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base: Endertom/FCG_VisualizzatoreCamminata:v0.3
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Endertom/FCG_VisualizzatoreCamminata:main Endertom/FCG_VisualizzatoreCamminata:All_releleases
Endertom/FCG_VisualizzatoreCamminata:v1.1 Endertom/FCG_VisualizzatoreCamminata:v0.9 Endertom/FCG_VisualizzatoreCamminata:v1.0 Endertom/FCG_VisualizzatoreCamminata:v0.8 Endertom/FCG_VisualizzatoreCamminata:v0.7 Endertom/FCG_VisualizzatoreCamminata:v0.6 Endertom/FCG_VisualizzatoreCamminata:v0.5 Endertom/FCG_VisualizzatoreCamminata:v0.4 Endertom/FCG_VisualizzatoreCamminata:v0.3 Endertom/FCG_VisualizzatoreCamminata:v0.2 Endertom/FCG_VisualizzatoreCamminata:v0.1
...
compare: Endertom/FCG_VisualizzatoreCamminata:v0.4
Branches Tags
Endertom/FCG_VisualizzatoreCamminata:main Endertom/FCG_VisualizzatoreCamminata:All_releleases
Endertom/FCG_VisualizzatoreCamminata:v1.1 Endertom/FCG_VisualizzatoreCamminata:v0.9 Endertom/FCG_VisualizzatoreCamminata:v1.0 Endertom/FCG_VisualizzatoreCamminata:v0.8 Endertom/FCG_VisualizzatoreCamminata:v0.7 Endertom/FCG_VisualizzatoreCamminata:v0.6 Endertom/FCG_VisualizzatoreCamminata:v0.5 Endertom/FCG_VisualizzatoreCamminata:v0.4 Endertom/FCG_VisualizzatoreCamminata:v0.3 Endertom/FCG_VisualizzatoreCamminata:v0.2 Endertom/FCG_VisualizzatoreCamminata:v0.1

6 Commits
v0.3 ... v0.4

Author SHA1 Message Date
Endertom 21f43f8bce Aggiustato deriva offset 2026-06-02 16:44:46 +02:00
Endertom 28abf04232 Miglioramento precisione rotazioni 2026-05-31 12:47:46 +02:00
Endertom 57412060b5 Migliore precisione per debug 2026-05-31 12:34:59 +02:00
Endertom 8be8a2db00 Aggiustato debug per rotazione 2026-05-31 12:12:47 +02:00
Endertom 2840a35d08 Correzione file README 2026-05-31 12:01:43 +02:00
Endertom 5da309b43f Caricamento v4 2026-05-31 11:58:56 +02:00
96 changed files with 7366 additions and 7278 deletions
Expand all files Collapse all files
CMakeLists.txt
+1 -1
View File
@@ -23,7 +23,7 @@ FetchContent_MakeAvailable(glm)
set(METHODS_PATH "./src/*/methods/*.cpp")
set(VERSION "V3")
set(VERSION "V4")
file(GLOB_RECURSE METHODS_SRC "${METHODS_PATH}")
add_executable(main${VERSION} ./src/testMain.cpp ${METHODS_SRC} )
README.md
+6 -1
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@@ -27,6 +27,11 @@ Per spostare l'intera scena si tiene premuto il tasto centrale del mouse.
- Aggiunta pezzo torso
- Nel testMain vengono agganciate caviglia e coscia al nuovo torso
## Nella versione v0.4
- Aggiunta vista frontale (con spazio si può camnbiare vista)
- Modifica calcolo pivot per gestire spazio 3D
- Aggiustati assi di riferimento (ora sono coerenti su tutte le classi)
# Per compliare:
@@ -34,4 +39,4 @@ Per spostare l'intera scena si tiene premuto il tasto centrale del mouse.
# Per lanciare:
./build/bin/mainV3
./build/bin/mainV4
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File diff suppressed because it is too large Load Diff
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build/CPackConfig.cmake
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# This file will be configured to contain variables for CPack. These variables
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set(CPACK_NSIS_INSTALLER_ICON_CODE "")
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include(${CPACK_PROPERTIES_FILE})
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build/CPackSourceConfig.cmake
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# This file will be configured to contain variables for CPack. These variables
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set(CPACK_SOURCE_ZIP "ON")
set(CPACK_STRIP_FILES "")
set(CPACK_SYSTEM_NAME "win64")
set(CPACK_THREADS "1")
set(CPACK_TOPLEVEL_TAG "win64-Source")
set(CPACK_WIX_SIZEOF_VOID_P "8")
if(NOT CPACK_PROPERTIES_FILE)
set(CPACK_PROPERTIES_FILE "C:/Users/Tommy/Documents/UNIGE/ProgettoFinale/FCG_VisualizzatoreCamminata/build/CPackProperties.cmake")
endif()
if(EXISTS ${CPACK_PROPERTIES_FILE})
include(${CPACK_PROPERTIES_FILE})
endif()
build/bin/mainV1
BIN
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build/bin/mainV2
BIN
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build/bin/mainV3
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build/bin/mainV4.exe
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src/joints/headers/joint_interface.hpp
+1 -1
View File
@@ -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;
src/joints/headers/pivot_joint.hpp
+8 -2
View File
@@ -4,10 +4,16 @@ class PivotJoint : public JointInterface {
protected:
void rotate(unsigned int id) override;
void traslate(unsigned int id) override;
void updatePivot();
rb::Vector3_s oldRot;
rb::Vector3 oldRot;
std::vector<rb::Vector3> oldCRot;
rb::Vector3 pivot;
std::vector<rb::Vector3_s> oldCRot;
rb::Vector3 stPivot;
//angolo attuale pivot e offset
rb::Vector3 pivotAngle;
std::vector<rb::Vector3> offsetAngle;
//possono servire per calcolare l'offset rispetto alla posizione precedente
rb::Vector3 oldPos;
src/joints/methods/pivot_joint_class.cpp
+66 -45
View File
@@ -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);
src/joints/methods/rigid_joint_class.cpp
+37 -19
View File
@@ -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();
src/pieces/methods/caviglia_class.cpp
+5 -3
View File
@@ -22,23 +22,25 @@ void Caviglia::update(sf::Clock cl){
sf::Shape* Caviglia::draw(ReferencePlane plane){
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[2])));
shape->setRotation(sf::Angle(sf::radians(tmpRot[1])));
shape->setPosition({tmpPos[0]+globalPos[0],tmpPos[2]+globalPos[2]});
shape->setScale({1,cos(float(tmpRot[0]))});
return shape;}
break;
case ReferencePlane::YZ:
{
sf::Shape* shape = shapeYZ;
shape->setRotation(sf::Angle(sf::radians(tmpRot[1])));
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;
src/pieces/methods/coscia_class.cpp
+13 -3
View File
@@ -20,7 +20,7 @@ void Coscia::update(sf::Clock cl){
sf::Shape* Coscia::draw(ReferencePlane plane){
rb::Vector3 tmpPos = body.getPos();
rb::Vector3_s tmpRot = body.getRot();
rb::Vector3 tmpRot = body.getRot();
switch (plane)
@@ -28,16 +28,26 @@ sf::Shape* Coscia::draw(ReferencePlane plane){
case ReferencePlane::XZ:
{
sf::Shape* shape = shapeXZ;
shape->setRotation(sf::Angle(sf::radians(tmpRot[2])));
shape->setRotation(sf::Angle(sf::radians(tmpRot[1])));
shape->setPosition({tmpPos[0]+globalPos[0],tmpPos[2]+globalPos[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[1])));
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;
src/pieces/methods/sensore_class.cpp
+10 -7
View File
@@ -33,6 +33,9 @@ void Sensore::initCSV(std::vector<std::vector<float>> data){
std::vector<float> tmpA = {row[5],row[6],row[4]};
std::vector<float> tmpG = {-row[8],-row[9],-row[7]};
/////// DA CAMBIARE QUI ///////////
rotData.push_back(tmpR);
accData.push_back(tmpA);
gData.push_back(tmpG);
@@ -58,7 +61,7 @@ void Sensore::update(sf::Clock cl){
sf::Shape* Sensore::draw(ReferencePlane plane){
rb::Vector3_s tmpRot = body.getRot();
rb::Vector3 tmpRot = body.getRot();
rb::Vector3 tmpPos = body.getPos();
switch (plane)
@@ -66,7 +69,7 @@ sf::Shape* Sensore::draw(ReferencePlane plane){
case ReferencePlane::XZ:
{
sf::Shape* shape = shapeXZ;
shape->setRotation(sf::Angle(sf::radians(tmpRot[2])));
shape->setRotation(sf::Angle(sf::radians(tmpRot[1])));
shape->setPosition({tmpPos[0]+globalPos[0],tmpPos[2]+globalPos[2]});
return shape;}
break;
@@ -74,7 +77,7 @@ sf::Shape* Sensore::draw(ReferencePlane plane){
case ReferencePlane::YZ:
{
sf::Shape* shape = shapeYZ;
shape->setRotation(sf::Angle(sf::radians(tmpRot[1])));
shape->setRotation(sf::Angle(sf::radians(tmpRot[0])));
shape->setPosition({tmpPos[1]+globalPos[1],tmpPos[2]+globalPos[2]});
return shape;}
break;
@@ -98,11 +101,11 @@ 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 });
}
/*
src/pieces/methods/torso.cpp
+3 -3
View File
@@ -20,7 +20,7 @@ void Torso::update(sf::Clock cl){
sf::Shape* Torso::draw(ReferencePlane plane){
rb::Vector3_s tmpRot = body.getRot();
rb::Vector3 tmpRot = body.getRot();
rb::Vector3 tmpPos = body.getPos();
@@ -29,7 +29,7 @@ sf::Shape* Torso::draw(ReferencePlane plane){
case ReferencePlane::XZ:
{
sf::Shape* shape = shapeXZ;
shape->setRotation(sf::Angle(sf::radians(tmpRot[2])));
shape->setRotation(sf::Angle(sf::radians(tmpRot[1])));
shape->setPosition({tmpPos[0]+globalPos[0],tmpPos[2]+globalPos[2]});
return shape;}
break;
@@ -37,7 +37,7 @@ sf::Shape* Torso::draw(ReferencePlane plane){
case ReferencePlane::YZ:
{
sf::Shape* shape = shapeYZ;
shape->setRotation(sf::Angle(sf::radians(tmpRot[1])));
shape->setRotation(sf::Angle(sf::radians(tmpRot[0])));
shape->setPosition({tmpPos[1]+globalPos[1],tmpPos[2]+globalPos[2]});
return shape;}
break;
src/rigidbody/headers/rb.hpp
+6 -27
View File
@@ -7,14 +7,14 @@
namespace rb{
typedef std::vector<float> Vector3;
typedef std::vector<_Float16> Vector3_s;
//typedef std::vector<_Float16> Vector3;
class rigidbody
{
private:
Vector3 vel = {0,0,0};
Vector3 acc = {0,0,0};
Vector3_s rot = {0,0,0};
Vector3 rot = {0,0,0};
Vector3 tanAcc = {0,0,0};
_Float16 mass = 1;
@@ -40,9 +40,9 @@
Vector3 getPos();
Vector3_s getRot();
Vector3 getRot();
void setPos(const Vector3 Npos);
void setRot(const Vector3_s Nrot);
void setRot(const Vector3 Nrot);
void setVel(const Vector3 Nacc);
void setAcc(const Vector3 Nvel);
void step(const sf::Clock time);
@@ -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.");
}
src/rigidbody/methods/rb_class.cpp
+4 -4
View File
@@ -21,8 +21,8 @@ rigidbody::~rigidbody()
Vector3 rigidbody::getPos(){
return Vector3 {coords};
}
Vector3_s rigidbody::getRot(){
return Vector3_s {rot};
Vector3 rigidbody::getRot(){
return Vector3 {rot};
}
void rigidbody::setPos(Vector3 Npos){
@@ -47,11 +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++;
}
src/sfml_util.cpp
+35 -13
View File
@@ -49,7 +49,7 @@ void State::update(){
for(PieceInterface* p : pieces){
p->update(clock);
//p->update(clock);
}
for(JointInterface* j : joints){
j->movechild();
@@ -85,23 +85,39 @@ void handle(const sf::Event::MouseMoved &mouseMoved, State &gs)
{
sf::Vector2i offset = mouseMoved.position - gs.mouse_pos;
gs.mouse_pos = mouseMoved.position;
float px = 1;
float py = 0;
switch (gs.selectedPlane)
{
case ReferencePlane::XZ:
px = 1;
py = 0;
break;
case ReferencePlane::YZ:
px = 0;
py = 1;
break;
default:
break;
}
if (gs.drag){
for(PieceInterface* p : gs.pieces){
p->globalPos = {p->globalPos[0] + offset.x, p->globalPos[1],p->globalPos[2] + offset.y};
/// Devo spostare sul piano di visualizzazione
/// Quindi dovrò settare una variabile che mi definisce qual è il piano preso in considerazione, questo sarà nello state
p->globalPos = {p->globalPos[0] + (offset.x * px), p->globalPos[1]+ (offset.x * py),p->globalPos[2] + offset.y};
}
}
if (gs.selected != -1 && gs.drag_Piece){
rb::Vector3 tmp = gs.pieces[gs.selected]->body.getPos();
gs.pieces[gs.selected]->body.setPos({tmp[0]+offset.x,tmp[1],tmp[2]+offset.y});
gs.pieces[gs.selected]->body.setPos({tmp[0]+ (offset.x * px),tmp[1]+ (offset.x * py),tmp[2]+offset.y});
}
if (gs.selected != -1 && gs.rot_Piece){
rb::Vector3_s tmp = gs.pieces[gs.selected]->body.getRot();
rb::Vector3 tmp = gs.pieces[gs.selected]->body.getRot();
_Float16 nrot = _Float16(offset.x)/10;
gs.pieces[gs.selected]->body.setRot({tmp[0],tmp[1],tmp[2]+nrot});
float nrot = float(offset.x)/100;
gs.pieces[gs.selected]->body.setRot({tmp[0]+(nrot*py),tmp[1]+(nrot*px),tmp[2]});
//printf("Rotation : %f,%f,%f \n",gs.pieces[gs.selected]->body.getRot()[0],gs.pieces[gs.selected]->body.getRot()[1],gs.pieces[gs.selected]->body.getRot()[2]);
}
@@ -115,8 +131,11 @@ void handle(const sf::Event::MouseButtonPressed &mouseBP, State &gs)
gs.drag_Piece = true;
int i = 0;
for (PieceInterface* p : gs.pieces){
sf::Vector2f pos = {p->globalPos[0]+ p->body.getPos()[0], p->globalPos[2]+ p->body.getPos()[2]};
sf::Vector2f pos;
if (gs.selectedPlane == ReferencePlane::XZ)
pos = {p->globalPos[0]+ p->body.getPos()[0], p->globalPos[2]+ p->body.getPos()[2]};
else if (gs.selectedPlane == ReferencePlane::YZ)
pos = {p->globalPos[1]+ p->body.getPos()[1], p->globalPos[2]+ p->body.getPos()[2]};
if (dist(pos,mouseBP.position) < 20){
gs.selected = i;
@@ -128,8 +147,11 @@ void handle(const sf::Event::MouseButtonPressed &mouseBP, State &gs)
gs.rot_Piece = true;
int i = 0;
for (PieceInterface* p : gs.pieces){
sf::Vector2f pos = {p->globalPos[0]+ p->body.getPos()[0], p->globalPos[2]+ p->body.getPos()[2]};
sf::Vector2f pos;
if (gs.selectedPlane == ReferencePlane::XZ)
pos = {p->globalPos[0]+ p->body.getPos()[0], p->globalPos[2]+ p->body.getPos()[2]};
else if (gs.selectedPlane == ReferencePlane::YZ)
pos = {p->globalPos[1]+ p->body.getPos()[1], p->globalPos[2]+ p->body.getPos()[2]};
if (dist(pos,mouseBP.position) < 20){
gs.selected = i;
src/testMain.cpp
+8 -8
View File
@@ -38,30 +38,30 @@ int main() {
const auto& coscia = processor.getData();
gs.pieces.push_back(new Coscia (rb::Vector3{300,10,300},2));
gs.pieces.push_back(new Coscia (rb::Vector3{300,300,300},2));
gs.pieces.push_back(new Sensore (rb::Vector3{300,300,300},_Float16( 0.2 ),900,3000,coscia));
gs.pieces.push_back(new Caviglia (rb::Vector3{300,10,500},1));
gs.pieces.push_back(new Caviglia (rb::Vector3{300,300,500},1));
gs.pieces[1]->body.setRot({0,0,0});
processor.readCSVFile(DATA_PATH + "caviglia_filt.csv");
const auto& caviglia = processor.getData();
gs.pieces.push_back(new Sensore (rb::Vector3{300,700,500},_Float16( 0.2 ),900,3000,caviglia));
gs.pieces.push_back(new Sensore (rb::Vector3{300,300,500},_Float16( 0.2 ),900,3000,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 (1.5),0});
gs.pieces[3]->body.setRot({_Float16 (1.8),_Float16 (1.5),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]}));
gs.joints.push_back(new PivotJoint(gs.pieces[4], {gs.pieces[1]}, rb::Vector3{0,0,50}));
printf("Ho costruito tutto!\n");