Update README.md

.gitignore

@@ -10,6 +10,10 @@ compile_commands.json
 CTestTestfile.cmake
 _deps
 CMakeUserPresets.json
+.cmake
+obj
+CPackConfig.cmake
+CPackSourceConfig.cmake
 
 # CLion
 #  JetBrains specific template is maintained in a separate JetBrains.gitignore that can

CMakeLists.txt

@@ -12,12 +12,49 @@ 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)
+
+# Aggiunta ImGUI
+
+
+FetchContent_Declare(ImGui
+    GIT_REPOSITORY https://github.com/ocornut/imgui
+    GIT_TAG v1.91.9b
+    GIT_SHALLOW ON
+    EXCLUDE_FROM_ALL
+    SYSTEM)
+FetchContent_MakeAvailable(ImGui)
+FetchContent_GetProperties(ImGui SOURCE_DIR IMGUI_DIR)
+
+set(IMGUI_SFML_FIND_SFML OFF)
+FetchContent_Declare(ImGui-SFML
+    GIT_REPOSITORY https://github.com/SFML/imgui-sfml
+    GIT_TAG v3.0
+    GIT_SHALLOW ON
+    EXCLUDE_FROM_ALL
+    SYSTEM)
+FetchContent_MakeAvailable(ImGui-SFML)
+
+add_library(common INTERFACE)
+target_compile_features(common INTERFACE cxx_std_17)
+target_compile_options(common INTERFACE
+  $<$<OR:$<CXX_COMPILER_ID:Clang>,$<CXX_COMPILER_ID:AppleClang>,$<CXX_COMPILER_ID:GNU>>: -Wall>
+  $<$<CXX_COMPILER_ID:MSVC>: /W4>
+)
+
+
+# Fine aggiunta
+
+
 set(METHODS_PATH "./src/*/methods/*.cpp")
 
-#V1
+set(VERSION "V5")
-set(VERSION "V1")
 
 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${VERSION} PRIVATE SFML::Graphics ImGui-SFML::ImGui-SFML common glm)
-target_link_libraries(main${VERSION} PRIVATE SFML::Graphics)

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 +17,30 @@ 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
+
+## Nella versione v0.4
+- Aggiunta vista frontale (con spazio si può camnbiare vista)
+- Modifica calcolo pivot per gestire spazio 3D
+- Aggiustati assi di riferimento (ora sono coerenti su tutte le classi)
+
+## Nella versione v0.5
+- Aggiunta ImGUI
+- Aggiunta selettore sulla posizione dei dati
+- Refactoring classe sensore e state per gestire posizione dati da gui
+
+# Per compliare:
 
     cmake --build
 
-Per lanciare:
+# Per lanciare:
 
-    ./build/bin/mainV1
+    ./build/bin/mainV5

build/.cmake/api/v1/reply/cache-v2-374534acf1e5fd169877.json

@@ -1107,7 +1107,7 @@
 				}
 			],
 			"type" : "INTERNAL",
-			"value" : "8"
+			"value" : "11"
 		},
 		{
 			"name" : "CMAKE_OBJCOPY",
@@ -1653,6 +1653,42 @@
 			"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_IMGUI",
+			"properties" : 
+			[
+				{
+					"name" : "HELPSTRING",
+					"value" : "When not empty, overrides where to find pre-populated content for ImGui"
+				}
+			],
+			"type" : "PATH",
+			"value" : ""
+		},
+		{
+			"name" : "FETCHCONTENT_SOURCE_DIR_IMGUI-SFML",
+			"properties" : 
+			[
+				{
+					"name" : "HELPSTRING",
+					"value" : "When not empty, overrides where to find pre-populated content for ImGui-SFML"
+				}
+			],
+			"type" : "PATH",
+			"value" : ""
+		},
 		{
 			"name" : "FETCHCONTENT_SOURCE_DIR_SFML",
 			"properties" : 
@@ -1677,6 +1713,42 @@
 			"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_IMGUI",
+			"properties" : 
+			[
+				{
+					"name" : "HELPSTRING",
+					"value" : "Enables UPDATE_DISCONNECTED behavior just for population of ImGui"
+				}
+			],
+			"type" : "BOOL",
+			"value" : "OFF"
+		},
+		{
+			"name" : "FETCHCONTENT_UPDATES_DISCONNECTED_IMGUI-SFML",
+			"properties" : 
+			[
+				{
+					"name" : "HELPSTRING",
+					"value" : "Enables UPDATE_DISCONNECTED behavior just for population of ImGui-SFML"
+				}
+			],
+			"type" : "BOOL",
+			"value" : "OFF"
+		},
 		{
 			"name" : "FETCHCONTENT_UPDATES_DISCONNECTED_SFML",
 			"properties" : 
@@ -1723,7 +1795,7 @@
 				}
 			],
 			"type" : "INTERNAL",
-			"value" : "[/usr/lib/x86_64-linux-gnu/libOpenGL.so][/usr/lib/x86_64-linux-gnu/libGLX.so][/usr/include][found components: OpenGL ][v()]"
+			"value" : "[/usr/lib/x86_64-linux-gnu/libOpenGL.so][/usr/lib/x86_64-linux-gnu/libGLX.so][/usr/include][ ][v()]"
 		},
 		{
 			"name" : "FIND_PACKAGE_MESSAGE_DETAILS_Threads",
@@ -1869,6 +1941,318 @@
 			"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" : "IMGUI_INCLUDE_DIR",
+			"properties" : 
+			[
+				{
+					"name" : "HELPSTRING",
+					"value" : "Path to a file."
+				}
+			],
+			"type" : "PATH",
+			"value" : "/home/endertom/Documenti/ProgettoFinaleRep/FCG_VisualizzatoreCamminata/build/_deps/imgui-src"
+		},
+		{
+			"name" : "IMGUI_SFML_CONFIG_DIR",
+			"properties" : 
+			[
+				{
+					"name" : "HELPSTRING",
+					"value" : "Path to a directory containing user ImGui config"
+				}
+			],
+			"type" : "PATH",
+			"value" : "/home/endertom/Documenti/ProgettoFinaleRep/FCG_VisualizzatoreCamminata/build/_deps/imgui-sfml-src"
+		},
+		{
+			"name" : "IMGUI_SFML_CONFIG_INSTALL_DIR",
+			"properties" : 
+			[
+				{
+					"name" : "HELPSTRING",
+					"value" : "Path where user's config header will be installed"
+				}
+			],
+			"type" : "PATH",
+			"value" : ""
+		},
+		{
+			"name" : "IMGUI_SFML_CONFIG_NAME",
+			"properties" : 
+			[
+				{
+					"name" : "HELPSTRING",
+					"value" : "Name of a custom user ImGui config header"
+				}
+			],
+			"type" : "STRING",
+			"value" : "imconfig-SFML.h"
+		},
+		{
+			"name" : "IMGUI_SFML_DISABLE_OBSOLETE_FUNCTIONS",
+			"properties" : 
+			[
+				{
+					"name" : "HELPSTRING",
+					"value" : "Disable obsolete ImGui functions"
+				}
+			],
+			"type" : "BOOL",
+			"value" : "OFF"
+		},
+		{
+			"name" : "IMGUI_SFML_ENABLE_WARNINGS",
+			"properties" : 
+			[
+				{
+					"name" : "HELPSTRING",
+					"value" : "Enable compiler warnings"
+				}
+			],
+			"type" : "BOOL",
+			"value" : "OFF"
+		},
+		{
+			"name" : "IMGUI_SFML_USE_DEFAULT_CONFIG",
+			"properties" : 
+			[
+				{
+					"name" : "HELPSTRING",
+					"value" : "Use default imconfig-SFML.h"
+				}
+			],
+			"type" : "BOOL",
+			"value" : "ON"
+		},
 		{
 			"name" : "OGG_INCLUDE_DIR",
 			"properties" : 
@@ -4636,6 +5020,78 @@
 			],
 			"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"
+		},
+		{
+			"name" : "imgui_sfml_BINARY_DIR",
+			"properties" : 
+			[
+				{
+					"name" : "HELPSTRING",
+					"value" : "Value Computed by CMake"
+				}
+			],
+			"type" : "STATIC",
+			"value" : "/home/endertom/Documenti/ProgettoFinaleRep/FCG_VisualizzatoreCamminata/build/_deps/imgui-sfml-build"
+		},
+		{
+			"name" : "imgui_sfml_IS_TOP_LEVEL",
+			"properties" : 
+			[
+				{
+					"name" : "HELPSTRING",
+					"value" : "Value Computed by CMake"
+				}
+			],
+			"type" : "STATIC",
+			"value" : "OFF"
+		},
+		{
+			"name" : "imgui_sfml_SOURCE_DIR",
+			"properties" : 
+			[
+				{
+					"name" : "HELPSTRING",
+					"value" : "Value Computed by CMake"
+				}
+			],
+			"type" : "STATIC",
+			"value" : "/home/endertom/Documenti/ProgettoFinaleRep/FCG_VisualizzatoreCamminata/build/_deps/imgui-sfml-src"
 		}
 	],
 	"kind" : "cache",

build/.cmake/api/v1/reply/cmakeFiles-v1-c1c7adbe1bc85952b01c.json

@@ -1,551 +0,0 @@
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build/.cmake/api/v1/reply/codemodel-v2-1d54dc62b65d9b1e65df.json

@@ -32,6 +32,20 @@
 					"name" : "OpenGL::EGL",
 					"projectIndex" : 1
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+					"name" : "OpenGL::EGL",
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@@ -46,6 +60,20 @@
 					"name" : "OpenGL::GLES2",
 					"projectIndex" : 1
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@@ -60,6 +88,13 @@
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@@ -67,6 +102,13 @@
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@@ -228,12 +270,26 @@
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 					"id" : "freetype::@98af38147d5fa7e70f61",
 					"jsonFile" : "target-freetype-Debug-abdfbd050f0222558c4d.json",
 					"name" : "freetype",
 					"projectIndex" : 1
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@@ -241,12 +297,15 @@
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@@ -258,7 +317,7 @@
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@@ -268,7 +327,7 @@
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build/.cmake/api/v1/reply/directory-_deps.glm-build-Debug-c62d847c2156f7f8634f.json

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build/.cmake/api/v1/reply/directory-_deps.glm-build.glm-Debug-ee2f18c9a18ae24a8c8e.json

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build/.cmake/api/v1/reply/directory-_deps.imgui-sfml-build-Debug-c0058f26c81670b734d6.json

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build/.cmake/api/v1/reply/directory-_deps.sfml-build-Debug-f18c22a3e3ebfe4df823.json

@@ -242,7 +242,7 @@
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@@ -296,7 +296,7 @@
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build/.cmake/api/v1/reply/directory-_deps.sfml-build.src.SFML.Window-Debug-82b71fd7ecf90bbcba4a.json

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build/.cmake/api/v1/reply/index-2026-05-30T20-43-34-0778.json

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build/.cmake/api/v1/reply/target-mainV5-Debug-b0772c24f5ba06cc97ee.json

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 			"/usr/share/cmake-4.2/Modules/FindX11.cmake",
-			"build/_deps/sfml-src/src/SFML/System/CMakeLists.txt"
+			"build/_deps/sfml-src/src/SFML/System/CMakeLists.txt",
+			"build/_deps/imgui-sfml-src/CMakeLists.txt"
 		],
 		"nodes" : 
 		[
@@ -31,13 +32,13 @@
 			{
 				"command" : 0,
 				"file" : 0,
-				"line" : 21,
+				"line" : 59,
 				"parent" : 0
 			},
 			{
 				"command" : 1,
 				"file" : 0,
-				"line" : 23,
+				"line" : 60,
 				"parent" : 0
 			},
 			{
@@ -112,6 +113,15 @@
 				"file" : 1,
 				"line" : 156,
 				"parent" : 3
+			},
+			{
+				"file" : 5
+			},
+			{
+				"command" : 1,
+				"file" : 5,
+				"line" : 73,
+				"parent" : 17
 			}
 		]
 	},
@@ -125,6 +135,18 @@
 		{
 			"backtrace" : 2,
 			"id" : "sfml-graphics::@98af38147d5fa7e70f61"
+		},
+		{
+			"backtrace" : 2,
+			"id" : "ImGui-SFML::@0d4f94df99120bc7405e"
+		},
+		{
+			"backtrace" : 2,
+			"id" : "common::@6890427a1f51a3e7e1df"
+		},
+		{
+			"backtrace" : 2,
+			"id" : "glm::@ce54d98d7b326a3e12a8"
 		}
 	],
 	"compileGroups" : 
@@ -134,10 +156,18 @@
 			[
 				{
 					"fragment" : "-g"
+				},
+				{
+					"backtrace" : 2,
+					"fragment" : "-Wall"
 				}
 			],
 			"defines" : 
 			[
+				{
+					"backtrace" : 2,
+					"define" : "IMGUI_USER_CONFIG=\"imconfig-SFML.h\""
+				},
 				{
 					"backtrace" : 2,
 					"define" : "SFML_STATIC"
@@ -145,10 +175,24 @@
 			],
 			"includes" : 
 			[
+				{
+					"backtrace" : 2,
+					"path" : "/home/endertom/Documenti/ProgettoFinaleRep/FCG_VisualizzatoreCamminata/build/_deps/glm-src"
+				},
 				{
 					"backtrace" : 2,
 					"isSystem" : true,
 					"path" : "/home/endertom/Documenti/ProgettoFinaleRep/FCG_VisualizzatoreCamminata/build/_deps/sfml-src/include"
+				},
+				{
+					"backtrace" : 2,
+					"isSystem" : true,
+					"path" : "/home/endertom/Documenti/ProgettoFinaleRep/FCG_VisualizzatoreCamminata/build/_deps/imgui-src"
+				},
+				{
+					"backtrace" : 2,
+					"isSystem" : true,
+					"path" : "/home/endertom/Documenti/ProgettoFinaleRep/FCG_VisualizzatoreCamminata/build/_deps/imgui-sfml-src"
 				}
 			],
 			"language" : "CXX",
@@ -160,7 +204,9 @@
 				3,
 				4,
 				5,
-				6
+				6,
+				7,
+				8
 			]
 		}
 	],
@@ -177,9 +223,17 @@
 		{
 			"backtrace" : 2,
 			"id" : "sfml-graphics::@98af38147d5fa7e70f61"
+		},
+		{
+			"backtrace" : 2,
+			"id" : "glm::@ce54d98d7b326a3e12a8"
+		},
+		{
+			"backtrace" : 2,
+			"id" : "ImGui-SFML::@0d4f94df99120bc7405e"
 		}
 	],
-	"id" : "mainV1::@6890427a1f51a3e7e1df",
+	"id" : "mainV5::@6890427a1f51a3e7e1df",
 	"link" : 
 	{
 		"commandFragments" : 
@@ -193,6 +247,21 @@
 				"fragment" : "_deps/sfml-build/lib/libsfml-graphics-s-d.a",
 				"role" : "libraries"
 			},
+			{
+				"backtrace" : 2,
+				"fragment" : "_deps/imgui-sfml-build/libImGui-SFML.a",
+				"role" : "libraries"
+			},
+			{
+				"backtrace" : 2,
+				"fragment" : "_deps/glm-build/glm/libglm.a",
+				"role" : "libraries"
+			},
+			{
+				"backtrace" : 2,
+				"fragment" : "_deps/sfml-build/lib/libsfml-graphics-s-d.a",
+				"role" : "libraries"
+			},
 			{
 				"backtrace" : 4,
 				"fragment" : "_deps/sfml-build/lib/libsfml-window-s-d.a",
@@ -262,6 +331,11 @@
 				"backtrace" : 16,
 				"fragment" : "/usr/lib/x86_64-linux-gnu/libfreetype.so",
 				"role" : "libraries"
+			},
+			{
+				"backtrace" : 18,
+				"fragment" : "/usr/lib/x86_64-linux-gnu/libGL.so",
+				"role" : "libraries"
 			}
 		],
 		"language" : "CXX"
@@ -271,10 +345,22 @@
 		{
 			"backtrace" : 2,
 			"id" : "sfml-graphics::@98af38147d5fa7e70f61"
+		},
+		{
+			"backtrace" : 2,
+			"id" : "ImGui-SFML::@0d4f94df99120bc7405e"
+		},
+		{
+			"backtrace" : 2,
+			"id" : "common::@6890427a1f51a3e7e1df"
+		},
+		{
+			"backtrace" : 2,
+			"id" : "glm::@ce54d98d7b326a3e12a8"
 		}
 	],
-	"name" : "mainV1",
+	"name" : "mainV5",
-	"nameOnDisk" : "mainV1",
+	"nameOnDisk" : "mainV5",
 	"paths" : 
 	{
 		"build" : ".",
@@ -292,7 +378,9 @@
 				3,
 				4,
 				5,
-				6
+				6,
+				7,
+				8
 			]
 		}
 	],
@@ -322,6 +410,12 @@
 			"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 +428,12 @@
 			"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,

build/CPackConfig.cmake

@@ -0,0 +1,74 @@
+# 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 "NSIS")
+set(CPACK_INNOSETUP_ARCHITECTURE "x64")
+set(CPACK_INSTALL_CMAKE_PROJECTS "C:/Users/Tommy/Documents/UNIGE/ProgettoFinale/FCG_VisualizzatoreCamminata/build;CMakeSFMLProject;ALL;/")
+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-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()

build/CPackSourceConfig.cmake

@@ -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()

build/bin/imgui.ini

@@ -0,0 +1,44 @@
+[Window][Debug##Default]
+Pos=60,60
+Size=400,400
+
+[Window][Dear ImGui Demo]
+Pos=473,13
+Size=936,873
+
+[Window][Hello, world!]
+Pos=11,12
+Size=212,56
+
+[Window][Dear ImGui Demo/##Basket_87771727]
+IsChild=1
+Size=478,260
+
+[Window][Dear ImGui Demo/##Basket_529977C1]
+IsChild=1
+Size=478,260
+
+[Window][Example: Custom rendering]
+Pos=68,96
+Size=740,472
+
+[Window][Set data position]
+Pos=0,589
+Size=780,30
+
+[Window][Dear ImGui Demo/ResizableChild_478B81A3]
+IsChild=1
+Size=499,136
+
+[Window][Dear ImGui Demo/Red_BEEF922B]
+IsChild=1
+Size=200,100
+
+[Window][Dear ImGui Style Editor]
+Pos=60,60
+Size=353,1005
+
+[Window][Set visualization plane]
+Pos=380,0
+Size=400,30
+

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
@@ -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;
 

src/joints/headers/pivot_joint.hpp

@@ -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;

src/joints/methods/pivot_joint_class.cpp

@@ -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)
+    offsetAngle[id] = offsetAngle[id] + (cRot - oldCRot[id]);
-    float r2 = sqrt(pow(offset[id][0],2)+pow(offset[id][2],2)); 
-    if (r1>ZERO_INT){
-        
-        float sign = pivot[2] >= 0 ? 1 : -1;
 
     
-        sf::Angle alpha = sf::radians(fRot[2] - oldRot[2]); // angolo aggiunto
+    float cosB = glm::cos(offsetAngle[id][0]);
-        sf::Angle alpha1 = sf::radians(acos(sign * pivot[0]/r1)); // angolo rispetto alla posizione del pivot 
+    float sinB = glm::sin(offsetAngle[id][0]);
-        sf::Angle alpha2 = alpha + alpha1;
     
-        sf::Vector2f tmpCoordsX = sf::Vector2f(r1,alpha2);
+    float cosB1 = glm::cos(offsetAngle[id][1]);
-        pivot = {sign * tmpCoordsX.x,pivot[1],sign * tmpCoordsX.y};
+    float sinB1 = glm::sin(offsetAngle[id][1]);
     
-        //calcolo la posizione in base alla rotazione del child 
+    glm::mat4 Rcx = glm::mat4{
-        sign = offset[id][2] >= 0 ? 1 : -1;
+        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]);
+    glm::mat4 Rcy = glm::mat4{
-        sf::Angle beta1 = sf::radians(acos(sign * offset[id][0]/r2));
+        cosB1 , 0, sinB1, 0,
-        sf::Angle beta2 = beta + beta1;
+        0, 1, 0, 0,
-        sf::Vector2f tmpCoordsC = sf::Vector2f(r2,beta2);
+        -sinB1, 0, cosB1, 0,
-        offset[id] = {sign * tmpCoordsC.x,offset[id][1],sign * tmpCoordsC.y};
+        0, 0, 0, 1
+    };
 
 
-        //ora devo muovere il child rispetto al nuovo offset 
+    glm::vec4 offN = Rcy * Rcx * glm::vec4(offset[id][0],offset[id][1],offset[id][2],1);
-        rb::Vector3 pivotPos = father->body.getPos()+father->globalPos+pivot;
+    // offset[id] = rb::Vector3{offN[0],offN[1],offN[2]};
-        rb::Vector3 cPos = childs[id]->body.getPos() + childs[id]->globalPos;
 
-        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;
+    stPivot = pivotPoint;
-
+    rb::Vector3 pivotCenter = father->body.getPos() + stPivot;
-    /*
-    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) )} );
-    */
 
+    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);

src/joints/methods/rigid_joint_class.cpp

@@ -2,55 +2,58 @@
 
 #define ZERO_INT 0.00001
 
-void RigidJoint::rotate(unsigned int id){
+//using namespace glm;
-    rb::Vector3_s fRot = father->body.getRot();
-    rb::Vector3_s fRotOld = childs[id]->body.getRot() - rotOffset[id];
 
-    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 ////
+    //passo a coordinate 3D per calcolare rotazione sul piano YZ oltre che al piano XZ
-    //se si muove il child devo muovere anche il padre -> devo trovare la differenza di posizione prima di ricalcolare l'offset
+    // calcolo alpha angolo 
-    /*
-    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)
+    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
+    glm::mat4 Rx = glm::mat4{
-        sf::Angle alpha1 = sf::radians(acos(sign * offset[id][0]/r)); // angolo rispetto alla posizione del child 
+        1 , 0, 0, 0,
-        sf::Angle beta = alpha + alpha1;
+        0, cosA, sinA, 0,
+        0, -sinA, cosA, 0,
+        0, 0, 0, 1
+    };
 
-        sf::Vector2f tmpCoordsX = sf::Vector2f(r,beta);
+    glm::mat4 Ry = glm::mat4{
-        offset[id] = {sign * tmpCoordsX.x,offset[id][1],sign * tmpCoordsX.y};
+        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();
 

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

@@ -1,32 +1,33 @@
 #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,
+    XZ,
     YZ,
-    XZ
+    XZN
 };
 
 //classi
 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

@@ -3,28 +3,28 @@
 #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;
         std::vector<float> timeData;
-        rb::Vector3 stPos;
 
         //in che punto sto controllando il segnale 
-        unsigned int dataPos;
+        unsigned int* dataPos;
-        unsigned int dataIntvl; 
-        
 
         //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);
+        Sensore(rb::Vector3 coords, _Float16 mass, unsigned int* st, std::vector<std::vector<float>> data);
         ~Sensore();
 
         void update(sf::Clock cl) override;
@@ -32,6 +32,8 @@ class Sensore : public PieceInterface{
 
         //funzioni specifiche
         void initCSV(std::vector<std::vector<float>> data);
+        void setIntervall(int min, int max);
+        void setPos(int &pos);
 
 };
 

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 +1,52 @@
+#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;
+}

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 +18,43 @@ 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;
 }

src/pieces/methods/sensore_class.cpp

@@ -2,23 +2,22 @@
 
 
 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){
+Sensore::Sensore(rb::Vector3 coords, _Float16 mass, unsigned int* st, std::vector<std::vector<float>> data) : Sensore(coords, mass){
         dataPos = st;
-        this->dataIntvl = dataIntvl;
         initCSV(data);
 }
 
 
 Sensore::~Sensore(){
-    delete shape;
+    delete shapeXZ;
+    delete shapeYZ;
 }
 
 void Sensore::initCSV(std::vector<std::vector<float>> data){
@@ -33,6 +32,9 @@ 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);
@@ -41,44 +43,46 @@ void Sensore::initCSV(std::vector<std::vector<float>> data){
 
 
 void Sensore::update(sf::Clock cl){
-    // Aggiorno la posizione nei dati
-    int64_t currTime = cl.getElapsedTime().asMicroseconds() *100000;
-    if (timeData[dataPos] < currTime && dataIntvl - dataPos > 0) { //aggiorno solo se ho cambiato posizione
-        dataPos++;
    
     //calcolo la posizione e velocità
-        calcRotWithG(dataPos);
+    if (*dataPos >= gData.size()) *dataPos = gData.size()-1;
-        body.setAcc(rb::Vector3{accData[dataPos]});
+
+    calcRotWithG(*dataPos);
+
+
+    body.setAcc(rb::Vector3{accData[*dataPos]});
     body.step(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 nullptr;
-    
-
-    return shape;
 }
 
 
@@ -93,10 +97,13 @@ 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 tmpAX = acos(tmpSinX);
-    float tmpAY = acos(tmpSinZ);
+    float tmpAY = acos(tmpSinY);
-    float tmpAZ = acos(tmpSinX);
+    float tmpAZ = acos(tmpSinZ);
 
-    body.setRot(rb::Vector3_s{_Float16( tmpAX),_Float16( tmpAY),_Float16( tmpAZ) });
+    body.setRot(rb::Vector3{tmpAY, tmpAX, tmpAZ });
 
 }
+
+
+/////////////// 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 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;
+}

src/rigidbody/headers/rb.hpp

@@ -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.");
             }

src/rigidbody/methods/rb_class.cpp

@@ -21,8 +21,8 @@ rigidbody::~rigidbody()
 Vector3 rigidbody::getPos(){
     return Vector3 {coords};
 }
-Vector3_s rigidbody::getRot(){
+Vector3 rigidbody::getRot(){
-    return Vector3_s {rot};
+    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;

src/sfml_util.cpp

@@ -2,6 +2,8 @@
 #include <math.h>
 #include "pieces/headers/piece_interface.hpp"
 #include "joints/headers/joint_interface.hpp"
+#include <imgui.h>
+#include <imgui-SFML.h>
 
 template <typename T1, typename T2>
 double dist(sf::Vector2<T1> p1, sf::Vector2<T2> p2)
@@ -22,6 +24,7 @@ struct State
     sf::Vector2f cameraOffset = {0.,0.};
 
     sf::Clock clock;
+    ReferencePlane selectedPlane = ReferencePlane::XZ;
 
     int selected = -1;
 
@@ -30,12 +33,26 @@ struct State
     bool drag = false;
     sf::Vector2i mouse_pos;
 
-    State(unsigned w, unsigned h, std::string title) 
+    /// per settare l'ntervallo di visualizzazione
+    unsigned int* pos ;
+    unsigned int* intervalMajLimit ;
+    unsigned int* intervalMinLimit ;
+    unsigned int maxEntries = 1000;
+    bool play = true;
+
+    State(unsigned w, unsigned h, std::string title, unsigned int* maj, unsigned int* min, unsigned int* pos) 
     {
         window = sf::RenderWindow(sf::VideoMode({w, h}), title);
+        if (ImGui::SFML::Init(window)); // L'if è solo per togliere il warning, va aggiustato gestendo le eccezioni
         clock.restart();
+        intervalMajLimit = maj;
+        intervalMinLimit = min;
+        this->pos = pos; 
     }
     void update();
+    void setIntervall(int n){
+        maxEntries = n;
+    }
 };
 
 ///
@@ -46,13 +63,15 @@ struct State
 
 void State::update(){
     
-
+    if (play){
         for(PieceInterface* p : pieces){
             p->update(clock);
         }
+    }
     for(JointInterface* j : joints){
         j->movechild();
     }
+    
 }
 
 ///
@@ -60,47 +79,69 @@ void State::update(){
 
 ////////////////////////////////////////////////////////////
 /// Callback functions
-void handle(const sf::Event::Closed &, State &gs)
+void handle_close(State &gs)
 {
     gs.window.close();
 }
 
-void handle(const sf::Event::TextEntered &textEnter, State &gs)
+void handle_text(const sf::Event::TextEntered &textEnter, State &gs)
 {
    
 }
 
-void handle(const sf::Event::KeyPressed &keyPressed, State &gs)
+void handle_keyPressed(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)
+void handle_mouseMove(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};
+            p->globalPos = {p->globalPos[0] + (offset.x * px), p->globalPos[1]+ (offset.x * py),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
         }
     }
     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;
+        float nrot = float(offset.x)/100;
-        gs.pieces[gs.selected]->body.setRot({tmp[0],tmp[1],tmp[2]+nrot});
+        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]);
     }
 
     
 }
 
-void handle(const sf::Event::MouseButtonPressed &mouseBP, State &gs)
+void handle_mousePressed(const sf::Event::MouseButtonPressed &mouseBP, State &gs)
 {
     gs.mouse_pos = mouseBP.position;
     if ( mouseBP.button == sf::Mouse::Button::Middle) gs.drag = true;
@@ -108,12 +149,14 @@ void handle(const sf::Event::MouseButtonPressed &mouseBP, State &gs)
         gs.drag_Piece = true;
         int i = 0;
         for (PieceInterface* p : gs.pieces){
-            
+            sf::Vector2f pos;
-            sf::Vector2f pos = {p->globalPos[0]+ p->body.getPos()[0], p->globalPos[2]+ p->body.getPos()[2]};
+            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 +165,14 @@ void handle(const sf::Event::MouseButtonPressed &mouseBP, State &gs)
         gs.rot_Piece = true;
         int i = 0;
         for (PieceInterface* p : gs.pieces){
-            
+            sf::Vector2f pos;
-            sf::Vector2f pos = {p->globalPos[0]+ p->body.getPos()[0], p->globalPos[2]+ p->body.getPos()[2]};
+            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++;
         }
@@ -135,7 +180,7 @@ void handle(const sf::Event::MouseButtonPressed &mouseBP, State &gs)
 
 }
 
-void handle(const sf::Event::MouseButtonReleased &, State &gs)
+void handle_mouseRelease(const sf::Event::MouseButtonReleased &, State &gs)
 {
     gs.drag = false;
     gs.drag_Piece = false;
@@ -143,17 +188,13 @@ void handle(const sf::Event::MouseButtonReleased &, State &gs)
     gs.selected = -1;
 }
 
-void handle(const sf::Event::Resized &resized, State &gs)
+void handle_resize(const sf::Event::Resized &resized, State &gs)
 {
     sf::FloatRect visibleArea({0.f, 0.f}, sf::Vector2f(resized.size));
     gs.window.setView(sf::View(visibleArea));
 }
 
-template <typename T>
+
-void handle(const T &, State &gs)
-{
-    // All unhandled events will end up here
-}
 ///
 ////////////////////////////////////////////////////////////
 
@@ -164,17 +205,87 @@ void doGUI(State &gs)
 {
     // TODO: here code to display the menus
     //Bottoni
+    sf::Time elapsed = gs.clock.restart();
 
+    unsigned int zero = 0;
+
+    ImGui::SFML::Update(gs.window, elapsed);
+    ImGui::ShowDemoWindow();
+
+    //Finestra gestione posizione nei dati
+    ImGuiWindowFlags sdp_flags = ImGuiWindowFlags_NoMove|
+                                 ImGuiWindowFlags_NoResize|
+                                 ImGuiWindowFlags_NoScrollbar|
+                                 ImGuiWindowFlags_NoCollapse|
+                                 ImGuiWindowFlags_NoTitleBar;
+   
+    ImGui::Begin("Set data position", 0,sdp_flags);
+    ImGui::SetNextItemWidth(ImGui::GetContentRegionAvail().x * 0.3);
+    ImGui::SliderScalar("Start", ImGuiDataType_U32 ,gs.intervalMinLimit,&zero,gs.intervalMajLimit);
+    ImGui::SameLine();
+    ImGui::SetNextItemWidth(ImGui::GetContentRegionAvail().x * 0.5);
+    if (ImGui::SliderScalar("Pos", ImGuiDataType_U32 ,gs.pos,gs.intervalMinLimit,gs.intervalMajLimit)){
+        gs.play = false;
+    }
+    ImGui::SameLine();
+    ImGui::SetNextItemWidth(ImGui::GetContentRegionAvail().x * 0.8);
+    ImGui::SliderScalar("End", ImGuiDataType_U32 ,gs.intervalMajLimit,gs.intervalMinLimit,&gs.maxEntries);
+    bool red = false;
+    if (!gs.play){
+        ImGui::PushStyleColor(ImGuiCol_Button, ImVec4(1,0,0,1));
+        red = true;
+    }
+    ImGui::SameLine();
+    if (ImGui::ArrowButton("Play", ImGuiDir_Right)){
+        gs.play = !gs.play;
+    }
+    if (red) ImGui::PopStyleColor();
+    ImGui::End();
+
+
+    //Finestra gestione piano visualizzazione
+    ImGui::Begin("Set visualization plane",0,sdp_flags);
+    const char* MyEnumNames[] = { "XZ", "YZ", "-XZ" };
+    int currentPlane = (int)gs.selectedPlane;
+    ImGui::SliderInt("Selected Plane", &currentPlane,0,2,MyEnumNames[currentPlane]);
+    gs.selectedPlane = (ReferencePlane)currentPlane;
+    ImGui::End();
+
+
+    sf::Vector2u wsize = gs.window.getSize();
+    ImGui::SetWindowPos("Set data position",ImVec2(0,wsize.y - 30));
+    ImGui::SetWindowSize("Set data position",ImVec2(wsize.x,30));
+    ImGui::SetWindowPos("Set visualization plane",ImVec2(wsize.x-400,0));
+    ImGui::SetWindowSize("Set visualization plane",ImVec2(400,30));
+    ImGui::SFML::Render(gs.window);
 }
 
 void doGraphics(State &gs)
 {
+   
     gs.window.clear();
+    for(PieceInterface* p: gs.pieces){
+        gs.window.draw(*p->draw(gs.selectedPlane));
+    }
+    
+    while (const std::optional event = gs.window.pollEvent()) {
+        ImGui::SFML::ProcessEvent(gs.window, *event);
+        if (event->is<sf::Event::Closed>())
+            handle_close (gs);
+        if (const auto* resized = event->getIf<sf::Event::Resized>())
+            handle_resize (*resized, gs);
+        if (const auto* pressed = event->getIf<sf::Event::KeyPressed>())
+            handle_keyPressed (*pressed, gs);
+        if (const auto* moved = event->getIf<sf::Event::MouseMoved>())
+            handle_mouseMove (*moved, gs);   
+        if (const auto* mpressed = event->getIf<sf::Event::MouseButtonPressed>())
+            handle_mousePressed (*mpressed, gs); 
+        if (const auto* mreleased = event->getIf<sf::Event::MouseButtonReleased>())
+            handle_mouseRelease (*mreleased, gs);  
+    }
     doGUI(gs);
 
-    for(PieceInterface* p: gs.pieces){
+  
-        gs.window.draw(*p->draw(ReferencePlane::XZ));
-    }
     
     // TODO: add here code to display shapes in your canvas
 

src/testMain.cpp

@@ -28,51 +28,73 @@ int main() {
         std::cerr << "Error: " << e.what() << std::endl;
     }
 
+    // inizializzo variabili per gestire l'intervallo di visualizzazione
+
+    unsigned int min = 0;
+    unsigned int pos = 0;
+    unsigned int maj = 100;
+
     //Costruisco la GUI 
-    State gs(800, 600, "Visualizzatore passo");
+    State gs(800, 600, "Visualizzatore passo",&maj,&min,&pos);
-    gs.window.setFramerateLimit(60);
+    gs.window.setFramerateLimit(70);
     printf("Costruisco gli oggetti\n");
 
     try{
         processor.readCSVFile (DATA_PATH + "coscia_filt.csv");
         const auto& coscia = processor.getData();
+        gs.setIntervall(coscia.size());
 
 
-        gs.pieces.push_back(new Coscia (rb::Vector3{300,10,300},2));
+        gs.pieces.push_back(new Coscia (rb::Vector3{300,300,300},2));
-        gs.pieces.push_back(new Sensore (rb::Vector3{300,300,300},_Float16( 0.2 ),900,3000,coscia));
+        gs.pieces.push_back(new Sensore (rb::Vector3{300,300,300},_Float16( 0.2 ),&pos,coscia));
-        gs.pieces.push_back(new Coscia (rb::Vector3{300,10,500},1));
+        gs.pieces.push_back(new Caviglia (rb::Vector3{300,300,500},1));
 
         gs.pieces[1]->body.setRot({0,0,0});
 
 
         processor.readCSVFile(DATA_PATH + "caviglia_filt.csv");
         const auto& caviglia = processor.getData();
-        gs.pieces.push_back(new Sensore (rb::Vector3{300,700,500},_Float16( 0.2 ),900,3000,caviglia));
+        gs.pieces.push_back(new Sensore (rb::Vector3{300,300,500},_Float16( 0.2 ),&pos,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[1]->body.setRot({_Float16 (1.3),_Float16 (1.7),0});
-        gs.pieces[3]->body.setRot({0,0,_Float16 (1.7)});
+        gs.pieces[3]->body.setRot({_Float16 (1.8),_Float16 (1.7),0});
+
 
 
         // aggiungo i joint
-
+        gs.joints.push_back(new PivotJoint(gs.pieces[4], {gs.pieces[1]}, rb::Vector3{0,-100,50}));
         gs.joints.push_back(new RigidJoint(gs.pieces[1], {gs.pieces[0]}));
         gs.joints.push_back(new PivotJoint(gs.pieces[1], {gs.pieces[3]}, rb::Vector3{0,0,100}));
         gs.joints.push_back(new RigidJoint(gs.pieces[3], {gs.pieces[2]}));
         
+
         printf("Ho costruito tutto!\n");
     }
     catch(char* e){
         printf("%s\n",e);
     }
     printf("Avvio l'interfaccia grafica\n");
+
+
+    unsigned int curTime = 0;
+    unsigned int freq = 50;
+    const unsigned int T = 1000/freq; //i sensori hanno una freq di campionamento di 50hz
+
     //Avvio il loop della GUI
     gs.clock.start();
+
+    sf::Clock mainClock;
     while (gs.window.isOpen()) 
     {
-        // event loop and handler through callbacks
+        curTime += mainClock.restart().asMilliseconds();
-        gs.window.handleEvents([&](const auto &event)
+        if (curTime > T){
-                               { handle(event, gs); });
+            if (gs.play && pos+curTime/T < maj) pos += curTime / T; 
+            curTime = 0;
+        }
+
         // Show update
         gs.update();
         doGraphics(gs);