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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
|
||||
|
||||
+35
-5
@@ -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 "V10")
|
||||
|
||||
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${VERSION} PRIVATE SFML::Graphics glm)
|
||||
add_executable(main${VERSION} ./src/Main.cpp ${METHODS_SRC} )
|
||||
target_link_libraries(main${VERSION} PRIVATE SFML::Graphics ImGui-SFML::ImGui-SFML common glm)
|
||||
target_compile_definitions(main${VERSION} PRIVATE $<$<CONFIG:Debug>:DEBUG_MODE>)
|
||||
@@ -22,10 +22,52 @@ 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
|
||||
|
||||
## Nella versione v0.7
|
||||
- Aggiunta impostazione di trasparenza dei pezzi
|
||||
- Aggiustato cambio direzione della gamba (sulla visualizzazione dei piani XZ e -XZ)
|
||||
- Aggiunto controllo trasparenza delle collezioni
|
||||
- Modificato lower_body per gestire la trasparenza della gamba più lontana
|
||||
- Ridimensionato bacino per migiore visualizzazione
|
||||
|
||||
## Nella versione v0.8
|
||||
- Aggiunta oscillazione bacino
|
||||
- Aggiustato calcolo posizione con clock dedicato
|
||||
|
||||
## Nella versione v0.9
|
||||
- Modificata la funzione update di pezzi e collezioni per implementare controllo sul tempo
|
||||
- Aggiunta finestra con slider per selezione moltiplicatore del tempo
|
||||
|
||||
## Nella versione v0.10
|
||||
- Aggiunta controllo texture
|
||||
- Aggiunta pavimento
|
||||
- Refactoring generale
|
||||
- Definizione main finale (non più di test)
|
||||
|
||||
# Per compilare:
|
||||
|
||||
cmake --build
|
||||
|
||||
Per lanciare:
|
||||
# Per lanciare:
|
||||
|
||||
./build/bin/mainV2
|
||||
./build/bin/mainV10
|
||||
|
||||
File diff suppressed because it is too large
Load Diff
@@ -1,584 +0,0 @@
|
||||
{
|
||||
"inputs" :
|
||||
[
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"path" : "CMakeLists.txt"
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"isCMake" : true,
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"path" : "/usr/share/cmake-4.2/Modules/CMakeGenericSystem.cmake"
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"path" : "/usr/share/cmake-4.2/Modules/Platform/Linux.cmake"
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"isCMake" : true,
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"path" : "/usr/share/cmake-4.2/Modules/Platform/UnixPaths.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/CMakeCXXInformation.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/CMakeLanguageInformation.cmake"
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},
|
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{
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"isCMake" : true,
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"path" : "/usr/share/cmake-4.2/Modules/Compiler/GNU-CXX.cmake"
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},
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"isCMake" : true,
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"path" : "/usr/share/cmake-4.2/Modules/Compiler/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/Compiler/CMakeCommonCompilerMacros.cmake"
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},
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"isCMake" : 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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"isCMake" : true,
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"isExternal" : true,
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"path" : "/usr/share/cmake-4.2/Modules/FetchContent.cmake"
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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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"path" : "build/_deps/sfml-src/src/SFML/Window/Unix/KeySymToUnicodeMapping.hpp",
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||||
{
|
||||
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||||
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{
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||||
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||||
},
|
||||
{
|
||||
"backtrace" : 2,
|
||||
"path" : "build/_deps/sfml-src/src/SFML/Window/Unix/Display.hpp",
|
||||
"sourceGroupIndex" : 1
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||||
},
|
||||
{
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||||
"backtrace" : 2,
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||||
"path" : "build/_deps/sfml-src/src/SFML/Window/Unix/Utils.hpp",
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||||
{
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||||
"backtrace" : 2,
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||||
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"path" : "build/_deps/sfml-src/src/SFML/Window/Unix/VideoModeImpl.cpp",
|
||||
"sourceGroupIndex" : 1
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||||
},
|
||||
{
|
||||
"backtrace" : 2,
|
||||
"compileGroupIndex" : 0,
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||||
"path" : "build/_deps/sfml-src/src/SFML/Window/Unix/VulkanImplX11.cpp",
|
||||
"sourceGroupIndex" : 1
|
||||
},
|
||||
{
|
||||
"backtrace" : 2,
|
||||
"compileGroupIndex" : 0,
|
||||
"path" : "build/_deps/sfml-src/src/SFML/Window/Unix/WindowImplX11.cpp",
|
||||
"sourceGroupIndex" : 1
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||||
},
|
||||
{
|
||||
"backtrace" : 2,
|
||||
"path" : "build/_deps/sfml-src/src/SFML/Window/Unix/WindowImplX11.hpp",
|
||||
"sourceGroupIndex" : 1
|
||||
},
|
||||
{
|
||||
"backtrace" : 2,
|
||||
"compileGroupIndex" : 0,
|
||||
"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,
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||||
"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 +1,49 @@
|
||||
[Window][Debug##Default]
|
||||
Pos=60,60
|
||||
Size=400,400
|
||||
|
||||
[Window][Dear ImGui Demo]
|
||||
Pos=487,44
|
||||
Size=455,873
|
||||
Collapsed=1
|
||||
|
||||
[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=0,732
|
||||
Size=924,30
|
||||
|
||||
[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=524,0
|
||||
Size=400,30
|
||||
|
||||
[Window][Set time multiplier]
|
||||
Pos=524,702
|
||||
Size=400,30
|
||||
|
||||
Binary file not shown.
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.
Binary file not shown.
Executable
BIN
Binary file not shown.
Binary file not shown.
Binary file not shown.
+16516
File diff suppressed because it is too large
Load Diff
+16515
File diff suppressed because it is too large
Load Diff
+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
+16516
File diff suppressed because it is too large
Load Diff
+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 +1,77 @@
|
||||
#include "include.hpp"
|
||||
|
||||
int main() {
|
||||
CSVProcessor processor;
|
||||
|
||||
// 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, 700, "Visualizzatore passo",&maj,&min,&pos);
|
||||
gs.window.setFramerateLimit(70);
|
||||
printf("Costruisco gli oggetti\n");
|
||||
|
||||
try{
|
||||
|
||||
processor.readCSVFile (DATA_PATH + "coscia_filt.csv"); //utilizzo questo file per definire la dimensione dei dati
|
||||
const auto& coscia = processor.getData();
|
||||
gs.setIntervall(coscia.size());
|
||||
|
||||
//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));
|
||||
|
||||
|
||||
|
||||
//aggiungo il pavimento
|
||||
gs.pieces.push_back(new Pavimento({200,200,550},_Float16(0.2) ));
|
||||
gs.pieces[0]->body.setRot({0,-0.03,0});
|
||||
|
||||
printf("Ho costruito tutto!\n");
|
||||
}
|
||||
catch(char* e){
|
||||
printf("%s\n",e);
|
||||
}
|
||||
printf("Avvio l'interfaccia grafica\n");
|
||||
|
||||
|
||||
unsigned int curTime = 0;
|
||||
unsigned int freq = 50; //frequenza campionamento sensori
|
||||
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())
|
||||
{
|
||||
curTime += mainClock.restart().asMilliseconds() *(*gs.tMul) ;
|
||||
if (curTime > T){
|
||||
if (gs.play && pos+curTime/T < maj) pos += curTime / T;
|
||||
curTime = 0;
|
||||
}
|
||||
|
||||
// Show update
|
||||
gs.update();
|
||||
doGraphics(gs);
|
||||
}
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
@@ -0,0 +1,42 @@
|
||||
#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 void update(sf::Clock cl, float multiplier) = 0;
|
||||
virtual bool setTransparency(float alpha) = 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 +1,22 @@
|
||||
#include "collection_interface.hpp"
|
||||
#include "include_pieces.hpp"
|
||||
|
||||
#ifndef GAMBA_H
|
||||
#define GAMBA_H
|
||||
|
||||
class Gamba : public CollectionInterface {
|
||||
protected:
|
||||
std::vector<Sensore*> 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();
|
||||
void setDirection(Direction dir);
|
||||
bool setTransparency(float alpha) override;
|
||||
void update(sf::Clock cl, float multiplier)override {};
|
||||
float getZ_Acc();
|
||||
};
|
||||
|
||||
#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 +1,44 @@
|
||||
#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{
|
||||
private:
|
||||
int64_t prevT = 0;
|
||||
float velD = 0;
|
||||
float velS = 0;
|
||||
float posS = 0;
|
||||
float posD = 0;
|
||||
|
||||
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 update(sf::Clock cl, float multiplier) override;
|
||||
void setVisibility(bool c);
|
||||
bool setTransparency(float alpha) override;
|
||||
collection create(ReferencePlane plane) override;
|
||||
};
|
||||
|
||||
|
||||
|
||||
#endif
|
||||
@@ -0,0 +1,83 @@
|
||||
#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 (1.5708),_Float16 (1.5708),0});
|
||||
sensori[1]->body.setRot({_Float16 (1.5708),_Float16 (1.5708),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];
|
||||
}
|
||||
|
||||
void Gamba::setDirection(Direction dir){
|
||||
for (auto i : pezzi){
|
||||
i->setDirection(dir);
|
||||
}
|
||||
for (auto i : sensori){
|
||||
i->setDirection(dir);
|
||||
}
|
||||
}
|
||||
|
||||
bool Gamba::setTransparency(float alpha){
|
||||
for (auto i : pezzi){
|
||||
if (!i->setTransparency(alpha)) return false;
|
||||
}
|
||||
for (auto i : sensori){
|
||||
if (!i->setTransparency(alpha)) return false;
|
||||
}
|
||||
return true;
|
||||
}
|
||||
|
||||
float Gamba::getZ_Acc(){
|
||||
|
||||
float totZ_Acc = 0;
|
||||
/*
|
||||
for (auto i : sensori){
|
||||
totZ_Acc += i->getZ_Acc();
|
||||
}*/
|
||||
|
||||
totZ_Acc = sensori[0]->getZ_Acc() + sensori[1]->getZ_Acc();
|
||||
//printf("TotAccGamba %f\n", totZ_Acc);
|
||||
|
||||
return totZ_Acc;
|
||||
}
|
||||
@@ -0,0 +1,107 @@
|
||||
#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]-60,pos[2]+150},data[0].dataPos,data[0].cosciaData,data[0].cavigliaData);
|
||||
dx = new Gamba({pos[0],pos[1]+60,pos[2]+150},data[1].dataPos,data[1].cosciaData,data[1].cavigliaData);
|
||||
t = new Torso({pos[0],pos[1],pos[2]},_Float16(3.0));
|
||||
|
||||
PieceInterface* psx = sx->getJointPiece();
|
||||
PieceInterface* pdx = dx->getJointPiece();
|
||||
|
||||
jsx = new PivotJoint(t, {psx}, rb::Vector3{0,-60,50});
|
||||
jdx = new PivotJoint(t, {pdx}, rb::Vector3{0,60,50});
|
||||
}
|
||||
|
||||
|
||||
collection Lower_Body::create(ReferencePlane plane){
|
||||
collection coll;
|
||||
|
||||
sx->setTransparency(1);
|
||||
dx->setTransparency(1);
|
||||
|
||||
|
||||
coll.joints.push_back(jsx);
|
||||
coll.joints.push_back(jdx);
|
||||
|
||||
switch (plane)
|
||||
{
|
||||
case ReferencePlane::XZN:
|
||||
dx->setTransparency(0.5);
|
||||
dx->setDirection(Direction::L);
|
||||
sx->setDirection(Direction::R);
|
||||
coll = coll + dx->create(plane);
|
||||
coll = coll + sx->create(plane);
|
||||
break;
|
||||
case ReferencePlane::XZ:
|
||||
sx->setTransparency(0.5);
|
||||
dx->setDirection(Direction::R);
|
||||
sx->setDirection(Direction::L);
|
||||
coll = coll + sx->create(plane);
|
||||
coll = coll + dx->create(plane);
|
||||
break;
|
||||
case ReferencePlane::YZ:
|
||||
sx->setDirection(Direction::R);
|
||||
dx->setDirection(Direction::L);
|
||||
coll = coll + dx->create(plane);
|
||||
coll = coll + sx->create(plane);
|
||||
break;
|
||||
|
||||
default:
|
||||
break;
|
||||
}
|
||||
|
||||
coll.pieces.push_back(t);
|
||||
|
||||
return coll;
|
||||
}
|
||||
|
||||
Lower_Body::~Lower_Body(){
|
||||
delete sx;
|
||||
delete dx;
|
||||
delete t;
|
||||
delete jdx;
|
||||
delete jsx;
|
||||
}
|
||||
|
||||
void Lower_Body::setVisibility(bool c){
|
||||
|
||||
}
|
||||
|
||||
bool Lower_Body::setTransparency(float alpha){
|
||||
if (!sx->setTransparency(alpha)) return false;
|
||||
dx->setTransparency(alpha);
|
||||
t->setTransparency(alpha);
|
||||
return true;
|
||||
}
|
||||
|
||||
void Lower_Body::update(sf::Clock cl, float multiplier){
|
||||
float sxAcc = sx->getZ_Acc() ;
|
||||
float dxAcc = dx->getZ_Acc() ;
|
||||
|
||||
int64_t Dtime = cl.getElapsedTime().asMicroseconds();
|
||||
if (prevT == 0) prevT = Dtime;
|
||||
float dt = (float(Dtime) / 1000000.0) - (float(prevT) / 1000000.0);
|
||||
prevT = Dtime;
|
||||
|
||||
float tmpVelS = sxAcc*dt;
|
||||
float tmpVelD = dxAcc*dt;
|
||||
float tmpPosD = tmpVelD *dt *500 + velD * 500 * dt;
|
||||
float tmpPosS = tmpVelS * 500 *dt + velS * 500 * dt;
|
||||
|
||||
velD += tmpVelD;
|
||||
velS += tmpVelS;
|
||||
|
||||
// PosD + PosS + Z = 0
|
||||
float alpha = atan(tmpPosD/60.0 - tmpPosS/60); //il 60 è il raggio (dimesione del bacino)
|
||||
|
||||
//applico smoothing e ritorno a zero
|
||||
velD -= velD * fabs(alpha);
|
||||
velS -= velS * fabs(alpha) ;
|
||||
|
||||
t->body.setRot({alpha,0,0});
|
||||
auto tPos = t->body.getPos();
|
||||
|
||||
|
||||
}
|
||||
@@ -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
|
||||
@@ -4,5 +4,9 @@
|
||||
#include "pieces/headers/coscia.hpp"
|
||||
#include "pieces/headers/caviglia.hpp"
|
||||
#include "pieces/headers/sensore.hpp"
|
||||
#include "pieces/headers/torso.hpp"
|
||||
#include "pieces/headers/pavimento.hpp"
|
||||
#include "joints/headers/rigid_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;
|
||||
@@ -20,3 +29,5 @@ 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:
|
||||
@@ -17,3 +19,5 @@ 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);
|
||||
|
||||
@@ -5,36 +5,54 @@
|
||||
//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);
|
||||
|
||||
glm::mat3 R = glm::mat3(
|
||||
/*cos*/ cosA, /*sin*/ sinA, 0,
|
||||
/*-sin*/ -sinA , /*cos*/ cosA, 0,
|
||||
0, 0, 1
|
||||
);
|
||||
float cosB = glm::cos(beta);
|
||||
float sinB = glm::sin(beta);
|
||||
|
||||
//sposto il child all'origine rispetto al padre
|
||||
|
||||
glm::vec3 XZ_cPos = {offset[id][0],offset[id][2],1};
|
||||
glm::vec3 resRot = R * XZ_cPos;
|
||||
glm::mat4 Rx = glm::mat4{
|
||||
1 , 0, 0, 0,
|
||||
0, cosA, sinA, 0,
|
||||
0, -sinA, cosA, 0,
|
||||
0, 0, 0, 1
|
||||
};
|
||||
|
||||
offset[id][0] = resRot[0] ;
|
||||
offset[id][2] = resRot[1] ;
|
||||
glm::mat4 Ry = glm::mat4{
|
||||
cosB , 0, sinB, 0,
|
||||
0, 1, 0, 0,
|
||||
-sinB, 0, cosB, 0,
|
||||
0, 0, 0, 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]});
|
||||
|
||||
}
|
||||
|
||||
@@ -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();
|
||||
|
||||
|
||||
@@ -3,17 +3,21 @@
|
||||
#ifndef CAVIGLIA_H
|
||||
#define CAVIGLIA_H
|
||||
|
||||
const sf::Vector2f caviglia_Dim = {60, 200};
|
||||
class Caviglia : public PieceInterface{
|
||||
private:
|
||||
const sf::Vector3f caviglia_Dim = {60, 200, 60};
|
||||
const sf::Color caviglia_Col = sf::Color(230,160,11,255);
|
||||
|
||||
const std::string TEXTURE_F = std::string("cavigliaF.png");
|
||||
const std::string TEXTURE_L = std::string("cavigliaL.png");
|
||||
|
||||
|
||||
class Caviglia : public PieceInterface{
|
||||
public:
|
||||
|
||||
Caviglia(rb::Vector3 coords, _Float16 mass);
|
||||
~Caviglia();
|
||||
|
||||
void update(sf::Clock cl) override;
|
||||
void update(sf::Clock cl, float multiplier) override;
|
||||
sf::Shape* draw(ReferencePlane plane) override;
|
||||
};
|
||||
|
||||
|
||||
@@ -3,17 +3,23 @@
|
||||
#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;
|
||||
|
||||
const std::string TEXTURE_F = std::string("cosciaF.png");
|
||||
const std::string TEXTURE_L = std::string("cosciaL.png");
|
||||
|
||||
public:
|
||||
|
||||
Coscia(rb::Vector3 coords, _Float16 mass);
|
||||
~Coscia();
|
||||
|
||||
void update(sf::Clock cl) override;
|
||||
void update(sf::Clock cl, float multiplier) override;
|
||||
sf::Shape* draw(ReferencePlane plane) override;
|
||||
};
|
||||
|
||||
|
||||
@@ -1 +0,0 @@
|
||||
#include "piece_interface.hpp"
|
||||
@@ -0,0 +1,25 @@
|
||||
#include "piece_interface.hpp"
|
||||
|
||||
|
||||
#ifndef PAVIMENTO_H
|
||||
#define PAVIMENTO_H
|
||||
|
||||
class Pavimento : public PieceInterface{
|
||||
private:
|
||||
const sf::Vector3f pavimento_Dim = {600, 40, 600};
|
||||
const sf::Color pavimento_Col = sf::Color(255,255,255,255);
|
||||
|
||||
const std::string TEXTURE_F = std::string("pavimentoF.png");
|
||||
const std::string TEXTURE_L = std::string("pavimentoL.png");
|
||||
|
||||
|
||||
public:
|
||||
|
||||
Pavimento(rb::Vector3 coords, _Float16 mass);
|
||||
~Pavimento();
|
||||
|
||||
void update(sf::Clock cl, float multiplier) override {};
|
||||
sf::Shape* draw(ReferencePlane plane) override;
|
||||
};
|
||||
|
||||
#endif
|
||||
@@ -2,33 +2,70 @@
|
||||
#include <math.h>
|
||||
#include "../../rigidbody/headers/rb.hpp"
|
||||
|
||||
#define TEXTUREPATH std::string("./../../textures/")
|
||||
|
||||
#ifndef PIECE_INTERFACE_H
|
||||
#define PIECE_INTERFACE_H
|
||||
|
||||
|
||||
enum class ReferencePlane {
|
||||
XY,
|
||||
XZ,
|
||||
YZ,
|
||||
XZ
|
||||
XZN
|
||||
};
|
||||
|
||||
enum class Direction {
|
||||
L,
|
||||
R
|
||||
};
|
||||
|
||||
//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);
|
||||
}
|
||||
Direction direction = Direction::L;
|
||||
|
||||
sf::Texture TextureF ;
|
||||
sf::Texture TextureL ;
|
||||
|
||||
void setTextures (std::string F, std::string L){
|
||||
try{
|
||||
TextureF = sf::Texture(TEXTUREPATH + F);
|
||||
TextureL = sf::Texture(TEXTUREPATH + L);
|
||||
|
||||
shapeXZ->setTexture(&TextureL);
|
||||
shapeYZ->setTexture(&TextureF);
|
||||
}catch(...){
|
||||
throw "Errore nel caricamento texture.";
|
||||
}
|
||||
}
|
||||
|
||||
public:
|
||||
sf::Shape* shape;
|
||||
sf::Vector2f size;
|
||||
sf::Shape* shapeXZ, *shapeYZ;
|
||||
rb::Vector3 globalPos;
|
||||
rb::rigidbody body;
|
||||
sf::Color color;
|
||||
float transparency = 1.0; //canale alpha del pezzo
|
||||
|
||||
virtual void update(sf::Clock cl) = 0;
|
||||
virtual void update(sf::Clock cl, float multiplier) = 0;
|
||||
virtual sf::Shape* draw(ReferencePlane plane) = 0;
|
||||
virtual ~PieceInterface(){}
|
||||
virtual void setDirection(Direction dir){
|
||||
direction = dir;
|
||||
}
|
||||
virtual bool setTransparency(float alpha){
|
||||
if (alpha < 0 || alpha > 1) return false;
|
||||
transparency = alpha;
|
||||
return true;
|
||||
}
|
||||
};
|
||||
|
||||
|
||||
|
||||
Some files were not shown because too many files have changed in this diff Show More
Reference in New Issue
Block a user