32 Commits

Author SHA1 Message Date
Endert0m a16cc97048 Update README.md 2026-06-19 17:28:28 +02:00
Endertom 4b75af28f8 Aggiunta dati gamba 2026-06-19 17:14:02 +02:00
Endertom 331aaae279 Modifica Readme 2026-06-19 16:46:35 +02:00
Endertom 298db61ace Aggiornati handle per debug su collezioni 2026-06-19 14:03:45 +02:00
Endertom 83928c9bd7 Aggiustata posizione gambe in lower_body 2026-06-19 12:59:42 +02:00
Endertom 0d4b6d1242 Aggiunta viusalizzazione collection su sfml_util 2026-06-19 11:33:47 +02:00
Endertom 23798ab582 Test lower_body in main 2026-06-18 22:32:30 +02:00
Endertom 842f384bb8 Aggiunte e modifiche per lower_body 2026-06-18 18:01:09 +02:00
Endertom 9189246361 Aggiunta modalità debug 2026-06-18 12:23:22 +02:00
Endertom f8fdc1dc84 Aggiunto header lower_body 2026-06-18 12:13:35 +02:00
Endertom a2a299c0a1 Aggiustati include 2026-06-08 11:46:06 +02:00
Endertom f15e13475d Aggiustato warning sulla throw 2026-06-08 11:35:44 +02:00
Endertom 10d7c806ec Aggiunta Collections per ridurre dimensione main 2026-06-08 11:31:21 +02:00
Endert0m 945a85cacf Update README.md 2026-06-07 16:34:36 +02:00
Endertom a118eedb18 Aggiornamento README 2026-06-07 16:33:05 +02:00
Endertom 2d417cec32 Fissata posizione selezione piano 2026-06-07 16:30:35 +02:00
Endertom c1627b1759 Aggiunta cambio piano su gui 2026-06-07 13:39:04 +02:00
Endertom 3266cc38db Aggiustato crash causa non inizializzazione variabile 2026-06-07 11:34:50 +02:00
Endertom f8dde34b83 Aggiunta pulsante play 2026-06-06 13:04:54 +02:00
Endertom ba5e071c6f Controllo posizione con gui completa 2026-06-06 11:27:21 +02:00
Endertom 52b2a95032 Cambio posizione aggoirnamento dati (da concludere) 2026-06-06 10:57:51 +02:00
Endertom 474b4e6c8c Merge branch 'main' of https://github.com/Endert0m/FCG_VisualizzatoreCamminata 2026-06-04 20:02:44 +02:00
Endertom 8397164b6b Aggiunta Imgui e sliders per intervallo visualizzazione 2026-06-04 20:00:46 +02:00
Endertom a95e98ed8a Modifica gitignore per non caricare build files 2026-06-03 11:56:18 +02:00
Endertom 21f43f8bce Aggiustato deriva offset 2026-06-02 16:44:46 +02:00
Endertom 28abf04232 Miglioramento precisione rotazioni 2026-05-31 12:47:46 +02:00
Endertom 57412060b5 Migliore precisione per debug 2026-05-31 12:34:59 +02:00
Endertom 8be8a2db00 Aggiustato debug per rotazione 2026-05-31 12:12:47 +02:00
Endertom 2840a35d08 Correzione file README 2026-05-31 12:01:43 +02:00
Endertom 5da309b43f Caricamento v4 2026-05-31 11:58:56 +02:00
Endertom 5169bc4096 Caricamento v0.3 2026-05-31 11:06:50 +02:00
Endertom e50e2987c9 Caricamento v0.2 2026-05-31 10:42:30 +02:00
96 changed files with 34196 additions and 29728 deletions
+4
View File
@@ -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
+42 -4
View File
@@ -12,12 +12,50 @@ 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 "V1")
set(VERSION "V6")
file(GLOB_RECURSE METHODS_SRC "${METHODS_PATH}")
add_executable(main${VERSION} ./src/testMain.cpp ${METHODS_SRC} )
target_compile_features(main${VERSION} PRIVATE cxx_std_17)
target_link_libraries(main${VERSION} PRIVATE SFML::Graphics)
target_link_libraries(main${VERSION} PRIVATE SFML::Graphics ImGui-SFML::ImGui-SFML common glm)
target_compile_definitions(main${VERSION} PRIVATE $<$<CONFIG:Debug>:DEBUG_MODE>)
+30 -4
View File
@@ -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 +17,36 @@ 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
## Nella versione v0.6
- Aggiunta collezioni
- Servono a semplificare la struttura del main e il disegno degli elementi della gamba
- Modifica di sfml_util per gestire le collezioni
- Aggiunta modalità debug
# Per compilare:
cmake --build
Per lanciare:
# Per lanciare:
./build/bin/mainV1
./build/bin/mainV6
File diff suppressed because it is too large Load Diff
@@ -1,551 +0,0 @@
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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-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()
+44
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@@ -0,0 +1,44 @@
[Window][Debug##Default]
Pos=60,60
Size=400,400
[Window][Dear ImGui Demo]
Pos=781,47
Size=455,873
[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=0,670
Size=800,30
[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=400,0
Size=400,30
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BIN
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BIN
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@@ -0,0 +1,40 @@
#include "../../pieces/headers/piece_interface.hpp"
#include "../../joints/headers/joint_interface.hpp"
#ifndef COLL_INTERFACE_H
#define COLL_INTERFACE_H
struct collection{
std::vector<PieceInterface*> pieces;
std::vector<JointInterface*> joints;
};
class CollectionInterface{
public:
virtual collection create(ReferencePlane plane) = 0;
virtual ~CollectionInterface(){};
};
inline collection operator+(collection c1, collection c2){
collection res;
for (PieceInterface* i : c1.pieces){
res.pieces.push_back(i);
}
for (PieceInterface* i : c2.pieces){
res.pieces.push_back(i);
}
for (JointInterface* i : c1.joints){
res.joints.push_back(i);
}
for (JointInterface* i : c2.joints){
res.joints.push_back(i);
}
return res;
}
#endif
+18
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@@ -0,0 +1,18 @@
#include "collection_interface.hpp"
#include "include_pieces.hpp"
#ifndef GAMBA_H
#define GAMBA_H
class Gamba : public CollectionInterface {
protected:
std::vector<PieceInterface*> sensori;
std::vector<PieceInterface*> pezzi;
std::vector<JointInterface*> joints;
public:
Gamba(rb::Vector3 pos, unsigned int* dataPos, std::string cosciaData, std::string cavigliaData);
collection create(ReferencePlane plane) override;
PieceInterface* getJointPiece();
};
#endif
@@ -0,0 +1,7 @@
#include "../../csv/headers/csv.hpp"
#include "../../pieces/headers/caviglia.hpp"
#include "../../pieces/headers/coscia.hpp"
#include "../../pieces/headers/sensore.hpp"
#include "../../joints/headers/rigid_joint.hpp"
#include "../../joints/headers/pivot_joint.hpp"
#include "../../pieces/headers/torso.hpp"
+37
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@@ -0,0 +1,37 @@
#include "gamba.hpp"
#include "collection_interface.hpp"
#ifndef LOWER_BODY_H
#define LOWER_BODY_H
struct gamba_data{
unsigned int* dataPos;
std::string cosciaData;
std::string cavigliaData;
};
class Lower_Body : public CollectionInterface{
protected:
Gamba* sx;
Gamba* dx;
Torso* t;
PivotJoint* jsx;
PivotJoint* jdx;
bool visible = true;
float alpha = 1;
public:
Lower_Body(rb::Vector3 pos, std::vector<gamba_data> data);
~Lower_Body();
void setVisibility(bool c);
void setTransparency(float t);
collection create(ReferencePlane plane) override;
};
#endif
+50
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@@ -0,0 +1,50 @@
#include "../headers/gamba.hpp"
Gamba::Gamba(rb::Vector3 pos, unsigned int* dataPos, std::string cosciaData, std::string cavigliaData){
CSVProcessor processor;
try {
pezzi.push_back(new Coscia(pos,2));
pezzi.push_back(new Caviglia(rb::Vector3{pos[0],pos[1],pos[2]+200},2));
processor.readCSVFile (DATA_PATH + cosciaData);
const auto& coscia = processor.getData();
sensori.push_back(new Sensore(pos,_Float16( 0.2 ),dataPos,coscia));
processor.readCSVFile(DATA_PATH + cavigliaData);
const auto& caviglia = processor.getData();
sensori.push_back(new Sensore (rb::Vector3{pos[0],pos[1],pos[2]+200},_Float16( 0.2 ),dataPos,caviglia));
// modifico la rotazione relativa della gamba
sensori[0]->body.setRot({_Float16 (1.3),_Float16 (1.7),0});
sensori[1]->body.setRot({_Float16 (1.8),_Float16 (1.7),0});
joints.push_back(new RigidJoint(sensori[0], {pezzi[0]}));
joints.push_back(new PivotJoint(sensori[0], {sensori[1]}, rb::Vector3{0,0,100}));
joints.push_back(new RigidJoint(sensori[1], {pezzi[1]}));
}
catch(char* e){
throw "Gamba ERROR : "+ std::string(e) +" \n" ;
}
}
collection Gamba::create(ReferencePlane plane){
collection coll;
for(auto e : pezzi){
coll.pieces.push_back(e);
}
for(auto e : sensori){
coll.pieces.push_back(e);
}
for(auto j : joints){
coll.joints.push_back(j);
}
return coll;
}
PieceInterface* Gamba::getJointPiece(){
return sensori[0];
}
+53
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@@ -0,0 +1,53 @@
#include "../headers/lower_body.hpp"
Lower_Body::Lower_Body(rb::Vector3 pos,std::vector<gamba_data> data){
if (data.size() != 2) throw "Lower_Body_Error: data vector size must be 2";
sx = new Gamba({pos[0],pos[1],pos[2]+150},data[0].dataPos,data[0].cosciaData,data[0].cavigliaData);
dx = new Gamba({pos[0],pos[1]+200,pos[2]+150},data[1].dataPos,data[1].cosciaData,data[1].cavigliaData);
t = new Torso({pos[0],pos[1]+100,pos[2]},_Float16(3.0));
PieceInterface* psx = sx->getJointPiece();
PieceInterface* pdx = dx->getJointPiece();
jsx = new PivotJoint(t, {psx}, rb::Vector3{0,-100,50});
jdx = new PivotJoint(t, {pdx}, rb::Vector3{0,100,50});
}
collection Lower_Body::create(ReferencePlane plane){
collection coll;
switch (plane)
{
case ReferencePlane::XZ: case ReferencePlane::XZN:
coll = coll + sx->create(plane);
coll = coll + dx->create(plane);
break;
case ReferencePlane::YZ:
coll = coll + dx->create(plane);
coll = coll + sx->create(plane);
break;
default:
break;
}
coll.pieces.push_back(t);
coll.joints.push_back(jsx);
coll.joints.push_back(jdx);
return coll;
}
Lower_Body::~Lower_Body(){
delete sx;
delete dx;
delete t;
delete jdx;
delete jsx;
}
void Lower_Body::setVisibility(bool c){
}
+7
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@@ -4,6 +4,11 @@
#include <vector>
#include <string>
#ifndef CSV_H
#define CSV_H
#define DATA_PATH std::string("./../../data/")
class CSVProcessor {
private:
std::vector<std::string> headers;
@@ -18,3 +23,5 @@ public:
const std::vector<std::vector<float>>& getData() const;
};
#endif
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-44
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@@ -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);
}
+4
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@@ -2,6 +2,10 @@
#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"
#include "collections/headers/gamba.hpp"
#include "collections/headers/lower_body.hpp"
+2 -1
View File
@@ -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;
+13 -2
View File
@@ -1,13 +1,22 @@
#include "joint_interface.hpp"
#ifndef PIVOTJ_H
#define PIVOTJ_H
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;
@@ -20,3 +29,5 @@ class PivotJoint : public JointInterface {
PivotJoint(PieceInterface* father,std::vector<PieceInterface*> childs, rb::Vector3 pivotPoint);
~PivotJoint();
};
#endif
+4
View File
@@ -1,5 +1,7 @@
#include "joint_interface.hpp"
#ifndef RIGIDJ_H
#define RIGIDJ_H
class RigidJoint : public JointInterface {
protected:
@@ -17,3 +19,5 @@ class RigidJoint : public JointInterface {
RigidJoint(PieceInterface* father,std::vector<PieceInterface*> childs);
~RigidJoint();
};
#endif
+61 -52
View File
@@ -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);
+41 -38
View File
@@ -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();
+21
View File
@@ -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
+4 -2
View File
@@ -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);
+12 -11
View File
@@ -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::Vector2f size;
sf::Shape* shapeXZ, *shapeYZ;
rb::Vector3 globalPos;
rb::rigidbody body;
sf::Color color;
+9 -8
View File
@@ -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 dataIntvl;
unsigned int* dataPos;
//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;
@@ -32,7 +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);
};
#endif
+21
View File
@@ -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
+52
View File
@@ -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;
}
+29 -9
View File
@@ -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;
}
+37 -32
View File
@@ -2,23 +2,22 @@
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){
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 +32,7 @@ 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]};
rotData.push_back(tmpR);
accData.push_back(tmpA);
gData.push_back(tmpG);
@@ -41,44 +41,46 @@ 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);
body.setAcc(rb::Vector3{accData[dataPos]});
body.step(cl);
}
//calcolo la posizione e velocità
if (*dataPos >= gData.size()) *dataPos = gData.size()-1;
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 shape;
return nullptr;
}
@@ -93,10 +95,13 @@ 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 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 });
}
/////////////// cinematica inversa
+50
View File
@@ -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;
}
+5 -26
View File
@@ -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.");
}
+3 -3
View File
@@ -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;
+238 -45
View File
@@ -2,6 +2,9 @@
#include <math.h>
#include "pieces/headers/piece_interface.hpp"
#include "joints/headers/joint_interface.hpp"
#include "collections/headers/collection_interface.hpp"
#include <imgui.h>
#include <imgui-SFML.h>
template <typename T1, typename T2>
double dist(sf::Vector2<T1> p1, sf::Vector2<T2> p2)
@@ -19,23 +22,50 @@ struct State
int menubar_height = 50;
std::vector<PieceInterface*> pieces;
std::vector<JointInterface*> joints;
std::vector<CollectionInterface*> collections;
std::vector<collection> createdColl;
sf::Vector2f cameraOffset = {0.,0.};
sf::Clock clock;
ReferencePlane selectedPlane = ReferencePlane::XZ;
int selected = -1;
PieceInterface* selected = nullptr;
bool rot_Piece = false;
bool drag_Piece = false;
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;
updateCollections();
}
void update();
void setIntervall(int n){
maxEntries = n;
}
void updateCollections(){
createdColl.clear();
for (auto c: collections){
createdColl.push_back(c->create(selectedPlane));
}
}
};
///
@@ -46,13 +76,31 @@ struct State
void State::update(){
/*
std::vector<PieceInterface*> collPieces;
std::vector<JointInterface*> collJoints;
*/
for(PieceInterface* p : pieces){
p->update(clock);
for (auto i : createdColl){
if (play){
for (auto j : i.pieces){
j->update(clock);
}
}
for (auto j : i.joints){
j->movechild();
}
}
if (play){
for(PieceInterface* p : pieces){
p->update(clock);
}
}
for(JointInterface* j : joints){
j->movechild();
}
}
///
@@ -60,100 +108,166 @@ 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;
}
gs.updateCollections();
}
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};
/// 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};
}
for(collection c : gs.createdColl){
for(auto p : c.pieces){
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});
}
if (gs.selected != -1 && gs.rot_Piece){
rb::Vector3_s 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});
}
#ifdef DEBUG_MODE
if (gs.selected != nullptr && gs.drag_Piece){
rb::Vector3 tmp = gs.selected->body.getPos();
gs.selected->body.setPos({tmp[0]+ (offset.x * px),tmp[1]+ (offset.x * py),tmp[2]+offset.y});
}
if (gs.selected != nullptr && gs.rot_Piece){
rb::Vector3 tmp = gs.selected->body.getRot();
float nrot = float(offset.x)/100;
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]);
}
#endif
}
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;
#ifdef DEBUG_MODE
if ( mouseBP.button == sf::Mouse::Button::Left){
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]};
for (PieceInterface* p : gs.pieces){
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;
gs.selected = p;
}
i++;
}
for (collection c : gs.createdColl){
for (auto p : c.pieces){
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 = p;
}
}
}
}
if ( mouseBP.button == sf::Mouse::Button::Right){
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;
gs.selected = p;
}
}
for (collection c : gs.createdColl){
for (auto p : c.pieces){
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 = p;
}
}
i++;
}
}
#endif
}
void handle(const sf::Event::MouseButtonReleased &, State &gs)
void handle_mouseRelease(const sf::Event::MouseButtonReleased &, State &gs)
{
gs.drag = false;
gs.drag_Piece = false;
gs.rot_Piece = false;
gs.selected = -1;
gs.selected = nullptr;
}
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 +278,96 @@ 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;
if (ImGui::SliderInt("Selected Plane", &currentPlane,0,2,MyEnumNames[currentPlane])) gs.updateCollections();
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();
//disegno i pezzi singoli
for(PieceInterface* p: gs.pieces){
gs.window.draw(*p->draw(gs.selectedPlane));
}
//disegno le collezioni
for(auto c : gs.createdColl){
for(auto p : c.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
+53 -15
View File
@@ -1,7 +1,5 @@
#include "include.hpp"
#define DATA_PATH std::string("./../../data/")
int main() {
CSVProcessor processor;
try {
@@ -28,37 +26,65 @@ 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");
gs.window.setFramerateLimit(60);
State gs(800, 700, "Visualizzatore passo",&maj,&min,&pos);
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 Sensore (rb::Vector3{300,300,300},_Float16( 0.2 ),900,3000,coscia));
gs.pieces.push_back(new Coscia (rb::Vector3{300,10,500},1));
/*
gs.pieces.push_back(new Coscia (rb::Vector3{300,300,300},2));
gs.pieces.push_back(new Sensore (rb::Vector3{300,300,300},_Float16( 0.2 ),&pos,coscia));
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[3]->body.setRot({0,0,_Float16 (1.7)});
gs.pieces[1]->body.setRot({_Float16 (1.3),_Float16 (1.7),0});
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]}));
*/
//provo ad aggiungere una collection
//gs.collections.push_back(new Gamba({220,0,220},&pos,"coscia_filt.csv","caviglia_filt.csv"));
std::vector<gamba_data> data;
gamba_data d;
d.dataPos = &pos;
d.cavigliaData = "caviglia_dx.csv";
d.cosciaData = "coscia_dx.csv";
gamba_data s;
s.dataPos = &pos;
s.cavigliaData = "caviglia_sx.csv";
s.cosciaData = "coscia_sx.csv";
data.push_back(d);
data.push_back(s);
gs.collections.push_back(new Lower_Body(rb::Vector3{200,200,100},data));
printf("Ho costruito tutto!\n");
}
@@ -66,13 +92,25 @@ int main() {
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();
gs.updateCollections();
sf::Clock mainClock;
while (gs.window.isOpen())
{
// event loop and handler through callbacks
gs.window.handleEvents([&](const auto &event)
{ handle(event, gs); });
curTime += mainClock.restart().asMilliseconds();
if (curTime > T){
if (gs.play && pos+curTime/T < maj) pos += curTime / T;
curTime = 0;
}
// Show update
gs.update();
doGraphics(gs);