Compare commits
8 Commits
| Author | SHA1 | Date | |
|---|---|---|---|
 Endertom
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21f43f8bce | ||
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Endertom
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28abf04232 | ||
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Endertom
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57412060b5 | ||
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Endertom
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8be8a2db00 | ||
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Endertom
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2840a35d08 | ||
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Endertom
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5da309b43f | ||
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Endertom
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5169bc4096 | ||
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Endertom
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e50e2987c9 |
+11
-3
@@ -12,12 +12,20 @@ FetchContent_Declare(SFML
|
||||
SYSTEM)
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||||
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
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||||
set(VERSION "V1")
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||||
|
||||
set(VERSION "V4")
|
||||
|
||||
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${VERSION} PRIVATE SFML::Graphics)
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||||
target_link_libraries(main${VERSION} PRIVATE SFML::Graphics glm)
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|
||||
@@ -1,7 +1,7 @@
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||||
# FCG_VisualizzatoreCamminata
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||||
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||||
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||||
Nella versione versione v0.1 è presente la base del progetto.
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||||
## Nella versione versione v0.1 è presente la base del progetto.
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||||
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||||
- La gerarchia dei file e delle classi
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||||
@@ -17,10 +17,26 @@ Per questione di debug tutti i pezzi rappresentati si possono trascinare e ruota
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||||
Per spostare l'intera scena si tiene premuto il tasto centrale del mouse.
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||||
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||||
Per compliare:
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## Nella versione v0.2:
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||||
- Applicato refactoring di diverse classi
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||||
- Aggiustato calcolo dei pivot implementando le rotazioni con algebra affine e glm
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- Aggiuta classe caviglia (per differenziarla dalla coscia)
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||||
|
||||
## Nella versione v0.3:
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||||
- Applicato refactoring delle classi pieces
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||||
- Aggiunta pezzo torso
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||||
- Nel testMain vengono agganciate caviglia e coscia al nuovo torso
|
||||
|
||||
## Nella versione v0.4
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||||
- Aggiunta vista frontale (con spazio si può camnbiare vista)
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- Modifica calcolo pivot per gestire spazio 3D
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||||
- Aggiustati assi di riferimento (ora sono coerenti su tutte le classi)
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||||
|
||||
|
||||
# Per compliare:
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cmake --build
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||||
|
||||
Per lanciare:
|
||||
# Per lanciare:
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||||
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||||
./build/bin/mainV1
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||||
./build/bin/mainV4
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||||
|
||||
+1508
-2592
File diff suppressed because it is too large
Load Diff
File diff suppressed because it is too large
Load Diff
@@ -1,551 +0,0 @@
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"backtrace" : 4,
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||||
"isSystem" : true,
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"path" : "C:/Users/Tommy/Documents/UNIGE/ProgettoFinale/FCG_VisualizzatoreCamminata/build/_deps/vorbis-src/include"
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||||
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"backtrace" : 4,
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||||
"isSystem" : true,
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||||
"path" : "C:/Users/Tommy/Documents/UNIGE/ProgettoFinale/FCG_VisualizzatoreCamminata/build/_deps/ogg-src/include"
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"backtrace" : 4,
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"isSystem" : true,
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"path" : "C:/Users/Tommy/Documents/UNIGE/ProgettoFinale/FCG_VisualizzatoreCamminata/build/_deps/ogg-build/include"
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}
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"language" : "CXX",
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||||
@@ -349,6 +351,26 @@
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{
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"id" : "sfml-system::@8cb1db2982443611e568"
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{
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"backtrace" : 4,
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"id" : "ogg::@4e5ed7d02827854e35f8"
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||||
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{
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||||
"backtrace" : 4,
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||||
"id" : "FLAC::@d572677c3819035d9b3d"
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||||
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||||
{
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||||
"backtrace" : 4,
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"id" : "vorbis::@692b0ee2b61df6760d20"
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{
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"backtrace" : 4,
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"id" : "vorbisenc::@692b0ee2b61df6760d20"
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"id" : "vorbisfile::@692b0ee2b61df6760d20"
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}
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"folder" :
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@@ -367,78 +389,9 @@
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{
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"backtrace" : 5,
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"isSystem" : true,
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"path" : "C:/Users/Tommy/Documents/UNIGE/ProgettoFinale/FCG_VisualizzatoreCamminata/build/_deps/freetype-build/include"
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@@ -289,7 +298,7 @@
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"define" : "_WINSOCK_DEPRECATED_NO_WARNINGS"
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"path" : "/home/endertom/Documenti/ProgettoFinaleRep/FCG_VisualizzatoreCamminata/build/_deps/sfml-src/include"
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"isSystem" : true,
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"path" : "/home/endertom/Documenti/ProgettoFinaleRep/FCG_VisualizzatoreCamminata/build/_deps/sfml-src/extlibs/headers/stb_image"
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"path" : "C:/Users/Tommy/Documents/UNIGE/ProgettoFinale/FCG_VisualizzatoreCamminata/build/_deps/sfml-src/include"
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"path" : "C:/Users/Tommy/Documents/UNIGE/ProgettoFinale/FCG_VisualizzatoreCamminata/build/_deps/sfml-src/extlibs/headers/glad/include"
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{
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"backtrace" : 5,
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"isSystem" : true,
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"path" : "/usr/include/freetype2"
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"path" : "C:/Users/Tommy/Documents/UNIGE/ProgettoFinale/FCG_VisualizzatoreCamminata/build/_deps/freetype-build/include"
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},
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{
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"backtrace" : 5,
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"path" : "C:/Users/Tommy/Documents/UNIGE/ProgettoFinale/FCG_VisualizzatoreCamminata/build/_deps/freetype-src/include"
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}
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],
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@@ -429,6 +451,10 @@
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@@ -447,38 +473,9 @@
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{
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"id" : "freetype::@98af38147d5fa7e70f61"
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],
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"name" : "sfml-graphics",
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"nameOnDisk" : "libsfml-graphics-s-d.a",
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"paths" :
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@@ -0,0 +1,263 @@
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{
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{
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[
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"sfml_add_library",
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"install",
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"set_target_warnings",
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"target_compile_definitions",
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"target_include_directories"
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],
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|
||||
set(CPACK_NSIS_DISPLAY_NAME "CMakeSFMLProject 1.3.5")
|
||||
set(CPACK_NSIS_INSTALLER_ICON_CODE "")
|
||||
set(CPACK_NSIS_INSTALLER_MUI_ICON_CODE "")
|
||||
set(CPACK_NSIS_INSTALL_ROOT "$PROGRAMFILES64")
|
||||
set(CPACK_NSIS_PACKAGE_NAME "CMakeSFMLProject 1.3.5")
|
||||
set(CPACK_NSIS_UNINSTALL_NAME "Uninstall")
|
||||
set(CPACK_OBJCOPY_EXECUTABLE "C:/msys64/ucrt64/bin/objcopy.exe")
|
||||
set(CPACK_OBJDUMP_EXECUTABLE "C:/msys64/ucrt64/bin/objdump.exe")
|
||||
set(CPACK_OUTPUT_CONFIG_FILE "C:/Users/Tommy/Documents/UNIGE/ProgettoFinale/FCG_VisualizzatoreCamminata/build/CPackConfig.cmake")
|
||||
set(CPACK_PACKAGE_DEFAULT_LOCATION "/")
|
||||
set(CPACK_PACKAGE_DESCRIPTION_FILE "C:/Program Files/CMake/share/cmake-3.31/Templates/CPack.GenericDescription.txt")
|
||||
set(CPACK_PACKAGE_DESCRIPTION_SUMMARY "CMakeSFMLProject built using CMake")
|
||||
set(CPACK_PACKAGE_FILE_NAME "CMakeSFMLProject-1.3.5-win64")
|
||||
set(CPACK_PACKAGE_INSTALL_DIRECTORY "CMakeSFMLProject 1.3.5")
|
||||
set(CPACK_PACKAGE_INSTALL_REGISTRY_KEY "CMakeSFMLProject 1.3.5")
|
||||
set(CPACK_PACKAGE_NAME "CMakeSFMLProject")
|
||||
set(CPACK_PACKAGE_RELOCATABLE "true")
|
||||
set(CPACK_PACKAGE_VENDOR "Humanity")
|
||||
set(CPACK_PACKAGE_VERSION "1.3.5")
|
||||
set(CPACK_PACKAGE_VERSION_MAJOR "0")
|
||||
set(CPACK_PACKAGE_VERSION_MINOR "1")
|
||||
set(CPACK_PACKAGE_VERSION_PATCH "1")
|
||||
set(CPACK_READELF_EXECUTABLE "C:/msys64/ucrt64/bin/readelf.exe")
|
||||
set(CPACK_RESOURCE_FILE_LICENSE "C:/Program Files/CMake/share/cmake-3.31/Templates/CPack.GenericLicense.txt")
|
||||
set(CPACK_RESOURCE_FILE_README "C:/Program Files/CMake/share/cmake-3.31/Templates/CPack.GenericDescription.txt")
|
||||
set(CPACK_RESOURCE_FILE_WELCOME "C:/Program Files/CMake/share/cmake-3.31/Templates/CPack.GenericWelcome.txt")
|
||||
set(CPACK_SET_DESTDIR "OFF")
|
||||
set(CPACK_SOURCE_7Z "ON")
|
||||
set(CPACK_SOURCE_GENERATOR "7Z;ZIP")
|
||||
set(CPACK_SOURCE_OUTPUT_CONFIG_FILE "C:/Users/Tommy/Documents/UNIGE/ProgettoFinale/FCG_VisualizzatoreCamminata/build/CPackSourceConfig.cmake")
|
||||
set(CPACK_SOURCE_ZIP "ON")
|
||||
set(CPACK_SYSTEM_NAME "win64")
|
||||
set(CPACK_THREADS "1")
|
||||
set(CPACK_TOPLEVEL_TAG "win64")
|
||||
set(CPACK_WIX_SIZEOF_VOID_P "8")
|
||||
|
||||
if(NOT CPACK_PROPERTIES_FILE)
|
||||
set(CPACK_PROPERTIES_FILE "C:/Users/Tommy/Documents/UNIGE/ProgettoFinale/FCG_VisualizzatoreCamminata/build/CPackProperties.cmake")
|
||||
endif()
|
||||
|
||||
if(EXISTS ${CPACK_PROPERTIES_FILE})
|
||||
include(${CPACK_PROPERTIES_FILE})
|
||||
endif()
|
||||
@@ -0,0 +1,82 @@
|
||||
# This file will be configured to contain variables for CPack. These variables
|
||||
# should be set in the CMake list file of the project before CPack module is
|
||||
# included. The list of available CPACK_xxx variables and their associated
|
||||
# documentation may be obtained using
|
||||
# cpack --help-variable-list
|
||||
#
|
||||
# Some variables are common to all generators (e.g. CPACK_PACKAGE_NAME)
|
||||
# and some are specific to a generator
|
||||
# (e.g. CPACK_NSIS_EXTRA_INSTALL_COMMANDS). The generator specific variables
|
||||
# usually begin with CPACK_<GENNAME>_xxxx.
|
||||
|
||||
|
||||
set(CPACK_BINARY_7Z "OFF")
|
||||
set(CPACK_BINARY_IFW "OFF")
|
||||
set(CPACK_BINARY_INNOSETUP "OFF")
|
||||
set(CPACK_BINARY_NSIS "ON")
|
||||
set(CPACK_BINARY_NUGET "OFF")
|
||||
set(CPACK_BINARY_WIX "OFF")
|
||||
set(CPACK_BINARY_ZIP "OFF")
|
||||
set(CPACK_BUILD_SOURCE_DIRS "C:/Users/Tommy/Documents/UNIGE/ProgettoFinale/FCG_VisualizzatoreCamminata;C:/Users/Tommy/Documents/UNIGE/ProgettoFinale/FCG_VisualizzatoreCamminata/build")
|
||||
set(CPACK_CMAKE_GENERATOR "MinGW Makefiles")
|
||||
set(CPACK_COMPONENTS_ALL "Unspecified;devel;headers")
|
||||
set(CPACK_COMPONENT_UNSPECIFIED_HIDDEN "TRUE")
|
||||
set(CPACK_COMPONENT_UNSPECIFIED_REQUIRED "TRUE")
|
||||
set(CPACK_DEFAULT_PACKAGE_DESCRIPTION_FILE "C:/Program Files/CMake/share/cmake-3.31/Templates/CPack.GenericDescription.txt")
|
||||
set(CPACK_DEFAULT_PACKAGE_DESCRIPTION_SUMMARY "CMakeSFMLProject built using CMake")
|
||||
set(CPACK_GENERATOR "7Z;ZIP")
|
||||
set(CPACK_IGNORE_FILES "/CVS/;/\\.svn/;/\\.bzr/;/\\.hg/;/\\.git/;\\.swp\$;\\.#;/#")
|
||||
set(CPACK_INNOSETUP_ARCHITECTURE "x64")
|
||||
set(CPACK_INSTALLED_DIRECTORIES "C:/Users/Tommy/Documents/UNIGE/ProgettoFinale/FCG_VisualizzatoreCamminata;/")
|
||||
set(CPACK_INSTALL_CMAKE_PROJECTS "")
|
||||
set(CPACK_INSTALL_PREFIX "C:/Program Files (x86)/CMakeSFMLProject")
|
||||
set(CPACK_MODULE_PATH "C:/Users/Tommy/Documents/UNIGE/ProgettoFinale/FCG_VisualizzatoreCamminata/build/_deps/sfml-src/cmake/Modules/;C:/Users/Tommy/Documents/UNIGE/ProgettoFinale/FCG_VisualizzatoreCamminata/build/_deps/ogg-src/cmake")
|
||||
set(CPACK_NSIS_DISPLAY_NAME "CMakeSFMLProject 1.3.5")
|
||||
set(CPACK_NSIS_INSTALLER_ICON_CODE "")
|
||||
set(CPACK_NSIS_INSTALLER_MUI_ICON_CODE "")
|
||||
set(CPACK_NSIS_INSTALL_ROOT "$PROGRAMFILES64")
|
||||
set(CPACK_NSIS_PACKAGE_NAME "CMakeSFMLProject 1.3.5")
|
||||
set(CPACK_NSIS_UNINSTALL_NAME "Uninstall")
|
||||
set(CPACK_OBJCOPY_EXECUTABLE "C:/msys64/ucrt64/bin/objcopy.exe")
|
||||
set(CPACK_OBJDUMP_EXECUTABLE "C:/msys64/ucrt64/bin/objdump.exe")
|
||||
set(CPACK_OUTPUT_CONFIG_FILE "C:/Users/Tommy/Documents/UNIGE/ProgettoFinale/FCG_VisualizzatoreCamminata/build/CPackConfig.cmake")
|
||||
set(CPACK_PACKAGE_DEFAULT_LOCATION "/")
|
||||
set(CPACK_PACKAGE_DESCRIPTION_FILE "C:/Program Files/CMake/share/cmake-3.31/Templates/CPack.GenericDescription.txt")
|
||||
set(CPACK_PACKAGE_DESCRIPTION_SUMMARY "CMakeSFMLProject built using CMake")
|
||||
set(CPACK_PACKAGE_FILE_NAME "CMakeSFMLProject-1.3.5-Source")
|
||||
set(CPACK_PACKAGE_INSTALL_DIRECTORY "CMakeSFMLProject 1.3.5")
|
||||
set(CPACK_PACKAGE_INSTALL_REGISTRY_KEY "CMakeSFMLProject 1.3.5")
|
||||
set(CPACK_PACKAGE_NAME "CMakeSFMLProject")
|
||||
set(CPACK_PACKAGE_RELOCATABLE "true")
|
||||
set(CPACK_PACKAGE_VENDOR "Humanity")
|
||||
set(CPACK_PACKAGE_VERSION "1.3.5")
|
||||
set(CPACK_PACKAGE_VERSION_MAJOR "0")
|
||||
set(CPACK_PACKAGE_VERSION_MINOR "1")
|
||||
set(CPACK_PACKAGE_VERSION_PATCH "1")
|
||||
set(CPACK_READELF_EXECUTABLE "C:/msys64/ucrt64/bin/readelf.exe")
|
||||
set(CPACK_RESOURCE_FILE_LICENSE "C:/Program Files/CMake/share/cmake-3.31/Templates/CPack.GenericLicense.txt")
|
||||
set(CPACK_RESOURCE_FILE_README "C:/Program Files/CMake/share/cmake-3.31/Templates/CPack.GenericDescription.txt")
|
||||
set(CPACK_RESOURCE_FILE_WELCOME "C:/Program Files/CMake/share/cmake-3.31/Templates/CPack.GenericWelcome.txt")
|
||||
set(CPACK_RPM_PACKAGE_SOURCES "ON")
|
||||
set(CPACK_SET_DESTDIR "OFF")
|
||||
set(CPACK_SOURCE_7Z "ON")
|
||||
set(CPACK_SOURCE_GENERATOR "7Z;ZIP")
|
||||
set(CPACK_SOURCE_IGNORE_FILES "/CVS/;/\\.svn/;/\\.bzr/;/\\.hg/;/\\.git/;\\.swp\$;\\.#;/#")
|
||||
set(CPACK_SOURCE_INSTALLED_DIRECTORIES "C:/Users/Tommy/Documents/UNIGE/ProgettoFinale/FCG_VisualizzatoreCamminata;/")
|
||||
set(CPACK_SOURCE_OUTPUT_CONFIG_FILE "C:/Users/Tommy/Documents/UNIGE/ProgettoFinale/FCG_VisualizzatoreCamminata/build/CPackSourceConfig.cmake")
|
||||
set(CPACK_SOURCE_PACKAGE_FILE_NAME "CMakeSFMLProject-1.3.5-Source")
|
||||
set(CPACK_SOURCE_TOPLEVEL_TAG "win64-Source")
|
||||
set(CPACK_SOURCE_ZIP "ON")
|
||||
set(CPACK_STRIP_FILES "")
|
||||
set(CPACK_SYSTEM_NAME "win64")
|
||||
set(CPACK_THREADS "1")
|
||||
set(CPACK_TOPLEVEL_TAG "win64-Source")
|
||||
set(CPACK_WIX_SIZEOF_VOID_P "8")
|
||||
|
||||
if(NOT CPACK_PROPERTIES_FILE)
|
||||
set(CPACK_PROPERTIES_FILE "C:/Users/Tommy/Documents/UNIGE/ProgettoFinale/FCG_VisualizzatoreCamminata/build/CPackProperties.cmake")
|
||||
endif()
|
||||
|
||||
if(EXISTS ${CPACK_PROPERTIES_FILE})
|
||||
include(${CPACK_PROPERTIES_FILE})
|
||||
endif()
|
||||
Binary file not shown.
Binary file not shown.
-16515
File diff suppressed because it is too large
Load Diff
-44
@@ -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);
|
||||
|
||||
}
|
||||
@@ -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"
|
||||
@@ -1,4 +1,5 @@
|
||||
#include "../../pieces/headers/piece_interface.hpp"
|
||||
#include <glm/glm.hpp>
|
||||
|
||||
#ifndef JOINT_INTERFACE_H
|
||||
#define JOINT_INTERFACE_H
|
||||
@@ -20,7 +21,7 @@ class JointInterface{
|
||||
|
||||
public:
|
||||
std::vector<rb::Vector3> offset;
|
||||
std::vector<rb::Vector3_s> rotOffset;
|
||||
std::vector<rb::Vector3> rotOffset;
|
||||
PieceInterface* father;
|
||||
std::vector<PieceInterface*> childs;
|
||||
|
||||
|
||||
@@ -4,10 +4,16 @@ class PivotJoint : public JointInterface {
|
||||
protected:
|
||||
void rotate(unsigned int id) override;
|
||||
void traslate(unsigned int id) override;
|
||||
void updatePivot();
|
||||
|
||||
rb::Vector3_s oldRot;
|
||||
rb::Vector3 oldRot;
|
||||
std::vector<rb::Vector3> oldCRot;
|
||||
rb::Vector3 pivot;
|
||||
std::vector<rb::Vector3_s> oldCRot;
|
||||
rb::Vector3 stPivot;
|
||||
|
||||
//angolo attuale pivot e offset
|
||||
rb::Vector3 pivotAngle;
|
||||
std::vector<rb::Vector3> offsetAngle;
|
||||
|
||||
//possono servire per calcolare l'offset rispetto alla posizione precedente
|
||||
rb::Vector3 oldPos;
|
||||
|
||||
@@ -2,57 +2,76 @@
|
||||
|
||||
#define ZERO_INT 0.00001
|
||||
|
||||
void PivotJoint::updatePivot(){
|
||||
rb::Vector3 fRot = father->body.getRot();
|
||||
|
||||
pivotAngle = pivotAngle + (fRot - oldRot); // trovo angolo totale da angolo di partenza
|
||||
|
||||
float cosA = glm::cos(pivotAngle[0]);
|
||||
float sinA = glm::sin(pivotAngle[0]);
|
||||
float cosA1 = glm::cos(pivotAngle[1]);
|
||||
float sinA1 = glm::sin(pivotAngle[1]);
|
||||
|
||||
glm::mat4 Rpx = glm::mat4{
|
||||
1 , 0, 0, 0,
|
||||
0, cosA, sinA, 0,
|
||||
0, -sinA, cosA, 0,
|
||||
0, 0, 0, 1
|
||||
};
|
||||
|
||||
glm::mat4 Rpy = glm::mat4{
|
||||
cosA1 , 0, sinA1, 0,
|
||||
0, 1, 0, 0,
|
||||
-sinA1, 0, cosA1, 0,
|
||||
0, 0, 0, 1
|
||||
};
|
||||
|
||||
glm::vec4 pivotN = Rpy * Rpx * glm::vec4(stPivot[0], stPivot[1], stPivot[2],1);
|
||||
pivot = rb::Vector3{pivotN[0],pivotN[1],pivotN[2]};
|
||||
|
||||
oldRot = fRot;
|
||||
}
|
||||
|
||||
void PivotJoint::rotate(unsigned int id){
|
||||
rb::Vector3_s fRot = father->body.getRot();
|
||||
rb::Vector3_s cRot = childs[id]->body.getRot();
|
||||
|
||||
rb::Vector3 fPos = father->body.getPos();
|
||||
rb::Vector3 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 r2 = sqrt(pow(offset[id][0],2)+pow(offset[id][2],2));
|
||||
if (r1>ZERO_INT){
|
||||
|
||||
float sign = pivot[2] >= 0 ? 1 : -1;
|
||||
offsetAngle[id] = offsetAngle[id] + (cRot - oldCRot[id]);
|
||||
|
||||
|
||||
sf::Angle alpha = sf::radians(fRot[2] - oldRot[2]); // angolo aggiunto
|
||||
sf::Angle alpha1 = sf::radians(acos(sign * pivot[0]/r1)); // angolo rispetto alla posizione del pivot
|
||||
sf::Angle alpha2 = alpha + alpha1;
|
||||
float cosB = glm::cos(offsetAngle[id][0]);
|
||||
float sinB = glm::sin(offsetAngle[id][0]);
|
||||
|
||||
sf::Vector2f tmpCoordsX = sf::Vector2f(r1,alpha2);
|
||||
pivot = {sign * tmpCoordsX.x,pivot[1],sign * tmpCoordsX.y};
|
||||
float cosB1 = glm::cos(offsetAngle[id][1]);
|
||||
float sinB1 = glm::sin(offsetAngle[id][1]);
|
||||
|
||||
//calcolo la posizione in base alla rotazione del child
|
||||
sign = offset[id][2] >= 0 ? 1 : -1;
|
||||
glm::mat4 Rcx = glm::mat4{
|
||||
1 , 0, 0, 0,
|
||||
0, cosB, sinB, 0,
|
||||
0, -sinB, cosB, 0,
|
||||
0, 0, 0, 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};
|
||||
glm::mat4 Rcy = glm::mat4{
|
||||
cosB1 , 0, sinB1, 0,
|
||||
0, 1, 0, 0,
|
||||
-sinB1, 0, cosB1, 0,
|
||||
0, 0, 0, 1
|
||||
};
|
||||
|
||||
|
||||
//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;
|
||||
glm::vec4 offN = Rcy * Rcx * glm::vec4(offset[id][0],offset[id][1],offset[id][2],1);
|
||||
// offset[id] = rb::Vector3{offN[0],offN[1],offN[2]};
|
||||
|
||||
rb::Vector3 tmpChild = pivotPos + offset[id];
|
||||
childs[id]->body.setPos(rb::Vector3{fPos[0]+offN[0]+pivot[0],fPos[1]+offN[1]+pivot[1],fPos[2]+offN[2]+pivot[2]});
|
||||
|
||||
childs[id]->body.setPos(tmpChild - childs[id]->globalPos);
|
||||
}
|
||||
//printf("Offset = %f %f %f \n" , offN[0], offN[1], offN[2]);
|
||||
|
||||
|
||||
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){
|
||||
@@ -64,34 +83,24 @@ PivotJoint::PivotJoint(PieceInterface* father,std::vector<PieceInterface*> child
|
||||
this->childs = childs;
|
||||
this->father = father;
|
||||
rb::Vector3 fCoords = father->globalPos + father->body.getPos();
|
||||
rb::Vector3_s fRot = father->body.getRot();
|
||||
rb::Vector3 fRot = father->body.getRot();
|
||||
|
||||
pivot = pivotPoint;
|
||||
rb::Vector3 pivotCenter = father->globalPos + father->body.getPos() + pivot;
|
||||
|
||||
/*
|
||||
float sign = pivot[2] >= 0 ? 1 : -1;
|
||||
float r = sqrt(pow(pivot[0],2)+pow(pivot[2],2));
|
||||
rotOffset.push_back( rb::Vector3_s{0,0,_Float16( acos(sign * pivot[0]/r) )} );
|
||||
*/
|
||||
stPivot = pivotPoint;
|
||||
rb::Vector3 pivotCenter = father->body.getPos() + stPivot;
|
||||
|
||||
pivotAngle = rb::Vector3{0,0,0};
|
||||
|
||||
oldRot = father->body.getRot();
|
||||
|
||||
//mi calcolo l'offset per ogni child rispetto al pivot
|
||||
for(PieceInterface* c : childs){
|
||||
rb::Vector3 tmpCoords;
|
||||
rb::Vector3 cCoords = c->globalPos + c->body.getPos();
|
||||
rb::Vector3 cCoords = c->body.getPos();
|
||||
tmpCoords = cCoords - pivotCenter;
|
||||
|
||||
/*
|
||||
float r = sqrt(pow(tmpCoords[0],2)+pow(tmpCoords[2],2));
|
||||
oldCRot.push_back( rb::Vector3_s{0,0,_Float16( acos(tmpCoords[0]/r) )} );
|
||||
*/
|
||||
oldCRot.push_back(c->body.getRot());
|
||||
|
||||
offset.push_back(tmpCoords);
|
||||
|
||||
offsetAngle.push_back(rb::Vector3{0,0,0});
|
||||
}
|
||||
|
||||
|
||||
@@ -103,7 +112,7 @@ PivotJoint::~PivotJoint(){
|
||||
|
||||
|
||||
void PivotJoint::movechild(){
|
||||
|
||||
updatePivot();
|
||||
for ( unsigned int i = 0; i < childs.size(); i++){
|
||||
traslate(i);
|
||||
rotate(i);
|
||||
|
||||
@@ -2,55 +2,58 @@
|
||||
|
||||
#define ZERO_INT 0.00001
|
||||
|
||||
void RigidJoint::rotate(unsigned int id){
|
||||
rb::Vector3_s fRot = father->body.getRot();
|
||||
rb::Vector3_s fRotOld = childs[id]->body.getRot() - rotOffset[id];
|
||||
//using namespace glm;
|
||||
|
||||
rb::Vector3 cPos = childs[id]->body.getPos() + childs[id]->globalPos;
|
||||
void RigidJoint::rotate(unsigned int id){
|
||||
rb::Vector3 fRot = father->body.getRot();
|
||||
rb::Vector3 fRotOld = childs[id]->body.getRot() - rotOffset[id];
|
||||
rb::Vector3 fPos = father->body.getPos();
|
||||
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]);*/
|
||||
//passo a coordinate 3D per calcolare rotazione sul piano YZ oltre che al piano XZ
|
||||
// calcolo alpha angolo
|
||||
|
||||
float r = sqrt(pow(offset[id][0],2)+pow(offset[id][2],2)); //calcolo modulo dell'offset (per ora solo sul piano xz)
|
||||
float alpha = float (fRot[0] - fRotOld[0]);
|
||||
float beta = float (fRot[1] - fRotOld[1]);
|
||||
|
||||
if (r>ZERO_INT){
|
||||
float cosA = glm::cos(alpha);
|
||||
float sinA = glm::sin(alpha);
|
||||
|
||||
float sign = offset[id][2] >= 0 ? 1 : -1;
|
||||
float cosB = glm::cos(beta);
|
||||
float sinB = glm::sin(beta);
|
||||
|
||||
|
||||
sf::Angle alpha = sf::radians(fRot[2] - fRotOld[2]); // angolo aggiunto
|
||||
sf::Angle alpha1 = sf::radians(acos(sign * offset[id][0]/r)); // angolo rispetto alla posizione del child
|
||||
sf::Angle beta = alpha + alpha1;
|
||||
glm::mat4 Rx = glm::mat4{
|
||||
1 , 0, 0, 0,
|
||||
0, cosA, sinA, 0,
|
||||
0, -sinA, cosA, 0,
|
||||
0, 0, 0, 1
|
||||
};
|
||||
|
||||
sf::Vector2f tmpCoordsX = sf::Vector2f(r,beta);
|
||||
offset[id] = {sign * tmpCoordsX.x,offset[id][1],sign * tmpCoordsX.y};
|
||||
glm::mat4 Ry = glm::mat4{
|
||||
cosB , 0, sinB, 0,
|
||||
0, 1, 0, 0,
|
||||
-sinB, 0, cosB, 0,
|
||||
0, 0, 0, 1
|
||||
};
|
||||
|
||||
//ora devo muovere il child rispetto al nuovo offset
|
||||
glm::mat4 T = glm::mat4{
|
||||
1, 0, 0, 0,
|
||||
0, 1, 0, 0,
|
||||
0 ,0, 1, 0,
|
||||
fPos[0], fPos[1], fPos[2], 1
|
||||
};
|
||||
|
||||
glm::vec4 resRot = Rx * Ry * glm::vec4(offset[id][0],offset[id][1],offset[id][2],1);
|
||||
offset[id] = rb::Vector3{resRot[0], resRot[1], resRot[2]};
|
||||
|
||||
glm::vec4 resTransf = T * resRot;
|
||||
|
||||
childs[id]->body.setPos({resTransf[0],resTransf[1],resTransf[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){
|
||||
@@ -62,7 +65,7 @@ RigidJoint::RigidJoint(PieceInterface* father,std::vector<PieceInterface*> child
|
||||
this->childs = childs;
|
||||
this->father = father;
|
||||
rb::Vector3 fCoords = father->globalPos + father->body.getPos();
|
||||
rb::Vector3_s fRot = father->body.getRot();
|
||||
rb::Vector3 fRot = father->body.getRot();
|
||||
|
||||
|
||||
|
||||
@@ -70,7 +73,7 @@ RigidJoint::RigidJoint(PieceInterface* father,std::vector<PieceInterface*> child
|
||||
//mi calcolo l'offset per ogni child rispetto al padre
|
||||
for(PieceInterface* c : childs){
|
||||
rb::Vector3 tmpCoords;
|
||||
rb::Vector3_s tmpRot;
|
||||
rb::Vector3 tmpRot;
|
||||
|
||||
rb::Vector3 cCoords = c->globalPos + c->body.getPos();
|
||||
|
||||
|
||||
@@ -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
|
||||
@@ -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);
|
||||
|
||||
@@ -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::Vector2f size;
|
||||
sf::Shape* shapeXZ, *shapeYZ;
|
||||
rb::Vector3 globalPos;
|
||||
rb::rigidbody body;
|
||||
sf::Color color;
|
||||
|
||||
@@ -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);
|
||||
|
||||
@@ -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
|
||||
@@ -0,0 +1,52 @@
|
||||
#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 tmpRot = body.getRot();
|
||||
|
||||
switch (plane)
|
||||
{
|
||||
case ReferencePlane::XZ:
|
||||
{
|
||||
sf::Shape* shape = shapeXZ;
|
||||
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[0])));
|
||||
shape->setPosition({tmpPos[1]+globalPos[1],tmpPos[2]+globalPos[2]});
|
||||
shape->setScale({1,cos(float(tmpRot[1]))});
|
||||
return shape;}
|
||||
break;
|
||||
|
||||
default:
|
||||
break;
|
||||
}
|
||||
|
||||
return nullptr;
|
||||
}
|
||||
@@ -1,17 +1,16 @@
|
||||
#include "../headers/coscia.hpp"
|
||||
|
||||
Coscia::Coscia(rb::Vector3 coords, _Float16 mass){
|
||||
size = coscia_Dim;
|
||||
rb::Vector3 com = {size.x/2,0, size.y/2};
|
||||
rb::Vector3 com = {coscia_Dim.x/2,coscia_Dim.z/2,coscia_Dim.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 +18,43 @@ 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();
|
||||
rb::Vector3 tmpRot = body.getRot();
|
||||
|
||||
|
||||
switch (plane)
|
||||
{
|
||||
case ReferencePlane::XZ:
|
||||
{
|
||||
sf::Shape* shape = shapeXZ;
|
||||
shape->setRotation(sf::Angle(sf::radians(tmpRot[1])));
|
||||
shape->setPosition({tmpPos[0]+globalPos[0],tmpPos[2]+globalPos[2]});
|
||||
shape->setRotation(sf::Angle(sf::radians(tmpRot[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[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;
|
||||
|
||||
default:
|
||||
break;
|
||||
}
|
||||
|
||||
|
||||
return shape;
|
||||
return nullptr;
|
||||
}
|
||||
@@ -2,12 +2,11 @@
|
||||
|
||||
|
||||
Sensore::Sensore(rb::Vector3 coords, _Float16 mass){
|
||||
size = sensore_Dim;
|
||||
rb::Vector3 com = {size.x/2,0, size.y/2};
|
||||
body = rb::rigidbody({0,0,0}, com, mass);
|
||||
rb::Vector3 com = {sensore_Dim.x/2,sensore_Dim.z/2, sensore_Dim.y/2};
|
||||
body = rb::rigidbody(coords, com, mass);
|
||||
color = sensore_Col;
|
||||
shape = new sf::RectangleShape(size);
|
||||
globalPos = coords;
|
||||
globalPos = {0,0,0};
|
||||
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){
|
||||
@@ -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);
|
||||
@@ -48,6 +51,8 @@ void Sensore::update(sf::Clock cl){
|
||||
|
||||
//calcolo la posizione e velocità
|
||||
calcRotWithG(dataPos);
|
||||
|
||||
|
||||
body.setAcc(rb::Vector3{accData[dataPos]});
|
||||
body.step(cl);
|
||||
}
|
||||
@@ -55,30 +60,33 @@ 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 tmpRot = body.getRot();
|
||||
rb::Vector3 tmpPos = body.getPos();
|
||||
|
||||
switch (plane)
|
||||
{
|
||||
case ReferencePlane::XZ:
|
||||
shape->setRotation(sf::Angle(sf::radians(tmpRot[2])));
|
||||
{
|
||||
sf::Shape* shape = shapeXZ;
|
||||
shape->setRotation(sf::Angle(sf::radians(tmpRot[1])));
|
||||
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[0])));
|
||||
shape->setPosition({tmpPos[1]+globalPos[1],tmpPos[2]+globalPos[2]});
|
||||
return shape;}
|
||||
break;
|
||||
|
||||
default:
|
||||
break;
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
return shape;
|
||||
return nullptr;
|
||||
}
|
||||
|
||||
|
||||
@@ -93,10 +101,16 @@ 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{tmpAY, tmpAX, tmpAZ });
|
||||
|
||||
}
|
||||
/*
|
||||
void Sensore::calcRotWithConstraint(){
|
||||
|
||||
};*/
|
||||
|
||||
/////////////// cinematica inversa
|
||||
@@ -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 tmpRot = body.getRot();
|
||||
rb::Vector3 tmpPos = body.getPos();
|
||||
|
||||
|
||||
switch (plane)
|
||||
{
|
||||
case ReferencePlane::XZ:
|
||||
{
|
||||
sf::Shape* shape = shapeXZ;
|
||||
shape->setRotation(sf::Angle(sf::radians(tmpRot[1])));
|
||||
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[0])));
|
||||
shape->setPosition({tmpPos[1]+globalPos[1],tmpPos[2]+globalPos[2]});
|
||||
return shape;}
|
||||
break;
|
||||
|
||||
default:
|
||||
break;
|
||||
}
|
||||
|
||||
return nullptr;
|
||||
}
|
||||
@@ -7,14 +7,14 @@
|
||||
|
||||
namespace rb{
|
||||
typedef std::vector<float> Vector3;
|
||||
typedef std::vector<_Float16> Vector3_s;
|
||||
//typedef std::vector<_Float16> Vector3;
|
||||
|
||||
class rigidbody
|
||||
{
|
||||
private:
|
||||
Vector3 vel = {0,0,0};
|
||||
Vector3 acc = {0,0,0};
|
||||
Vector3_s rot = {0,0,0};
|
||||
Vector3 rot = {0,0,0};
|
||||
Vector3 tanAcc = {0,0,0};
|
||||
|
||||
_Float16 mass = 1;
|
||||
@@ -40,9 +40,9 @@
|
||||
|
||||
|
||||
Vector3 getPos();
|
||||
Vector3_s getRot();
|
||||
Vector3 getRot();
|
||||
void setPos(const Vector3 Npos);
|
||||
void setRot(const Vector3_s Nrot);
|
||||
void setRot(const Vector3 Nrot);
|
||||
void setVel(const Vector3 Nacc);
|
||||
void setAcc(const Vector3 Nvel);
|
||||
void step(const sf::Clock time);
|
||||
@@ -77,29 +77,8 @@
|
||||
};
|
||||
}
|
||||
|
||||
inline rb::Vector3_s operator+(const rb::Vector3_s& v1, const rb::Vector3_s& v2) {
|
||||
if (v1.size() != 3 || v2.size() != 3) {
|
||||
throw std::invalid_argument("I vettori devono avere esattamente 3 elementi.");
|
||||
}
|
||||
return rb::Vector3_s{
|
||||
v1[0] + v2[0],
|
||||
v1[1] + v2[1],
|
||||
v1[2] + v2[2]
|
||||
};
|
||||
}
|
||||
|
||||
inline rb::Vector3_s operator-(const rb::Vector3_s& v1, const rb::Vector3_s& v2) {
|
||||
if (v1.size() != 3 || v2.size() != 3) {
|
||||
throw std::invalid_argument("I vettori devono avere esattamente 3 elementi.");
|
||||
}
|
||||
return rb::Vector3_s{
|
||||
v1[0] - v2[0],
|
||||
v1[1] - v2[1],
|
||||
v1[2] - v2[2]
|
||||
};
|
||||
}
|
||||
/*
|
||||
inline bool operator!=(const rb::Vector3_s& v1, const rb::Vector3_s& v2) {
|
||||
inline bool operator!=(const rb::Vector3& v1, const rb::Vector3& v2) {
|
||||
if (v1.size() != 3 || v2.size() != 3) {
|
||||
throw std::invalid_argument("I vettori devono avere esattamente 3 elementi.");
|
||||
}
|
||||
|
||||
@@ -21,8 +21,8 @@ rigidbody::~rigidbody()
|
||||
Vector3 rigidbody::getPos(){
|
||||
return Vector3 {coords};
|
||||
}
|
||||
Vector3_s rigidbody::getRot(){
|
||||
return Vector3_s {rot};
|
||||
Vector3 rigidbody::getRot(){
|
||||
return Vector3 {rot};
|
||||
}
|
||||
|
||||
void rigidbody::setPos(Vector3 Npos){
|
||||
@@ -47,7 +47,7 @@ void rigidbody::setAcc(const Vector3 Nacc){
|
||||
|
||||
}
|
||||
|
||||
void rigidbody::setRot(const Vector3_s Nrot){
|
||||
void rigidbody::setRot(const Vector3 Nrot){
|
||||
if (Nrot.size() != 3) throw "Vel vector must be 3 in lenght!";
|
||||
|
||||
int i = 0;
|
||||
|
||||
+43
-16
@@ -22,6 +22,7 @@ struct State
|
||||
sf::Vector2f cameraOffset = {0.,0.};
|
||||
|
||||
sf::Clock clock;
|
||||
ReferencePlane selectedPlane = ReferencePlane::XZ;
|
||||
|
||||
int selected = -1;
|
||||
|
||||
@@ -48,7 +49,7 @@ void State::update(){
|
||||
|
||||
|
||||
for(PieceInterface* p : pieces){
|
||||
p->update(clock);
|
||||
//p->update(clock);
|
||||
}
|
||||
for(JointInterface* j : joints){
|
||||
j->movechild();
|
||||
@@ -72,29 +73,51 @@ 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)
|
||||
{
|
||||
sf::Vector2i offset = mouseMoved.position - gs.mouse_pos;
|
||||
gs.mouse_pos = mouseMoved.position;
|
||||
float px = 1;
|
||||
float py = 0;
|
||||
switch (gs.selectedPlane)
|
||||
{
|
||||
case ReferencePlane::XZ:
|
||||
px = 1;
|
||||
py = 0;
|
||||
break;
|
||||
case ReferencePlane::YZ:
|
||||
px = 0;
|
||||
py = 1;
|
||||
break;
|
||||
|
||||
default:
|
||||
break;
|
||||
}
|
||||
|
||||
if (gs.drag){
|
||||
for(PieceInterface* p : gs.pieces){
|
||||
p->globalPos = {p->globalPos[0] + offset.x, p->globalPos[1],p->globalPos[2] + offset.y};
|
||||
|
||||
/// Devo spostare sul piano di visualizzazione
|
||||
/// Quindi dovrò settare una variabile che mi definisce qual è il piano preso in considerazione, questo sarà nello state
|
||||
p->globalPos = {p->globalPos[0] + (offset.x * px), p->globalPos[1]+ (offset.x * py),p->globalPos[2] + offset.y};
|
||||
}
|
||||
}
|
||||
if (gs.selected != -1 && gs.drag_Piece){
|
||||
rb::Vector3 tmp = gs.pieces[gs.selected]->body.getPos();
|
||||
gs.pieces[gs.selected]->body.setPos({tmp[0]+offset.x,tmp[1],tmp[2]+offset.y});
|
||||
gs.pieces[gs.selected]->body.setPos({tmp[0]+ (offset.x * px),tmp[1]+ (offset.x * py),tmp[2]+offset.y});
|
||||
}
|
||||
if (gs.selected != -1 && gs.rot_Piece){
|
||||
rb::Vector3_s tmp = gs.pieces[gs.selected]->body.getRot();
|
||||
rb::Vector3 tmp = gs.pieces[gs.selected]->body.getRot();
|
||||
|
||||
_Float16 nrot = _Float16(offset.x)/10;
|
||||
gs.pieces[gs.selected]->body.setRot({tmp[0],tmp[1],tmp[2]+nrot});
|
||||
float nrot = float(offset.x)/100;
|
||||
gs.pieces[gs.selected]->body.setRot({tmp[0]+(nrot*py),tmp[1]+(nrot*px),tmp[2]});
|
||||
|
||||
//printf("Rotation : %f,%f,%f \n",gs.pieces[gs.selected]->body.getRot()[0],gs.pieces[gs.selected]->body.getRot()[1],gs.pieces[gs.selected]->body.getRot()[2]);
|
||||
}
|
||||
|
||||
|
||||
@@ -108,12 +131,14 @@ void handle(const sf::Event::MouseButtonPressed &mouseBP, State &gs)
|
||||
gs.drag_Piece = true;
|
||||
int i = 0;
|
||||
for (PieceInterface* p : gs.pieces){
|
||||
|
||||
sf::Vector2f pos = {p->globalPos[0]+ p->body.getPos()[0], p->globalPos[2]+ p->body.getPos()[2]};
|
||||
sf::Vector2f pos;
|
||||
if (gs.selectedPlane == ReferencePlane::XZ)
|
||||
pos = {p->globalPos[0]+ p->body.getPos()[0], p->globalPos[2]+ p->body.getPos()[2]};
|
||||
else if (gs.selectedPlane == ReferencePlane::YZ)
|
||||
pos = {p->globalPos[1]+ p->body.getPos()[1], p->globalPos[2]+ p->body.getPos()[2]};
|
||||
|
||||
if (dist(pos,mouseBP.position) < 20){
|
||||
gs.selected = i;
|
||||
break;
|
||||
}
|
||||
i++;
|
||||
}
|
||||
@@ -122,12 +147,14 @@ void handle(const sf::Event::MouseButtonPressed &mouseBP, State &gs)
|
||||
gs.rot_Piece = true;
|
||||
int i = 0;
|
||||
for (PieceInterface* p : gs.pieces){
|
||||
|
||||
sf::Vector2f pos = {p->globalPos[0]+ p->body.getPos()[0], p->globalPos[2]+ p->body.getPos()[2]};
|
||||
sf::Vector2f pos;
|
||||
if (gs.selectedPlane == ReferencePlane::XZ)
|
||||
pos = {p->globalPos[0]+ p->body.getPos()[0], p->globalPos[2]+ p->body.getPos()[2]};
|
||||
else if (gs.selectedPlane == ReferencePlane::YZ)
|
||||
pos = {p->globalPos[1]+ p->body.getPos()[1], p->globalPos[2]+ p->body.getPos()[2]};
|
||||
|
||||
if (dist(pos,mouseBP.position) < 20){
|
||||
gs.selected = i;
|
||||
break;
|
||||
}
|
||||
i++;
|
||||
}
|
||||
@@ -173,7 +200,7 @@ 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
|
||||
|
||||
Some files were not shown because too many files have changed in this diff Show More
Reference in New Issue
Block a user