : "GLM_ENABLE_CXX_14",
+			"properties" : 
+			[
+				{
+					"name" : "HELPSTRING",
+					"value" : "Enable C++ 14"
+				}
+			],
+			"type" : "BOOL",
+			"value" : "OFF"
+		},
+		{
+			"name" : "GLM_ENABLE_CXX_17",
+			"properties" : 
+			[
+				{
+					"name" : "HELPSTRING",
+					"value" : "Enable C++ 17"
+				}
+			],
+			"type" : "BOOL",
+			"value" : "OFF"
+		},
+		{
+			"name" : "GLM_ENABLE_CXX_20",
+			"properties" : 
+			[
+				{
+					"name" : "HELPSTRING",
+					"value" : "Enable C++ 20"
+				}
+			],
+			"type" : "BOOL",
+			"value" : "OFF"
+		},
+		{
+			"name" : "GLM_ENABLE_CXX_98",
+			"properties" : 
+			[
+				{
+					"name" : "HELPSTRING",
+					"value" : "Enable C++ 98"
+				}
+			],
+			"type" : "BOOL",
+			"value" : "OFF"
+		},
+		{
+			"name" : "GLM_ENABLE_FAST_MATH",
+			"properties" : 
+			[
+				{
+					"name" : "HELPSTRING",
+					"value" : "Enable fast math optimizations"
+				}
+			],
+			"type" : "BOOL",
+			"value" : "OFF"
+		},
+		{
+			"name" : "GLM_ENABLE_LANG_EXTENSIONS",
+			"properties" : 
+			[
+				{
+					"name" : "HELPSTRING",
+					"value" : "Enable language extensions"
+				}
+			],
+			"type" : "BOOL",
+			"value" : "OFF"
+		},
+		{
+			"name" : "GLM_ENABLE_SIMD_AVX",
+			"properties" : 
+			[
+				{
+					"name" : "HELPSTRING",
+					"value" : "Enable AVX optimizations"
+				}
+			],
+			"type" : "BOOL",
+			"value" : "OFF"
+		},
+		{
+			"name" : "GLM_ENABLE_SIMD_AVX2",
+			"properties" : 
+			[
+				{
+					"name" : "HELPSTRING",
+					"value" : "Enable AVX2 optimizations"
+				}
+			],
+			"type" : "BOOL",
+			"value" : "OFF"
+		},
+		{
+			"name" : "GLM_ENABLE_SIMD_SSE2",
+			"properties" : 
+			[
+				{
+					"name" : "HELPSTRING",
+					"value" : "Enable SSE2 optimizations"
+				}
+			],
+			"type" : "BOOL",
+			"value" : "OFF"
+		},
+		{
+			"name" : "GLM_ENABLE_SIMD_SSE3",
+			"properties" : 
+			[
+				{
+					"name" : "HELPSTRING",
+					"value" : "Enable SSE3 optimizations"
+				}
+			],
+			"type" : "BOOL",
+			"value" : "OFF"
+		},
+		{
+			"name" : "GLM_ENABLE_SIMD_SSE4_1",
+			"properties" : 
+			[
+				{
+					"name" : "HELPSTRING",
+					"value" : "Enable SSE 4.1 optimizations"
+				}
+			],
+			"type" : "BOOL",
+			"value" : "OFF"
+		},
+		{
+			"name" : "GLM_ENABLE_SIMD_SSE4_2",
+			"properties" : 
+			[
+				{
+					"name" : "HELPSTRING",
+					"value" : "Enable SSE 4.2 optimizations"
+				}
+			],
+			"type" : "BOOL",
+			"value" : "OFF"
+		},
+		{
+			"name" : "GLM_ENABLE_SIMD_SSSE3",
+			"properties" : 
+			[
+				{
+					"name" : "HELPSTRING",
+					"value" : "Enable SSSE3 optimizations"
+				}
+			],
+			"type" : "BOOL",
+			"value" : "OFF"
+		},
+		{
+			"name" : "GLM_FORCE_PURE",
+			"properties" : 
+			[
+				{
+					"name" : "HELPSTRING",
+					"value" : "Force 'pure' instructions"
+				}
+			],
+			"type" : "BOOL",
+			"value" : "OFF"
+		},
 		{
 			"name" : "OGG_INCLUDE_DIR",
 			"properties" : 
@@ -4636,6 +4888,42 @@
 			],
 			"type" : "INTERNAL",
 			"value" : "/usr/local"
+		},
+		{
+			"name" : "glm_BINARY_DIR",
+			"properties" : 
+			[
+				{
+					"name" : "HELPSTRING",
+					"value" : "Value Computed by CMake"
+				}
+			],
+			"type" : "STATIC",
+			"value" : "/home/endertom/Documenti/ProgettoFinaleRep/FCG_VisualizzatoreCamminata/build/_deps/glm-build"
+		},
+		{
+			"name" : "glm_IS_TOP_LEVEL",
+			"properties" : 
+			[
+				{
+					"name" : "HELPSTRING",
+					"value" : "Value Computed by CMake"
+				}
+			],
+			"type" : "STATIC",
+			"value" : "OFF"
+		},
+		{
+			"name" : "glm_SOURCE_DIR",
+			"properties" : 
+			[
+				{
+					"name" : "HELPSTRING",
+					"value" : "Value Computed by CMake"
+				}
+			],
+			"type" : "STATIC",
+			"value" : "/home/endertom/Documenti/ProgettoFinaleRep/FCG_VisualizzatoreCamminata/build/_deps/glm-src"
 		}
 	],
 	"kind" : "cache",

build/.cmake/api/v1/reply/cmakeFiles-v1-55a603bab8f1f7b9a9db.json

@@ -147,6 +147,26 @@
 			"isExternal" : true,
 			"path" : "/usr/share/cmake-4.2/Modules/FetchContent/CMakeLists.cmake.in"
 		},
+		{
+			"isCMake" : true,
+			"isExternal" : true,
+			"path" : "/usr/share/cmake-4.2/Modules/FindGit.cmake"
+		},
+		{
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+			"isExternal" : true,
+			"path" : "/usr/share/cmake-4.2/Modules/FindPackageHandleStandardArgs.cmake"
+		},
+		{
+			"isCMake" : true,
+			"isExternal" : true,
+			"path" : "/usr/share/cmake-4.2/Modules/FindPackageMessage.cmake"
+		},
+		{
+			"isCMake" : true,
+			"isExternal" : true,
+			"path" : "/usr/share/cmake-4.2/Modules/FetchContent/CMakeLists.cmake.in"
+		},
 		{
 			"isGenerated" : true,
 			"path" : "build/_deps/sfml-src/CMakeLists.txt"
@@ -535,6 +555,19 @@
 		{
 			"isGenerated" : true,
 			"path" : "build/_deps/sfml-src/src/SFML/Audio/Dependencies.cmake.in"
+		},
+		{
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+			"path" : "build/_deps/glm-src/CMakeLists.txt"
+		},
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 		}
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 	"kind" : "cmakeFiles",

build/.cmake/api/v1/reply/codemodel-v2-48a6e2c377bb606c3455.json

@@ -234,6 +234,13 @@
 					"jsonFile" : "target-freetype-Debug-abdfbd050f0222558c4d.json",
 					"name" : "freetype",
 					"projectIndex" : 1
+				},
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@@ -246,7 +253,8 @@
 					"build" : ".",
 					"childIndexes" : 
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@@ -258,7 +266,7 @@
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 					"targetIndexes" : 
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@@ -268,7 +276,7 @@
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 					],
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 					"minimumCMakeVersion" : 
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@@ -304,7 +312,7 @@
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 					"hasInstallRule" : true,
-					"jsonFile" : "directory-_deps.sfml-build.src.SFML.System-Debug-a8a648ac157acad150c5.json",
+					"jsonFile" : "directory-_deps.sfml-build.src.SFML.System-Debug-8ed26fbff62444cac103.json",
 					"minimumCMakeVersion" : 
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@@ -314,7 +322,7 @@
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@@ -347,7 +355,7 @@
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 					"hasInstallRule" : true,
-					"jsonFile" : "directory-_deps.sfml-build.src.SFML.Window-Debug-be3f1b58265dd0b182ad.json",
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@@ -357,13 +365,13 @@
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 					"hasInstallRule" : true,
-					"jsonFile" : "directory-_deps.sfml-build.src.SFML.Network-Debug-2e3db7a0b897a8f2912c.json",
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 					"minimumCMakeVersion" : 
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@@ -373,7 +381,7 @@
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@@ -383,7 +391,7 @@
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 					"hasInstallRule" : true,
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 					"minimumCMakeVersion" : 
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@@ -393,7 +401,7 @@
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@@ -408,7 +416,7 @@
 					],
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 					"hasInstallRule" : true,
-					"jsonFile" : "directory-_deps.sfml-build.src.SFML.Audio-Debug-a33c3c7d6b217e553221.json",
+					"jsonFile" : "directory-_deps.sfml-build.src.SFML.Audio-Debug-6b2b3af0fd9759ab7812.json",
 					"minimumCMakeVersion" : 
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@@ -418,7 +426,41 @@
 					"source" : "build/_deps/sfml-src/src/SFML/Audio",
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@@ -432,7 +474,8 @@
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@@ -441,7 +484,7 @@
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 			"targets" : 
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+					"jsonFile" : "target-glm-Debug-244f6aa87d17e32353a7.json",
+					"name" : "glm",
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-					"id" : "mainV1::@6890427a1f51a3e7e1df",
+					"id" : "mainV3::@6890427a1f51a3e7e1df",
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+	{
+		"build" : "_deps/glm-build/glm",
+		"source" : "build/_deps/glm-src/glm"
+	}
+}

build/.cmake/api/v1/reply/directory-_deps.sfml-build-Debug-9e99fff3adb968d44f8e.json

@@ -242,7 +242,7 @@
 			[
 				{
 					"id" : "sfml-system::@8cb1db2982443611e568",
-					"index" : 4
+					"index" : 5
 				}
 			],
 			"paths" : 
@@ -260,7 +260,7 @@
 			[
 				{
 					"id" : "sfml-window::@5730451e331e3690ae65",
-					"index" : 5
+					"index" : 6
 				}
 			],
 			"paths" : 
@@ -278,7 +278,7 @@
 			[
 				{
 					"id" : "sfml-network::@d7f79968b2699e7782cb",
-					"index" : 3
+					"index" : 4
 				}
 			],
 			"paths" : 
@@ -296,7 +296,7 @@
 			[
 				{
 					"id" : "sfml-graphics::@98af38147d5fa7e70f61",
-					"index" : 2
+					"index" : 3
 				}
 			],
 			"paths" : 
@@ -314,7 +314,7 @@
 			[
 				{
 					"id" : "sfml-audio::@a153e5727587c53fce98",
-					"index" : 1
+					"index" : 2
 				}
 			],
 			"paths" : 

build/.cmake/api/v1/reply/directory-_deps.sfml-build.src.SFML.Audio-Debug-6b2b3af0fd9759ab7812.json

@@ -52,7 +52,7 @@
 				"_deps/sfml-build/lib/libsfml-audio-s-d.a"
 			],
 			"targetId" : "sfml-audio::@a153e5727587c53fce98",
-			"targetIndex" : 1,
+			"targetIndex" : 2,
 			"type" : "target"
 		},
 		{

build/.cmake/api/v1/reply/directory-_deps.sfml-build.src.SFML.Graphics-Debug-882c334f5d5ccd802105.json

@@ -52,7 +52,7 @@
 				"_deps/sfml-build/lib/libsfml-graphics-s-d.a"
 			],
 			"targetId" : "sfml-graphics::@98af38147d5fa7e70f61",
-			"targetIndex" : 2,
+			"targetIndex" : 3,
 			"type" : "target"
 		},
 		{

build/.cmake/api/v1/reply/directory-_deps.sfml-build.src.SFML.Network-Debug-2df01c5cf9c0481e3681.json

@@ -46,7 +46,7 @@
 				"_deps/sfml-build/lib/libsfml-network-s-d.a"
 			],
 			"targetId" : "sfml-network::@d7f79968b2699e7782cb",
-			"targetIndex" : 3,
+			"targetIndex" : 4,
 			"type" : "target"
 		}
 	],

build/.cmake/api/v1/reply/directory-_deps.sfml-build.src.SFML.System-Debug-8ed26fbff62444cac103.json

@@ -52,7 +52,7 @@
 				"_deps/sfml-build/lib/libsfml-system-s-d.a"
 			],
 			"targetId" : "sfml-system::@8cb1db2982443611e568",
-			"targetIndex" : 4,
+			"targetIndex" : 5,
 			"type" : "target"
 		},
 		{

build/.cmake/api/v1/reply/directory-_deps.sfml-build.src.SFML.Window-Debug-bc441d344f43ebac1e95.json

@@ -52,7 +52,7 @@
 				"_deps/sfml-build/lib/libsfml-window-s-d.a"
 			],
 			"targetId" : "sfml-window::@5730451e331e3690ae65",
-			"targetIndex" : 5,
+			"targetIndex" : 6,
 			"type" : "target"
 		},
 		{

build/.cmake/api/v1/reply/index-2026-05-31T08-58-45-0525.json

@@ -26,7 +26,7 @@
 	"objects" : 
 	[
 		{
-			"jsonFile" : "codemodel-v2-32cc683d1353c8d76846.json",
+			"jsonFile" : "codemodel-v2-48a6e2c377bb606c3455.json",
 			"kind" : "codemodel",
 			"version" : 
 			{
@@ -35,7 +35,7 @@
 			}
 		},
 		{
-			"jsonFile" : "cache-v2-bfa9fbd295e1c2548deb.json",
+			"jsonFile" : "cache-v2-cf38a27fbc2746147de0.json",
 			"kind" : "cache",
 			"version" : 
 			{
@@ -44,7 +44,7 @@
 			}
 		},
 		{
-			"jsonFile" : "cmakeFiles-v1-c1c7adbe1bc85952b01c.json",
+			"jsonFile" : "cmakeFiles-v1-55a603bab8f1f7b9a9db.json",
 			"kind" : "cmakeFiles",
 			"version" : 
 			{
@@ -90,7 +90,7 @@
 				"responses" : 
 				[
 					{
-						"jsonFile" : "cache-v2-bfa9fbd295e1c2548deb.json",
+						"jsonFile" : "cache-v2-cf38a27fbc2746147de0.json",
 						"kind" : "cache",
 						"version" : 
 						{
@@ -99,7 +99,7 @@
 						}
 					},
 					{
-						"jsonFile" : "codemodel-v2-32cc683d1353c8d76846.json",
+						"jsonFile" : "codemodel-v2-48a6e2c377bb606c3455.json",
 						"kind" : "codemodel",
 						"version" : 
 						{
@@ -117,7 +117,7 @@
 						}
 					},
 					{
-						"jsonFile" : "cmakeFiles-v1-c1c7adbe1bc85952b01c.json",
+						"jsonFile" : "cmakeFiles-v1-55a603bab8f1f7b9a9db.json",
 						"kind" : "cmakeFiles",
 						"version" : 
 						{

build/.cmake/api/v1/reply/target-glm-header-only-Debug-ba11e7860c401de4a955.json

@@ -0,0 +1,41 @@
+{
+	"abstract" : true,
+	"backtrace" : 1,
+	"backtraceGraph" : 
+	{
+		"commands" : 
+		[
+			"add_library"
+		],
+		"files" : 
+		[
+			"build/_deps/glm-src/glm/CMakeLists.txt"
+		],
+		"nodes" : 
+		[
+			{
+				"file" : 0
+			},
+			{
+				"command" : 0,
+				"file" : 0,
+				"line" : 45,
+				"parent" : 0
+			}
+		]
+	},
+	"codemodelVersion" : 
+	{
+		"major" : 2,
+		"minor" : 9
+	},
+	"id" : "glm-header-only::@ce54d98d7b326a3e12a8",
+	"name" : "glm-header-only",
+	"paths" : 
+	{
+		"build" : "_deps/glm-build/glm",
+		"source" : "build/_deps/glm-src/glm"
+	},
+	"sources" : [],
+	"type" : "INTERFACE_LIBRARY"
+}

build/.cmake/api/v1/reply/target-mainV3-Debug-ee31761362aa79611c23.json

@@ -2,7 +2,7 @@
 	"artifacts" : 
 	[
 		{
-			"path" : "bin/mainV1"
+			"path" : "bin/mainV3"
 		}
 	],
 	"backtrace" : 1,
@@ -31,13 +31,13 @@
 			{
 				"command" : 0,
 				"file" : 0,
-				"line" : 21,
+				"line" : 29,
 				"parent" : 0
 			},
 			{
 				"command" : 1,
 				"file" : 0,
-				"line" : 23,
+				"line" : 31,
 				"parent" : 0
 			},
 			{
@@ -125,6 +125,10 @@
 		{
 			"backtrace" : 2,
 			"id" : "sfml-graphics::@98af38147d5fa7e70f61"
+		},
+		{
+			"backtrace" : 2,
+			"id" : "glm::@ce54d98d7b326a3e12a8"
 		}
 	],
 	"compileGroups" : 
@@ -145,6 +149,10 @@
 			],
 			"includes" : 
 			[
+				{
+					"backtrace" : 2,
+					"path" : "/home/endertom/Documenti/ProgettoFinaleRep/FCG_VisualizzatoreCamminata/build/_deps/glm-src"
+				},
 				{
 					"backtrace" : 2,
 					"isSystem" : true,
@@ -160,7 +168,9 @@
 				3,
 				4,
 				5,
-				6
+				6,
+				7,
+				8
 			]
 		}
 	],
@@ -177,9 +187,13 @@
 		{
 			"backtrace" : 2,
 			"id" : "sfml-graphics::@98af38147d5fa7e70f61"
+		},
+		{
+			"backtrace" : 2,
+			"id" : "glm::@ce54d98d7b326a3e12a8"
 		}
 	],
-	"id" : "mainV1::@6890427a1f51a3e7e1df",
+	"id" : "mainV3::@6890427a1f51a3e7e1df",
 	"link" : 
 	{
 		"commandFragments" : 
@@ -193,6 +207,11 @@
 				"fragment" : "_deps/sfml-build/lib/libsfml-graphics-s-d.a",
 				"role" : "libraries"
 			},
+			{
+				"backtrace" : 2,
+				"fragment" : "_deps/glm-build/glm/libglm.a",
+				"role" : "libraries"
+			},
 			{
 				"backtrace" : 4,
 				"fragment" : "_deps/sfml-build/lib/libsfml-window-s-d.a",
@@ -271,10 +290,14 @@
 		{
 			"backtrace" : 2,
 			"id" : "sfml-graphics::@98af38147d5fa7e70f61"
+		},
+		{
+			"backtrace" : 2,
+			"id" : "glm::@ce54d98d7b326a3e12a8"
 		}
 	],
-	"name" : "mainV1",
+	"name" : "mainV3",
-	"nameOnDisk" : "mainV1",
+	"nameOnDisk" : "mainV3",
 	"paths" : 
 	{
 		"build" : ".",
@@ -292,7 +315,9 @@
 				3,
 				4,
 				5,
-				6
+				6,
+				7,
+				8
 			]
 		}
 	],
@@ -322,6 +347,12 @@
 			"path" : "src/joints/methods/rigid_joint_class.cpp",
 			"sourceGroupIndex" : 0
 		},
+		{
+			"backtrace" : 1,
+			"compileGroupIndex" : 0,
+			"path" : "src/pieces/methods/caviglia_class.cpp",
+			"sourceGroupIndex" : 0
+		},
 		{
 			"backtrace" : 1,
 			"compileGroupIndex" : 0,
@@ -334,6 +365,12 @@
 			"path" : "src/pieces/methods/sensore_class.cpp",
 			"sourceGroupIndex" : 0
 		},
+		{
+			"backtrace" : 1,
+			"compileGroupIndex" : 0,
+			"path" : "src/pieces/methods/torso.cpp",
+			"sourceGroupIndex" : 0
+		},
 		{
 			"backtrace" : 1,
 			"compileGroupIndex" : 0,

src/fis.hpp

@@ -1,44 +0,0 @@
-#include<math.h>
-#include"rb_class.cpp"
-#include<time.h>
-
-/*
-Questo namespace deve contenere le funzioni di gestione della fisica del motore.
-Ogni moto in questo engine sarà ti tipo uniformemente accelerato per dare una semplificazione della realtà.
-Le funzioni necessarie sono:
-
-- Calcolo velocità, richiede: 
-    (Oggetto rigidbody)
-    (time di partenza, time di arrivo o delta t)
-    (Accelerazione media)
-    (velocità iniziale)
-
-- Calcolo rotazione, richiede:
-    (Oggetto rigidbody)
-    (time di partenza, time di arrivo o delta t)
-    (Accelerazione tangenziale)
-    (RAD/s iniziale)
-
-- Calcolo accelerazione, deve modificare i valori di accelerazione su oggetti di tipo rigidbody, richiede:
-    (Oggetto rigidbody)
-
-- Calcolo posizione, deve calcolare la posizione di un rigidbody in in un intervallo di tempo
-
-- Calcolo energia potenziale
-
-- Calcolo inerzia 
-
-- Calcolo energia meccanica 
-
-*/
-using namespace rb;
-
-namespace fis{
-    
-    void calcVel(rigidbody body, const time_t Dtime);
-    void calcRot(rigidbody body, const time_t Dtime);
-    void calcAcc(rigidbody body, const std::vector<float> Dacc);
-    void calcTanAcc(rigidbody body, const std::vector<float> Dacc);
-    void calcPos(rigidbody body, const time_t Dtime);
-
-}

src/include.hpp

@@ -2,6 +2,8 @@
 #include "csv/headers/csv.hpp"
 #include "sfml_util.cpp"
 #include "pieces/headers/coscia.hpp"
+#include "pieces/headers/caviglia.hpp"
 #include "pieces/headers/sensore.hpp"
+#include "pieces/headers/torso.hpp"
 #include "joints/headers/rigid_joint.hpp"
 #include "joints/headers/pivot_joint.hpp"

src/joints/headers/joint_interface.hpp

@@ -1,4 +1,5 @@
 #include "../../pieces/headers/piece_interface.hpp"
+#include <glm/glm.hpp>
 
 #ifndef JOINT_INTERFACE_H
 #define JOINT_INTERFACE_H

src/joints/methods/pivot_joint_class.cpp

@@ -4,55 +4,43 @@
 
 void PivotJoint::rotate(unsigned int id){
     rb::Vector3_s fRot = father->body.getRot();
+    rb::Vector3 fPos = father->body.getPos();
     rb::Vector3_s cRot = childs[id]->body.getRot();
     
     ////  sposto l'origine passivamente su tutti gli assi ////
 
-    float r1 = sqrt(pow(pivot[0],2)+pow(pivot[2],2)); //calcolo modulo dell'offset (per ora solo sul piano xz)
+    float alpha = float (fRot[2] - oldRot[2]);
-    float r2 = sqrt(pow(offset[id][0],2)+pow(offset[id][2],2)); 
+    float cosA = glm::cos(alpha);
-    if (r1>ZERO_INT){
+    float sinA = glm::sin(alpha);
 
-        float sign = pivot[2] >= 0 ? 1 : -1;
+    float beta = float (cRot[2] - oldCRot[id][2]);
+    float cosB = glm::cos(beta);
+    float sinB = glm::sin(beta);
+
+    glm::mat3 R1 = glm::mat3(
+        /*cos*/ cosA, /*sin*/ sinA, 0,
+        /*-sin*/ -sinA , /*cos*/  cosA, 0,
+        0,      0,           1
+    );
+
+    glm::mat3 R2 = glm::mat3(
+        /*cos*/ cosB, /*sin*/ sinB, 0,
+        /*-sin*/ -sinB , /*cos*/  cosB, 0,
+        0,      0,           1
+    );
+
+    glm::vec3 pivotNXZ = R1 * glm::vec3(pivot[0],pivot[2],1);
+    pivot = rb::Vector3{pivotNXZ[0],pivot[1],pivotNXZ[1]};
+    glm::vec3 offsetNXZ = R2 * glm::vec3(offset[id][0],offset[id][2],1);
+    offset[id] = rb::Vector3{offsetNXZ[0],offset[id][1],offsetNXZ[1]};
 
     
-        sf::Angle alpha = sf::radians(fRot[2] - oldRot[2]); // angolo aggiunto
+    childs[id]->body.setPos(rb::Vector3{fPos[0]+offset[id][0]+pivot[0],fPos[1]+offset[id][1]+pivot[1],fPos[2]+offset[id][2]+pivot[2]});
-        sf::Angle alpha1 = sf::radians(acos(sign * pivot[0]/r1)); // angolo rispetto alla posizione del pivot 
-        sf::Angle alpha2 = alpha + alpha1;
-
-        sf::Vector2f tmpCoordsX = sf::Vector2f(r1,alpha2);
-        pivot = {sign * tmpCoordsX.x,pivot[1],sign * tmpCoordsX.y};
-
-        //calcolo la posizione in base alla rotazione del child 
-        sign = offset[id][2] >= 0 ? 1 : -1;
-
-        sf::Angle beta = sf::radians(cRot[2] - oldCRot[id][2]);
-        sf::Angle beta1 = sf::radians(acos(sign * offset[id][0]/r2));
-        sf::Angle beta2 = beta + beta1;
-        sf::Vector2f tmpCoordsC = sf::Vector2f(r2,beta2);
-        offset[id] = {sign * tmpCoordsC.x,offset[id][1],sign * tmpCoordsC.y};
-
-
-        //ora devo muovere il child rispetto al nuovo offset 
-        rb::Vector3 pivotPos = father->body.getPos()+father->globalPos+pivot;
-        rb::Vector3 cPos = childs[id]->body.getPos() + childs[id]->globalPos;
-
-        rb::Vector3 tmpChild =  pivotPos + offset[id];
-
-        childs[id]->body.setPos(tmpChild - childs[id]->globalPos); 
-    }
 
 
     oldRot = fRot; //aggiorno la rotazione per il ciclo successivo
     oldCRot[id] = cRot;
 
-    // r cosA = x -> x/r = cosA
-
-    /*
-    Devo spostare l'offset per poter ricalcolare la posizione relativa dei child rispetto al father dopo aver eseguito la rotazione.
-    La rotazione va eseguita nella posizione del mondo, ovvero sulle coordinate di body
-
-    Le coordinate camera non vanno toccate, determinano solo lo spostamento rispetto alla telecamera
-    */
 }   
 
 void PivotJoint::traslate(unsigned int id){

src/joints/methods/rigid_joint_class.cpp

@@ -2,55 +2,40 @@
 
 #define ZERO_INT 0.00001
 
+//using namespace glm;
+
 void RigidJoint::rotate(unsigned int id){
     rb::Vector3_s fRot = father->body.getRot();
     rb::Vector3_s fRotOld = childs[id]->body.getRot() - rotOffset[id];
-
+    rb::Vector3 fPos = father->body.getPos();
-    rb::Vector3 cPos = childs[id]->body.getPos() + childs[id]->globalPos;
+    rb::Vector3 cPos = childs[id]->body.getPos();
 
     childs[id]->body.setRot(fRot + rotOffset[id]);
 
-    ////  sposto l'origine passivamente su tutti gli assi ////
-    //se si muove il child devo muovere anche il padre -> devo trovare la differenza di posizione prima di ricalcolare l'offset
-    /*
-    if (cPos != oldCPos[id]);*/
 
-    float r = sqrt(pow(offset[id][0],2)+pow(offset[id][2],2)); //calcolo modulo dell'offset (per ora solo sul piano xz)
+    // sposto il alla distanza offset rispetto all'origine R*pos
+    // calcolo alpha angolo 
 
-    if (r>ZERO_INT){
+    float alpha = float (fRot[2] - fRotOld[2]);
+    float cosA = glm::cos(alpha);
+    float sinA = glm::sin(alpha);
 
-        float sign = offset[id][2] >= 0 ? 1 : -1;
+    glm::mat3 R = glm::mat3(
+        /*cos*/ cosA, /*sin*/ sinA, 0,
+        /*-sin*/ -sinA , /*cos*/  cosA, 0,
+        0,      0,           1
+    );
 
+    //sposto il child all'origine rispetto al padre
 
-        sf::Angle alpha = sf::radians(fRot[2] - fRotOld[2]); // angolo aggiunto
+    glm::vec3 XZ_cPos = {offset[id][0],offset[id][2],1};
-        sf::Angle alpha1 = sf::radians(acos(sign * offset[id][0]/r)); // angolo rispetto alla posizione del child 
+    glm::vec3 resRot = R * XZ_cPos;
-        sf::Angle beta = alpha + alpha1;
 
-        sf::Vector2f tmpCoordsX = sf::Vector2f(r,beta);
+    offset[id][0] = resRot[0] ;
-        offset[id] = {sign * tmpCoordsX.x,offset[id][1],sign * tmpCoordsX.y};
+    offset[id][2] = resRot[1] ; 
 
-        //ora devo muovere il child rispetto al nuovo offset 
+    childs[id]->body.setPos({fPos[0]-offset[id][0],offset[id][1],fPos[2] -offset[id][2]});
    
-        
-
-        rb::Vector3 fPos = father->body.getPos() + father->globalPos;
-        rb::Vector3 tmpChild =  fPos + offset[id];
-
-        childs[id]->body.setPos(tmpChild - childs[id]->globalPos); 
-    }
-    else{
-        childs[id]->body.setPos(father->body.getPos()+father->globalPos-childs[id]->globalPos);
-    }
-
-
-    // r cosA = x -> x/r = cosA
-
-    /*
-    Devo spostare l'offset per poter ricalcolare la posizione relativa dei child rispetto al father dopo aver eseguito la rotazione.
-    La rotazione va eseguita nella posizione del mondo, ovvero sulle coordinate di body
-
-    Le coordinate camera non vanno toccate, determinano solo lo spostamento rispetto alla telecamera
-    */
 }   
 
 void RigidJoint::traslate(unsigned int id){

src/pieces/headers/caviglia.hpp

@@ -0,0 +1,21 @@
+#include "piece_interface.hpp"
+
+#ifndef CAVIGLIA_H
+#define CAVIGLIA_H
+
+
+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);
+        ~Caviglia();
+
+        void update(sf::Clock cl) override;
+        sf::Shape* draw(ReferencePlane plane) override;
+};
+
+#endif

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

@@ -1,17 +1,12 @@
 #include <SFML/Graphics.hpp>
 #include <math.h>
 #include "../../rigidbody/headers/rb.hpp"
-//#include "../../joints/headers/joint_interface.hpp"
+
 
 #ifndef PIECE_INTERFACE_H
 #define PIECE_INTERFACE_H
 
 
-// costanti
-
-const sf::Vector2f caviglia_Dim = {50, 200};
-const sf::Color caviglia_Col = sf::Color::Red;
-
 enum class ReferencePlane {
     XY,
     YZ,
@@ -22,11 +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::Shape* shapeXZ, *shapeYZ;
-        sf::Vector2f size;
         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;
@@ -22,6 +24,7 @@ class Sensore : public PieceInterface{
         //funzioni ausiliarie
         void calcRotWithG(unsigned int index);
         
+
     public: 
         Sensore(rb::Vector3 coords, _Float16 mass);
         Sensore(rb::Vector3 coords, _Float16 mass, unsigned int st, unsigned int dataIntvl, std::vector<std::vector<float>> data);

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

@@ -0,0 +1,50 @@
+#include "../headers/caviglia.hpp"
+
+Caviglia::Caviglia(rb::Vector3 coords, _Float16 mass){
+    rb::Vector3 com = {caviglia_Dim.x/2,caviglia_Dim.x/2, caviglia_Dim.y/2};
+    body = rb::rigidbody(coords, com, mass);
+    color = caviglia_Col;
+    globalPos = {0,0,0};
+
+    initialize_shapes(caviglia_Dim);
+}
+
+
+Caviglia::~Caviglia(){
+    delete shapeXZ;
+    delete shapeYZ;
+}
+
+void Caviglia::update(sf::Clock cl){
+    //body.step(cl);
+}
+
+sf::Shape* Caviglia::draw(ReferencePlane plane){
+    
+    rb::Vector3 tmpPos = body.getPos();
+    rb::Vector3_s tmpRot = body.getRot();
+
+    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;
+}

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 = {coscia_Dim.x/2,coscia_Dim.z/2,coscia_Dim.y/2};
-    rb::Vector3 com = {size.x/2,0, size.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 = {sensore_Dim.x/2,sensore_Dim.z/2, sensore_Dim.y/2};
-    rb::Vector3 com = {size.x/2,0, size.y/2};
+    body = rb::rigidbody(coords, com, mass);
-    body = rb::rigidbody({0,0,0}, com, mass);
     color = sensore_Col;
-    shape = new sf::RectangleShape(size);
+    globalPos = {0,0,0};
-    globalPos = coords;
+    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 nullptr;
-    
-
-    return shape;
 }
 
 
@@ -100,3 +105,9 @@ 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;
+}

src/rigidbody/methods/rb_class.cpp

@@ -51,7 +51,7 @@ void rigidbody::setRot(const Vector3_s Nrot){
     if (Nrot.size() != 3) throw "Vel vector must be 3 in lenght!";
     
     int i = 0;
-    for (float axis : Nrot){
+    for (_Float16 axis : Nrot){
         rot[i] = axis;
         i++;
     }

src/sfml_util.cpp

@@ -22,6 +22,7 @@ struct State
     sf::Vector2f cameraOffset = {0.,0.};
 
     sf::Clock clock;
+    ReferencePlane selectedPlane = ReferencePlane::XZ;
 
     int selected = -1;
 
@@ -72,6 +73,12 @@ void handle(const sf::Event::TextEntered &textEnter, State &gs)
 
 void handle(const sf::Event::KeyPressed &keyPressed, State &gs)
 {
+    if (keyPressed.scancode == sf::Keyboard::Scancode::Space){
+        if (gs.selectedPlane == ReferencePlane::XZ)
+            gs.selectedPlane = ReferencePlane::YZ;
+        else 
+            gs.selectedPlane = ReferencePlane::XZ;
+    }
 }
 
 void handle(const sf::Event::MouseMoved &mouseMoved, State &gs)
@@ -113,7 +120,6 @@ void handle(const sf::Event::MouseButtonPressed &mouseBP, State &gs)
 
             if (dist(pos,mouseBP.position) < 20){
                 gs.selected = i;
-                break;
             }
             i++;
         }
@@ -127,7 +133,6 @@ void handle(const sf::Event::MouseButtonPressed &mouseBP, State &gs)
 
             if (dist(pos,mouseBP.position) < 20){
                 gs.selected = i;
-                break;
             }
             i++;
         }
@@ -173,7 +178,7 @@ void doGraphics(State &gs)
     doGUI(gs);
 
     for(PieceInterface* p: gs.pieces){
-        gs.window.draw(*p->draw(ReferencePlane::XZ));
+        gs.window.draw(*p->draw(gs.selectedPlane));
     }
     
     // TODO: add here code to display shapes in your canvas

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");
     }