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5169bc4096 |
@@ -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
|
||||
|
||||
+34
-4
@@ -19,13 +19,43 @@ FetchContent_Declare(
|
||||
)
|
||||
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")
|
||||
|
||||
|
||||
set(VERSION "V2")
|
||||
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${VERSION} PRIVATE SFML::Graphics glm)
|
||||
target_link_libraries(main${VERSION} PRIVATE SFML::Graphics ImGui-SFML::ImGui-SFML common glm)
|
||||
target_compile_definitions(main${VERSION} PRIVATE $<$<CONFIG:Debug>:DEBUG_MODE>)
|
||||
@@ -22,10 +22,31 @@ Per spostare l'intera scena si tiene premuto il tasto centrale del mouse.
|
||||
- Aggiustato calcolo dei pivot implementando le rotazioni con algebra affine e glm
|
||||
- Aggiuta classe caviglia (per differenziarla dalla coscia)
|
||||
|
||||
Per compliare:
|
||||
## 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/mainV2
|
||||
./build/bin/mainV6
|
||||
|
||||
File diff suppressed because it is too large
Load Diff
@@ -1,584 +0,0 @@
|
||||
{
|
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"inputs" :
|
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[
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"path" : "CMakeLists.txt"
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"path" : "/usr/share/cmake-4.2/Modules/CMakeLanguageInformation.cmake"
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"path" : "/usr/share/cmake-4.2/Modules/Compiler/GNU.cmake"
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"isCMake" : true,
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"path" : "/usr/share/cmake-4.2/Modules/Compiler/CMakeCommonCompilerMacros.cmake"
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},
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"isExternal" : true,
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"path" : "/usr/share/cmake-4.2/Modules/Platform/Linux-GNU-CXX.cmake"
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"isCMake" : true,
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"isExternal" : true,
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"path" : "/usr/share/cmake-4.2/Modules/Platform/Linux-GNU.cmake"
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},
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"isCMake" : true,
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"isExternal" : true,
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"path" : "/usr/share/cmake-4.2/Modules/CMakeCommonLanguageInclude.cmake"
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},
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{
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"isCMake" : true,
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"isExternal" : true,
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"path" : "/usr/share/cmake-4.2/Modules/Internal/CMakeCXXLinkerInformation.cmake"
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},
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{
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"isCMake" : true,
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"isExternal" : true,
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"path" : "/usr/share/cmake-4.2/Modules/Internal/CMakeCommonLinkerInformation.cmake"
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},
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{
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"isCMake" : true,
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"isExternal" : true,
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"path" : "/usr/share/cmake-4.2/Modules/Platform/Linker/Linux-CXX.cmake"
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},
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{
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"isCMake" : true,
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"isExternal" : true,
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"path" : "/usr/share/cmake-4.2/Modules/Platform/Linker/Linux-GNU-CXX.cmake"
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},
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{
|
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"isCMake" : true,
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"isExternal" : true,
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"path" : "/usr/share/cmake-4.2/Modules/Platform/Linker/Linux-GNU.cmake"
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},
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{
|
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"isCMake" : true,
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"isExternal" : true,
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"path" : "/usr/share/cmake-4.2/Modules/Platform/Linker/GNU.cmake"
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||||
},
|
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{
|
||||
"isCMake" : true,
|
||||
"isExternal" : true,
|
||||
"path" : "/usr/share/cmake-4.2/Modules/FetchContent.cmake"
|
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},
|
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{
|
||||
"isCMake" : true,
|
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"isExternal" : true,
|
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"path" : "/usr/share/cmake-4.2/Modules/ExternalProject/shared_internal_commands.cmake"
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},
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{
|
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"isCMake" : true,
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"isExternal" : true,
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"path" : "/usr/share/cmake-4.2/Modules/FindGit.cmake"
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},
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{
|
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"isCMake" : true,
|
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"isExternal" : true,
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"path" : "/usr/share/cmake-4.2/Modules/FindPackageHandleStandardArgs.cmake"
|
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},
|
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{
|
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"isCMake" : true,
|
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"isExternal" : true,
|
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"path" : "/usr/share/cmake-4.2/Modules/FindPackageMessage.cmake"
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},
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{
|
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"isCMake" : true,
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"isExternal" : true,
|
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"path" : "/usr/share/cmake-4.2/Modules/FetchContent/CMakeLists.cmake.in"
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},
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{
|
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"isCMake" : true,
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"isExternal" : true,
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"path" : "/usr/share/cmake-4.2/Modules/FindGit.cmake"
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"isCMake" : true,
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"path" : "/usr/share/cmake-4.2/Modules/FindPackageHandleStandardArgs.cmake"
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"path" : "/usr/share/cmake-4.2/Modules/FindPackageMessage.cmake"
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"isExternal" : true,
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},
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{
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"isGenerated" : true,
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"path" : "build/_deps/sfml-src/CMakeLists.txt"
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"path" : "build/_deps/sfml-src/src/SFML/Window/Unix/GlxContext.cpp",
|
||||
"sourceGroupIndex" : 1
|
||||
},
|
||||
{
|
||||
"backtrace" : 2,
|
||||
"path" : "build/_deps/sfml-src/src/SFML/Window/Unix/GlxContext.hpp",
|
||||
"sourceGroupIndex" : 1
|
||||
},
|
||||
{
|
||||
"backtrace" : 2,
|
||||
"compileGroupIndex" : 0,
|
||||
"path" : "build/_deps/sfml-src/src/SFML/Window/Unix/JoystickImpl.cpp",
|
||||
"sourceGroupIndex" : 1
|
||||
},
|
||||
{
|
||||
"backtrace" : 2,
|
||||
"path" : "build/_deps/sfml-src/src/SFML/Window/Unix/JoystickImpl.hpp",
|
||||
"sourceGroupIndex" : 1
|
||||
}
|
||||
],
|
||||
"type" : "STATIC_LIBRARY"
|
||||
}
|
||||
@@ -1,78 +0,0 @@
|
||||
{
|
||||
"kind" : "toolchains",
|
||||
"toolchains" :
|
||||
[
|
||||
{
|
||||
"compiler" :
|
||||
{
|
||||
"implicit" : {},
|
||||
"path" : "/usr/bin/cc"
|
||||
},
|
||||
"language" : "C"
|
||||
},
|
||||
{
|
||||
"compiler" :
|
||||
{
|
||||
"id" : "GNU",
|
||||
"implicit" :
|
||||
{
|
||||
"includeDirectories" :
|
||||
[
|
||||
"/usr/include/c++/15",
|
||||
"/usr/include/x86_64-linux-gnu/c++/15",
|
||||
"/usr/include/c++/15/backward",
|
||||
"/usr/lib/gcc/x86_64-linux-gnu/15/include",
|
||||
"/usr/local/include",
|
||||
"/usr/include/x86_64-linux-gnu",
|
||||
"/usr/include"
|
||||
],
|
||||
"linkDirectories" :
|
||||
[
|
||||
"/usr/lib/gcc/x86_64-linux-gnu/15",
|
||||
"/usr/lib/x86_64-linux-gnu",
|
||||
"/usr/lib",
|
||||
"/lib/x86_64-linux-gnu",
|
||||
"/lib"
|
||||
],
|
||||
"linkFrameworkDirectories" : [],
|
||||
"linkLibraries" :
|
||||
[
|
||||
"stdc++",
|
||||
"m",
|
||||
"gcc_s",
|
||||
"gcc",
|
||||
"c",
|
||||
"gcc_s",
|
||||
"gcc"
|
||||
]
|
||||
},
|
||||
"path" : "/usr/bin/c++",
|
||||
"version" : "15.2.0"
|
||||
},
|
||||
"language" : "CXX",
|
||||
"sourceFileExtensions" :
|
||||
[
|
||||
"C",
|
||||
"M",
|
||||
"c++",
|
||||
"cc",
|
||||
"cpp",
|
||||
"cxx",
|
||||
"m",
|
||||
"mm",
|
||||
"mpp",
|
||||
"CPP",
|
||||
"ixx",
|
||||
"cppm",
|
||||
"ccm",
|
||||
"cxxm",
|
||||
"c++m"
|
||||
]
|
||||
}
|
||||
],
|
||||
"version" :
|
||||
{
|
||||
"major" : 1,
|
||||
"minor" : 0
|
||||
}
|
||||
}
|
||||
@@ -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()
|
||||
@@ -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()
|
||||
@@ -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
|
||||
|
||||
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Executable
BIN
Binary file not shown.
Binary file not shown.
+16516
File diff suppressed because it is too large
Load Diff
Executable → Regular
|
Can't render this file because it is too large.
|
+16515
File diff suppressed because it is too large
Load Diff
Executable → Regular
|
Can't render this file because it is too large.
|
@@ -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
|
||||
@@ -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"
|
||||
@@ -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
|
||||
@@ -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];
|
||||
}
|
||||
@@ -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){
|
||||
|
||||
}
|
||||
@@ -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;
|
||||
@@ -17,4 +22,6 @@ public:
|
||||
// Getter for data
|
||||
const std::vector<std::vector<float>>& getData() const;
|
||||
|
||||
};
|
||||
};
|
||||
|
||||
#endif
|
||||
+4
-1
@@ -4,5 +4,8 @@
|
||||
#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 "joints/headers/pivot_joint.hpp"
|
||||
#include "collections/headers/gamba.hpp"
|
||||
#include "collections/headers/lower_body.hpp"
|
||||
@@ -21,7 +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;
|
||||
|
||||
|
||||
@@ -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;
|
||||
@@ -19,4 +28,6 @@ class PivotJoint : public JointInterface {
|
||||
|
||||
PivotJoint(PieceInterface* father,std::vector<PieceInterface*> childs, rb::Vector3 pivotPoint);
|
||||
~PivotJoint();
|
||||
};
|
||||
};
|
||||
|
||||
#endif
|
||||
@@ -1,5 +1,7 @@
|
||||
#include "joint_interface.hpp"
|
||||
|
||||
#ifndef RIGIDJ_H
|
||||
#define RIGIDJ_H
|
||||
|
||||
class RigidJoint : public JointInterface {
|
||||
protected:
|
||||
@@ -16,4 +18,6 @@ class RigidJoint : public JointInterface {
|
||||
|
||||
RigidJoint(PieceInterface* father,std::vector<PieceInterface*> childs);
|
||||
~RigidJoint();
|
||||
};
|
||||
};
|
||||
|
||||
#endif
|
||||
@@ -2,43 +2,74 @@
|
||||
|
||||
#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 fPos = father->body.getPos();
|
||||
rb::Vector3_s cRot = childs[id]->body.getRot();
|
||||
rb::Vector3 cRot = childs[id]->body.getRot();
|
||||
|
||||
//// sposto l'origine passivamente su tutti gli assi ////
|
||||
|
||||
float alpha = float (fRot[2] - oldRot[2]);
|
||||
float cosA = glm::cos(alpha);
|
||||
float sinA = glm::sin(alpha);
|
||||
|
||||
float beta = float (cRot[2] - oldCRot[id][2]);
|
||||
float cosB = glm::cos(beta);
|
||||
float sinB = glm::sin(beta);
|
||||
|
||||
glm::mat3 R1 = glm::mat3(
|
||||
/*cos*/ cosA, /*sin*/ sinA, 0,
|
||||
/*-sin*/ -sinA , /*cos*/ cosA, 0,
|
||||
0, 0, 1
|
||||
);
|
||||
|
||||
glm::mat3 R2 = glm::mat3(
|
||||
/*cos*/ cosB, /*sin*/ sinB, 0,
|
||||
/*-sin*/ -sinB , /*cos*/ cosB, 0,
|
||||
0, 0, 1
|
||||
);
|
||||
|
||||
glm::vec3 pivotNXZ = R1 * glm::vec3(pivot[0],pivot[2],1);
|
||||
pivot = rb::Vector3{pivotNXZ[0],pivot[1],pivotNXZ[1]};
|
||||
glm::vec3 offsetNXZ = R2 * glm::vec3(offset[id][0],offset[id][2],1);
|
||||
offset[id] = rb::Vector3{offsetNXZ[0],offset[id][1],offsetNXZ[1]};
|
||||
offsetAngle[id] = offsetAngle[id] + (cRot - oldCRot[id]);
|
||||
|
||||
|
||||
childs[id]->body.setPos(rb::Vector3{fPos[0]+offset[id][0]+pivot[0],fPos[1]+offset[id][1]+pivot[1],fPos[2]+offset[id][2]+pivot[2]});
|
||||
float cosB = glm::cos(offsetAngle[id][0]);
|
||||
float sinB = glm::sin(offsetAngle[id][0]);
|
||||
|
||||
float cosB1 = glm::cos(offsetAngle[id][1]);
|
||||
float sinB1 = glm::sin(offsetAngle[id][1]);
|
||||
|
||||
glm::mat4 Rcx = glm::mat4{
|
||||
1 , 0, 0, 0,
|
||||
0, cosB, sinB, 0,
|
||||
0, -sinB, cosB, 0,
|
||||
0, 0, 0, 1
|
||||
};
|
||||
|
||||
glm::mat4 Rcy = glm::mat4{
|
||||
cosB1 , 0, sinB1, 0,
|
||||
0, 1, 0, 0,
|
||||
-sinB1, 0, cosB1, 0,
|
||||
0, 0, 0, 1
|
||||
};
|
||||
|
||||
|
||||
oldRot = fRot; //aggiorno la rotazione per il ciclo successivo
|
||||
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]};
|
||||
|
||||
childs[id]->body.setPos(rb::Vector3{fPos[0]+offN[0]+pivot[0],fPos[1]+offN[1]+pivot[1],fPos[2]+offN[2]+pivot[2]});
|
||||
|
||||
//printf("Offset = %f %f %f \n" , offN[0], offN[1], offN[2]);
|
||||
|
||||
oldCRot[id] = cRot;
|
||||
|
||||
}
|
||||
@@ -52,34 +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});
|
||||
}
|
||||
|
||||
|
||||
@@ -91,7 +112,7 @@ PivotJoint::~PivotJoint(){
|
||||
|
||||
|
||||
void PivotJoint::movechild(){
|
||||
|
||||
updatePivot();
|
||||
for ( unsigned int i = 0; i < childs.size(); i++){
|
||||
traslate(i);
|
||||
rotate(i);
|
||||
|
||||
@@ -5,37 +5,55 @@
|
||||
//using namespace glm;
|
||||
|
||||
void RigidJoint::rotate(unsigned int id){
|
||||
rb::Vector3_s fRot = father->body.getRot();
|
||||
rb::Vector3_s fRotOld = childs[id]->body.getRot() - rotOffset[id];
|
||||
rb::Vector3 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 il alla distanza offset rispetto all'origine R*pos
|
||||
//passo a coordinate 3D per calcolare rotazione sul piano YZ oltre che al piano XZ
|
||||
// calcolo alpha angolo
|
||||
|
||||
float alpha = float (fRot[2] - fRotOld[2]);
|
||||
float alpha = float (fRot[0] - fRotOld[0]);
|
||||
float beta = float (fRot[1] - fRotOld[1]);
|
||||
|
||||
float cosA = glm::cos(alpha);
|
||||
float sinA = glm::sin(alpha);
|
||||
|
||||
float cosB = glm::cos(beta);
|
||||
float sinB = glm::sin(beta);
|
||||
|
||||
glm::mat3 R = glm::mat3(
|
||||
/*cos*/ cosA, /*sin*/ sinA, 0,
|
||||
/*-sin*/ -sinA , /*cos*/ cosA, 0,
|
||||
0, 0, 1
|
||||
);
|
||||
|
||||
//sposto il child all'origine rispetto al padre
|
||||
glm::mat4 Rx = glm::mat4{
|
||||
1 , 0, 0, 0,
|
||||
0, cosA, sinA, 0,
|
||||
0, -sinA, cosA, 0,
|
||||
0, 0, 0, 1
|
||||
};
|
||||
|
||||
glm::vec3 XZ_cPos = {offset[id][0],offset[id][2],1};
|
||||
glm::vec3 resRot = R * XZ_cPos;
|
||||
glm::mat4 Ry = glm::mat4{
|
||||
cosB , 0, sinB, 0,
|
||||
0, 1, 0, 0,
|
||||
-sinB, 0, cosB, 0,
|
||||
0, 0, 0, 1
|
||||
};
|
||||
|
||||
offset[id][0] = resRot[0] ;
|
||||
offset[id][2] = resRot[1] ;
|
||||
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]});
|
||||
|
||||
|
||||
childs[id]->body.setPos({fPos[0]-offset[id][0],offset[id][1],fPos[2] -offset[id][2]});
|
||||
|
||||
}
|
||||
|
||||
void RigidJoint::traslate(unsigned int id){
|
||||
@@ -47,7 +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();
|
||||
|
||||
|
||||
|
||||
@@ -55,7 +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();
|
||||
|
||||
|
||||
@@ -3,11 +3,12 @@
|
||||
#ifndef CAVIGLIA_H
|
||||
#define CAVIGLIA_H
|
||||
|
||||
const sf::Vector2f caviglia_Dim = {60, 200};
|
||||
const sf::Color caviglia_Col = sf::Color(230,160,11,255);
|
||||
|
||||
|
||||
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);
|
||||
|
||||
@@ -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);
|
||||
|
||||
@@ -8,20 +8,26 @@
|
||||
|
||||
|
||||
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;
|
||||
|
||||
@@ -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
|
||||
@@ -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
|
||||
@@ -1,17 +1,18 @@
|
||||
#include "../headers/caviglia.hpp"
|
||||
|
||||
Caviglia::Caviglia(rb::Vector3 coords, _Float16 mass){
|
||||
size = caviglia_Dim;
|
||||
rb::Vector3 com = {size.x/2,0, size.y/2};
|
||||
rb::Vector3 com = {caviglia_Dim.x/2,caviglia_Dim.x/2, caviglia_Dim.y/2};
|
||||
body = rb::rigidbody(coords, com, mass);
|
||||
color = caviglia_Col;
|
||||
shape = new sf::RectangleShape(size);
|
||||
shape->setOrigin({size.x/2,size.y/2});
|
||||
globalPos = {0,0,0};
|
||||
|
||||
initialize_shapes(caviglia_Dim);
|
||||
}
|
||||
|
||||
|
||||
Caviglia::~Caviglia(){
|
||||
delete shape;
|
||||
delete shapeXZ;
|
||||
delete shapeYZ;
|
||||
}
|
||||
|
||||
void Caviglia::update(sf::Clock cl){
|
||||
@@ -19,22 +20,33 @@ void Caviglia::update(sf::Clock cl){
|
||||
}
|
||||
|
||||
sf::Shape* Caviglia::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])));
|
||||
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 shape;
|
||||
return nullptr;
|
||||
}
|
||||
@@ -1,17 +1,16 @@
|
||||
#include "../headers/coscia.hpp"
|
||||
|
||||
Coscia::Coscia(rb::Vector3 coords, _Float16 mass){
|
||||
size = coscia_Dim;
|
||||
rb::Vector3 com = {size.x/2,0, size.y/2};
|
||||
rb::Vector3 com = {coscia_Dim.x/2,coscia_Dim.z/2,coscia_Dim.y/2};
|
||||
body = rb::rigidbody(coords, com, mass);
|
||||
color = coscia_Col;
|
||||
shape = new sf::RectangleShape(size);
|
||||
shape->setOrigin({size.x/2,size.y/2});
|
||||
globalPos = {0,0,0};
|
||||
initialize_shapes(coscia_Dim);
|
||||
}
|
||||
|
||||
Coscia::~Coscia(){
|
||||
delete shape;
|
||||
delete shapeXZ;
|
||||
delete shapeYZ;
|
||||
}
|
||||
|
||||
void Coscia::update(sf::Clock cl){
|
||||
@@ -19,22 +18,43 @@ void Coscia::update(sf::Clock cl){
|
||||
}
|
||||
|
||||
sf::Shape* Coscia::draw(ReferencePlane plane){
|
||||
shape->setFillColor(color);
|
||||
|
||||
rb::Vector3 tmpPos = body.getPos();
|
||||
rb::Vector3_s tmpRot = body.getRot();
|
||||
rb::Vector3 tmpRot = body.getRot();
|
||||
|
||||
|
||||
switch (plane)
|
||||
{
|
||||
case ReferencePlane::XZ:
|
||||
{
|
||||
sf::Shape* shape = shapeXZ;
|
||||
shape->setRotation(sf::Angle(sf::radians(tmpRot[1])));
|
||||
shape->setPosition({tmpPos[0]+globalPos[0],tmpPos[2]+globalPos[2]});
|
||||
shape->setRotation(sf::Angle(sf::radians(tmpRot[2])));
|
||||
|
||||
//calcolo ridimensionamento dato da cos(x)-> questo per definire l'ancoraggio corretto del pivot
|
||||
shape->setScale({1,cos(float(tmpRot[0]))});
|
||||
//shape->setScale({1,(0.5* cos(float(tmpRot[0]*2)))+0.5});
|
||||
|
||||
|
||||
return shape;}
|
||||
break;
|
||||
|
||||
case ReferencePlane::YZ:
|
||||
{
|
||||
sf::Shape* shape = shapeYZ;
|
||||
shape->setRotation(sf::Angle(sf::radians(tmpRot[0])));
|
||||
shape->setPosition({tmpPos[1]+globalPos[1],tmpPos[2]+globalPos[2]});
|
||||
|
||||
//calcolo ridimensionamento dato da cos(x) -> questo per definire l'ancoraggio corretto del pivot
|
||||
shape->setScale({1,cos(float(tmpRot[1]))});
|
||||
//shape->setScale({1,(0.5* cos(float(tmpRot[1]*2)))+0.5});
|
||||
return shape;}
|
||||
break;
|
||||
|
||||
default:
|
||||
break;
|
||||
}
|
||||
|
||||
|
||||
return shape;
|
||||
return nullptr;
|
||||
}
|
||||
@@ -2,23 +2,22 @@
|
||||
|
||||
|
||||
Sensore::Sensore(rb::Vector3 coords, _Float16 mass){
|
||||
size = sensore_Dim;
|
||||
rb::Vector3 com = {size.x/2,0, size.y/2};
|
||||
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 = {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){
|
||||
@@ -32,7 +31,8 @@ void Sensore::initCSV(std::vector<std::vector<float>> data){
|
||||
std::vector<float> tmpR = {row[2],row[3],row[1]};
|
||||
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
|
||||
if (*dataPos >= gData.size()) *dataPos = gData.size()-1;
|
||||
|
||||
//calcolo la posizione e velocità
|
||||
calcRotWithG(dataPos);
|
||||
body.setAcc(rb::Vector3{accData[dataPos]});
|
||||
body.step(cl);
|
||||
}
|
||||
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
|
||||
@@ -0,0 +1,50 @@
|
||||
#include "../headers/torso.hpp"
|
||||
|
||||
Torso::Torso(rb::Vector3 coords, _Float16 mass){
|
||||
rb::Vector3 com = {torso_Dim.x/2, torso_Dim.y/2, torso_Dim.z/2};
|
||||
body = rb::rigidbody(coords,com, mass);
|
||||
color = torso_Col;
|
||||
globalPos = {0,0,0};
|
||||
|
||||
initialize_shapes(torso_Dim);
|
||||
}
|
||||
|
||||
Torso::~Torso(){
|
||||
delete shapeXZ;
|
||||
delete shapeYZ;
|
||||
}
|
||||
|
||||
void Torso::update(sf::Clock cl){
|
||||
|
||||
}
|
||||
|
||||
sf::Shape* Torso::draw(ReferencePlane plane){
|
||||
|
||||
rb::Vector3 tmpRot = body.getRot();
|
||||
rb::Vector3 tmpPos = body.getPos();
|
||||
|
||||
|
||||
switch (plane)
|
||||
{
|
||||
case ReferencePlane::XZ:
|
||||
{
|
||||
sf::Shape* shape = shapeXZ;
|
||||
shape->setRotation(sf::Angle(sf::radians(tmpRot[1])));
|
||||
shape->setPosition({tmpPos[0]+globalPos[0],tmpPos[2]+globalPos[2]});
|
||||
return shape;}
|
||||
break;
|
||||
|
||||
case ReferencePlane::YZ:
|
||||
{
|
||||
sf::Shape* shape = shapeYZ;
|
||||
shape->setRotation(sf::Angle(sf::radians(tmpRot[0])));
|
||||
shape->setPosition({tmpPos[1]+globalPos[1],tmpPos[2]+globalPos[2]});
|
||||
return shape;}
|
||||
break;
|
||||
|
||||
default:
|
||||
break;
|
||||
}
|
||||
|
||||
return nullptr;
|
||||
}
|
||||
@@ -7,14 +7,14 @@
|
||||
|
||||
namespace rb{
|
||||
typedef std::vector<float> Vector3;
|
||||
typedef std::vector<_Float16> Vector3_s;
|
||||
//typedef std::vector<_Float16> Vector3;
|
||||
|
||||
class rigidbody
|
||||
{
|
||||
private:
|
||||
Vector3 vel = {0,0,0};
|
||||
Vector3 acc = {0,0,0};
|
||||
Vector3_s rot = {0,0,0};
|
||||
Vector3 rot = {0,0,0};
|
||||
Vector3 tanAcc = {0,0,0};
|
||||
|
||||
_Float16 mass = 1;
|
||||
@@ -40,9 +40,9 @@
|
||||
|
||||
|
||||
Vector3 getPos();
|
||||
Vector3_s getRot();
|
||||
Vector3 getRot();
|
||||
void setPos(const Vector3 Npos);
|
||||
void setRot(const Vector3_s Nrot);
|
||||
void setRot(const Vector3 Nrot);
|
||||
void setVel(const Vector3 Nacc);
|
||||
void setAcc(const Vector3 Nvel);
|
||||
void step(const sf::Clock time);
|
||||
@@ -76,30 +76,9 @@
|
||||
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 rb::Vector3_s operator-(const rb::Vector3_s& v1, const rb::Vector3_s& v2) {
|
||||
if (v1.size() != 3 || v2.size() != 3) {
|
||||
throw std::invalid_argument("I vettori devono avere esattamente 3 elementi.");
|
||||
}
|
||||
return rb::Vector3_s{
|
||||
v1[0] - v2[0],
|
||||
v1[1] - v2[1],
|
||||
v1[2] - v2[2]
|
||||
};
|
||||
}
|
||||
|
||||
/*
|
||||
inline bool operator!=(const rb::Vector3_s& v1, const rb::Vector3_s& v2) {
|
||||
inline bool operator!=(const rb::Vector3& v1, const rb::Vector3& v2) {
|
||||
if (v1.size() != 3 || v2.size() != 3) {
|
||||
throw std::invalid_argument("I vettori devono avere esattamente 3 elementi.");
|
||||
}
|
||||
|
||||
@@ -21,8 +21,8 @@ rigidbody::~rigidbody()
|
||||
Vector3 rigidbody::getPos(){
|
||||
return Vector3 {coords};
|
||||
}
|
||||
Vector3_s rigidbody::getRot(){
|
||||
return Vector3_s {rot};
|
||||
Vector3 rigidbody::getRot(){
|
||||
return Vector3 {rot};
|
||||
}
|
||||
|
||||
void rigidbody::setPos(Vector3 Npos){
|
||||
@@ -47,11 +47,11 @@ 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;
|
||||
for (_Float16 axis : Nrot){
|
||||
for (float axis : Nrot){
|
||||
rot[i] = axis;
|
||||
i++;
|
||||
}
|
||||
|
||||
+240
-47
@@ -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));
|
||||
}
|
||||
}
|
||||
};
|
||||
|
||||
///
|
||||
@@ -45,14 +75,32 @@ struct State
|
||||
/// Fisics functions
|
||||
|
||||
void State::update(){
|
||||
|
||||
|
||||
for(PieceInterface* p : pieces){
|
||||
p->update(clock);
|
||||
/*
|
||||
std::vector<PieceInterface*> collPieces;
|
||||
std::vector<JointInterface*> collJoints;
|
||||
*/
|
||||
|
||||
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]};
|
||||
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", ¤tPlane,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
|
||||
|
||||
|
||||
+54
-16
@@ -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);
|
||||
|
||||
Reference in New Issue
Block a user