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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
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@@ -23,7 +23,7 @@ FetchContent_MakeAvailable(glm)
set(METHODS_PATH "./src/*/methods/*.cpp") set(METHODS_PATH "./src/*/methods/*.cpp")
set(VERSION "V3") set(VERSION "V4")
file(GLOB_RECURSE METHODS_SRC "${METHODS_PATH}") file(GLOB_RECURSE METHODS_SRC "${METHODS_PATH}")
add_executable(main${VERSION} ./src/testMain.cpp ${METHODS_SRC} ) add_executable(main${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 - Aggiunta pezzo torso
- Nel testMain vengono agganciate caviglia e coscia al nuovo 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: # Per compliare:
@@ -34,4 +39,4 @@ Per spostare l'intera scena si tiene premuto il tasto centrale del mouse.
# Per lanciare: # Per lanciare:
./build/bin/mainV3 ./build/bin/mainV4
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@@ -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
}
}
build/CPackConfig.cmake
+74
View File
@@ -0,0 +1,74 @@
# This file will be configured to contain variables for CPack. These variables
# should be set in the CMake list file of the project before CPack module is
# included. The list of available CPACK_xxx variables and their associated
# documentation may be obtained using
# cpack --help-variable-list
#
# Some variables are common to all generators (e.g. CPACK_PACKAGE_NAME)
# and some are specific to a generator
# (e.g. CPACK_NSIS_EXTRA_INSTALL_COMMANDS). The generator specific variables
# usually begin with CPACK_<GENNAME>_xxxx.
set(CPACK_BINARY_7Z "OFF")
set(CPACK_BINARY_IFW "OFF")
set(CPACK_BINARY_INNOSETUP "OFF")
set(CPACK_BINARY_NSIS "ON")
set(CPACK_BINARY_NUGET "OFF")
set(CPACK_BINARY_WIX "OFF")
set(CPACK_BINARY_ZIP "OFF")
set(CPACK_BUILD_SOURCE_DIRS "C:/Users/Tommy/Documents/UNIGE/ProgettoFinale/FCG_VisualizzatoreCamminata;C:/Users/Tommy/Documents/UNIGE/ProgettoFinale/FCG_VisualizzatoreCamminata/build")
set(CPACK_CMAKE_GENERATOR "MinGW Makefiles")
set(CPACK_COMPONENTS_ALL "Unspecified;devel;headers")
set(CPACK_COMPONENT_UNSPECIFIED_HIDDEN "TRUE")
set(CPACK_COMPONENT_UNSPECIFIED_REQUIRED "TRUE")
set(CPACK_DEFAULT_PACKAGE_DESCRIPTION_FILE "C:/Program Files/CMake/share/cmake-3.31/Templates/CPack.GenericDescription.txt")
set(CPACK_DEFAULT_PACKAGE_DESCRIPTION_SUMMARY "CMakeSFMLProject built using CMake")
set(CPACK_GENERATOR "NSIS")
set(CPACK_INNOSETUP_ARCHITECTURE "x64")
set(CPACK_INSTALL_CMAKE_PROJECTS "C:/Users/Tommy/Documents/UNIGE/ProgettoFinale/FCG_VisualizzatoreCamminata/build;CMakeSFMLProject;ALL;/")
set(CPACK_INSTALL_PREFIX "C:/Program Files (x86)/CMakeSFMLProject")
set(CPACK_MODULE_PATH "C:/Users/Tommy/Documents/UNIGE/ProgettoFinale/FCG_VisualizzatoreCamminata/build/_deps/sfml-src/cmake/Modules/;C:/Users/Tommy/Documents/UNIGE/ProgettoFinale/FCG_VisualizzatoreCamminata/build/_deps/ogg-src/cmake")
set(CPACK_NSIS_DISPLAY_NAME "CMakeSFMLProject 1.3.5")
set(CPACK_NSIS_INSTALLER_ICON_CODE "")
set(CPACK_NSIS_INSTALLER_MUI_ICON_CODE "")
set(CPACK_NSIS_INSTALL_ROOT "$PROGRAMFILES64")
set(CPACK_NSIS_PACKAGE_NAME "CMakeSFMLProject 1.3.5")
set(CPACK_NSIS_UNINSTALL_NAME "Uninstall")
set(CPACK_OBJCOPY_EXECUTABLE "C:/msys64/ucrt64/bin/objcopy.exe")
set(CPACK_OBJDUMP_EXECUTABLE "C:/msys64/ucrt64/bin/objdump.exe")
set(CPACK_OUTPUT_CONFIG_FILE "C:/Users/Tommy/Documents/UNIGE/ProgettoFinale/FCG_VisualizzatoreCamminata/build/CPackConfig.cmake")
set(CPACK_PACKAGE_DEFAULT_LOCATION "/")
set(CPACK_PACKAGE_DESCRIPTION_FILE "C:/Program Files/CMake/share/cmake-3.31/Templates/CPack.GenericDescription.txt")
set(CPACK_PACKAGE_DESCRIPTION_SUMMARY "CMakeSFMLProject built using CMake")
set(CPACK_PACKAGE_FILE_NAME "CMakeSFMLProject-1.3.5-win64")
set(CPACK_PACKAGE_INSTALL_DIRECTORY "CMakeSFMLProject 1.3.5")
set(CPACK_PACKAGE_INSTALL_REGISTRY_KEY "CMakeSFMLProject 1.3.5")
set(CPACK_PACKAGE_NAME "CMakeSFMLProject")
set(CPACK_PACKAGE_RELOCATABLE "true")
set(CPACK_PACKAGE_VENDOR "Humanity")
set(CPACK_PACKAGE_VERSION "1.3.5")
set(CPACK_PACKAGE_VERSION_MAJOR "0")
set(CPACK_PACKAGE_VERSION_MINOR "1")
set(CPACK_PACKAGE_VERSION_PATCH "1")
set(CPACK_READELF_EXECUTABLE "C:/msys64/ucrt64/bin/readelf.exe")
set(CPACK_RESOURCE_FILE_LICENSE "C:/Program Files/CMake/share/cmake-3.31/Templates/CPack.GenericLicense.txt")
set(CPACK_RESOURCE_FILE_README "C:/Program Files/CMake/share/cmake-3.31/Templates/CPack.GenericDescription.txt")
set(CPACK_RESOURCE_FILE_WELCOME "C:/Program Files/CMake/share/cmake-3.31/Templates/CPack.GenericWelcome.txt")
set(CPACK_SET_DESTDIR "OFF")
set(CPACK_SOURCE_7Z "ON")
set(CPACK_SOURCE_GENERATOR "7Z;ZIP")
set(CPACK_SOURCE_OUTPUT_CONFIG_FILE "C:/Users/Tommy/Documents/UNIGE/ProgettoFinale/FCG_VisualizzatoreCamminata/build/CPackSourceConfig.cmake")
set(CPACK_SOURCE_ZIP "ON")
set(CPACK_SYSTEM_NAME "win64")
set(CPACK_THREADS "1")
set(CPACK_TOPLEVEL_TAG "win64")
set(CPACK_WIX_SIZEOF_VOID_P "8")
if(NOT CPACK_PROPERTIES_FILE)
set(CPACK_PROPERTIES_FILE "C:/Users/Tommy/Documents/UNIGE/ProgettoFinale/FCG_VisualizzatoreCamminata/build/CPackProperties.cmake")
endif()
if(EXISTS ${CPACK_PROPERTIES_FILE})
include(${CPACK_PROPERTIES_FILE})
endif()
build/CPackSourceConfig.cmake
+82
View File
@@ -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()
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src/joints/headers/joint_interface.hpp
+1 -1
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@@ -21,7 +21,7 @@ class JointInterface{
public: public:
std::vector<rb::Vector3> offset; std::vector<rb::Vector3> offset;
std::vector<rb::Vector3_s> rotOffset; std::vector<rb::Vector3> rotOffset;
PieceInterface* father; PieceInterface* father;
std::vector<PieceInterface*> childs; std::vector<PieceInterface*> childs;
src/joints/headers/pivot_joint.hpp
+8 -2
View File
@@ -4,10 +4,16 @@ class PivotJoint : public JointInterface {
protected: protected:
void rotate(unsigned int id) override; void rotate(unsigned int id) override;
void traslate(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; 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 //possono servire per calcolare l'offset rispetto alla posizione precedente
rb::Vector3 oldPos; rb::Vector3 oldPos;
src/joints/methods/pivot_joint_class.cpp
+66 -45
View File
@@ -2,43 +2,74 @@
#define ZERO_INT 0.00001 #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){ void PivotJoint::rotate(unsigned int id){
rb::Vector3_s fRot = father->body.getRot();
rb::Vector3 fPos = father->body.getPos(); 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 //// //// sposto l'origine passivamente su tutti gli assi ////
float alpha = float (fRot[2] - oldRot[2]); offsetAngle[id] = offsetAngle[id] + (cRot - oldCRot[id]);
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]};
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; oldCRot[id] = cRot;
} }
@@ -52,34 +83,24 @@ PivotJoint::PivotJoint(PieceInterface* father,std::vector<PieceInterface*> child
this->childs = childs; this->childs = childs;
this->father = father; this->father = father;
rb::Vector3 fCoords = father->globalPos + father->body.getPos(); rb::Vector3 fCoords = father->globalPos + father->body.getPos();
rb::Vector3_s fRot = father->body.getRot(); rb::Vector3 fRot = father->body.getRot();
pivot = pivotPoint; pivot = pivotPoint;
rb::Vector3 pivotCenter = father->globalPos + father->body.getPos() + pivot; stPivot = pivotPoint;
rb::Vector3 pivotCenter = father->body.getPos() + stPivot;
/*
float sign = pivot[2] >= 0 ? 1 : -1;
float r = sqrt(pow(pivot[0],2)+pow(pivot[2],2));
rotOffset.push_back( rb::Vector3_s{0,0,_Float16( acos(sign * pivot[0]/r) )} );
*/
pivotAngle = rb::Vector3{0,0,0};
oldRot = father->body.getRot(); oldRot = father->body.getRot();
//mi calcolo l'offset per ogni child rispetto al pivot //mi calcolo l'offset per ogni child rispetto al pivot
for(PieceInterface* c : childs){ for(PieceInterface* c : childs){
rb::Vector3 tmpCoords; rb::Vector3 tmpCoords;
rb::Vector3 cCoords = c->globalPos + c->body.getPos(); rb::Vector3 cCoords = c->body.getPos();
tmpCoords = cCoords - pivotCenter; 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()); oldCRot.push_back(c->body.getRot());
offset.push_back(tmpCoords); offset.push_back(tmpCoords);
offsetAngle.push_back(rb::Vector3{0,0,0});
} }
@@ -91,7 +112,7 @@ PivotJoint::~PivotJoint(){
void PivotJoint::movechild(){ void PivotJoint::movechild(){
updatePivot();
for ( unsigned int i = 0; i < childs.size(); i++){ for ( unsigned int i = 0; i < childs.size(); i++){
traslate(i); traslate(i);
rotate(i); rotate(i);
src/joints/methods/rigid_joint_class.cpp
+36 -18
View File
@@ -5,36 +5,54 @@
//using namespace glm; //using namespace glm;
void RigidJoint::rotate(unsigned int id){ void RigidJoint::rotate(unsigned int id){
rb::Vector3_s fRot = father->body.getRot(); rb::Vector3 fRot = father->body.getRot();
rb::Vector3_s fRotOld = childs[id]->body.getRot() - rotOffset[id]; rb::Vector3 fRotOld = childs[id]->body.getRot() - rotOffset[id];
rb::Vector3 fPos = father->body.getPos(); rb::Vector3 fPos = father->body.getPos();
rb::Vector3 cPos = childs[id]->body.getPos(); rb::Vector3 cPos = childs[id]->body.getPos();
childs[id]->body.setRot(fRot + rotOffset[id]); childs[id]->body.setRot(fRot + rotOffset[id]);
//passo a coordinate 3D per calcolare rotazione sul piano YZ oltre che al piano XZ
// sposto il alla distanza offset rispetto all'origine R*pos
// calcolo alpha angolo // 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 cosA = glm::cos(alpha);
float sinA = glm::sin(alpha); float sinA = glm::sin(alpha);
glm::mat3 R = glm::mat3( float cosB = glm::cos(beta);
/*cos*/ cosA, /*sin*/ sinA, 0, float sinB = glm::sin(beta);
/*-sin*/ -sinA , /*cos*/ cosA, 0,
0, 0, 1
);
//sposto il child all'origine rispetto al padre
glm::vec3 XZ_cPos = {offset[id][0],offset[id][2],1}; glm::mat4 Rx = glm::mat4{
glm::vec3 resRot = R * XZ_cPos; 1 , 0, 0, 0,
0, cosA, sinA, 0,
0, -sinA, cosA, 0,
0, 0, 0, 1
};
offset[id][0] = resRot[0] ; glm::mat4 Ry = glm::mat4{
offset[id][2] = resRot[1] ; 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->childs = childs;
this->father = father; this->father = father;
rb::Vector3 fCoords = father->globalPos + father->body.getPos(); 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 //mi calcolo l'offset per ogni child rispetto al padre
for(PieceInterface* c : childs){ for(PieceInterface* c : childs){
rb::Vector3 tmpCoords; rb::Vector3 tmpCoords;
rb::Vector3_s tmpRot; rb::Vector3 tmpRot;
rb::Vector3 cCoords = c->globalPos + c->body.getPos(); 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){ sf::Shape* Caviglia::draw(ReferencePlane plane){
rb::Vector3 tmpPos = body.getPos(); rb::Vector3 tmpPos = body.getPos();
rb::Vector3_s tmpRot = body.getRot(); rb::Vector3 tmpRot = body.getRot();
switch (plane) switch (plane)
{ {
case ReferencePlane::XZ: case ReferencePlane::XZ:
{ {
sf::Shape* shape = shapeXZ; 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->setPosition({tmpPos[0]+globalPos[0],tmpPos[2]+globalPos[2]});
shape->setScale({1,cos(float(tmpRot[0]))});
return shape;} return shape;}
break; break;
case ReferencePlane::YZ: case ReferencePlane::YZ:
{ {
sf::Shape* shape = shapeYZ; 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->setPosition({tmpPos[1]+globalPos[1],tmpPos[2]+globalPos[2]});
shape->setScale({1,cos(float(tmpRot[1]))});
return shape;} return shape;}
break; 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){ sf::Shape* Coscia::draw(ReferencePlane plane){
rb::Vector3 tmpPos = body.getPos(); rb::Vector3 tmpPos = body.getPos();
rb::Vector3_s tmpRot = body.getRot(); rb::Vector3 tmpRot = body.getRot();
switch (plane) switch (plane)
@@ -28,16 +28,26 @@ sf::Shape* Coscia::draw(ReferencePlane plane){
case ReferencePlane::XZ: case ReferencePlane::XZ:
{ {
sf::Shape* shape = shapeXZ; 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->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;} return shape;}
break; break;
case ReferencePlane::YZ: case ReferencePlane::YZ:
{ {
sf::Shape* shape = shapeYZ; 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->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;} return shape;}
break; 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> tmpA = {row[5],row[6],row[4]};
std::vector<float> tmpG = {-row[8],-row[9],-row[7]}; std::vector<float> tmpG = {-row[8],-row[9],-row[7]};
/////// DA CAMBIARE QUI ///////////
rotData.push_back(tmpR); rotData.push_back(tmpR);
accData.push_back(tmpA); accData.push_back(tmpA);
gData.push_back(tmpG); gData.push_back(tmpG);
@@ -58,7 +61,7 @@ void Sensore::update(sf::Clock cl){
sf::Shape* Sensore::draw(ReferencePlane plane){ sf::Shape* Sensore::draw(ReferencePlane plane){
rb::Vector3_s tmpRot = body.getRot(); rb::Vector3 tmpRot = body.getRot();
rb::Vector3 tmpPos = body.getPos(); rb::Vector3 tmpPos = body.getPos();
switch (plane) switch (plane)
@@ -66,7 +69,7 @@ sf::Shape* Sensore::draw(ReferencePlane plane){
case ReferencePlane::XZ: case ReferencePlane::XZ:
{ {
sf::Shape* shape = shapeXZ; 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->setPosition({tmpPos[0]+globalPos[0],tmpPos[2]+globalPos[2]});
return shape;} return shape;}
break; break;
@@ -74,7 +77,7 @@ sf::Shape* Sensore::draw(ReferencePlane plane){
case ReferencePlane::YZ: case ReferencePlane::YZ:
{ {
sf::Shape* shape = shapeYZ; 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->setPosition({tmpPos[1]+globalPos[1],tmpPos[2]+globalPos[2]});
return shape;} return shape;}
break; break;
@@ -98,11 +101,11 @@ void Sensore::calcRotWithG(unsigned int index){ // calcolo rotazione con valori
float tmpSinY = -grav[1] / modG; float tmpSinY = -grav[1] / modG;
float tmpSinZ = -grav[2] / modG; float tmpSinZ = -grav[2] / modG;
float tmpAX = acos(tmpSinY); float tmpAX = acos(tmpSinX);
float tmpAY = acos(tmpSinZ); float tmpAY = acos(tmpSinY);
float tmpAZ = acos(tmpSinX); float tmpAZ = acos(tmpSinZ);
body.setRot(rb::Vector3_s{_Float16( tmpAX),_Float16( tmpAY),_Float16( tmpAZ) }); body.setRot(rb::Vector3{tmpAY, tmpAX, tmpAZ });
} }
/* /*
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){ sf::Shape* Torso::draw(ReferencePlane plane){
rb::Vector3_s tmpRot = body.getRot(); rb::Vector3 tmpRot = body.getRot();
rb::Vector3 tmpPos = body.getPos(); rb::Vector3 tmpPos = body.getPos();
@@ -29,7 +29,7 @@ sf::Shape* Torso::draw(ReferencePlane plane){
case ReferencePlane::XZ: case ReferencePlane::XZ:
{ {
sf::Shape* shape = shapeXZ; 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->setPosition({tmpPos[0]+globalPos[0],tmpPos[2]+globalPos[2]});
return shape;} return shape;}
break; break;
@@ -37,7 +37,7 @@ sf::Shape* Torso::draw(ReferencePlane plane){
case ReferencePlane::YZ: case ReferencePlane::YZ:
{ {
sf::Shape* shape = shapeYZ; 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->setPosition({tmpPos[1]+globalPos[1],tmpPos[2]+globalPos[2]});
return shape;} return shape;}
break; break;
src/rigidbody/headers/rb.hpp
+5 -26
View File
@@ -7,14 +7,14 @@
namespace rb{ namespace rb{
typedef std::vector<float> Vector3; typedef std::vector<float> Vector3;
typedef std::vector<_Float16> Vector3_s; //typedef std::vector<_Float16> Vector3;
class rigidbody class rigidbody
{ {
private: private:
Vector3 vel = {0,0,0}; Vector3 vel = {0,0,0};
Vector3 acc = {0,0,0}; Vector3 acc = {0,0,0};
Vector3_s rot = {0,0,0}; Vector3 rot = {0,0,0};
Vector3 tanAcc = {0,0,0}; Vector3 tanAcc = {0,0,0};
_Float16 mass = 1; _Float16 mass = 1;
@@ -40,9 +40,9 @@
Vector3 getPos(); Vector3 getPos();
Vector3_s getRot(); Vector3 getRot();
void setPos(const Vector3 Npos); void setPos(const Vector3 Npos);
void setRot(const Vector3_s Nrot); void setRot(const Vector3 Nrot);
void setVel(const Vector3 Nacc); void setVel(const Vector3 Nacc);
void setAcc(const Vector3 Nvel); void setAcc(const Vector3 Nvel);
void step(const sf::Clock time); void step(const sf::Clock time);
@@ -77,29 +77,8 @@
}; };
} }
inline rb::Vector3_s operator+(const rb::Vector3_s& v1, const rb::Vector3_s& v2) {
if (v1.size() != 3 || v2.size() != 3) {
throw std::invalid_argument("I vettori devono avere esattamente 3 elementi.");
}
return rb::Vector3_s{
v1[0] + v2[0],
v1[1] + v2[1],
v1[2] + v2[2]
};
}
inline rb::Vector3_s operator-(const rb::Vector3_s& v1, const rb::Vector3_s& v2) {
if (v1.size() != 3 || v2.size() != 3) {
throw std::invalid_argument("I vettori devono avere esattamente 3 elementi.");
}
return rb::Vector3_s{
v1[0] - v2[0],
v1[1] - v2[1],
v1[2] - v2[2]
};
}
/* /*
inline bool operator!=(const rb::Vector3_s& v1, const rb::Vector3_s& v2) { inline bool operator!=(const rb::Vector3& v1, const rb::Vector3& v2) {
if (v1.size() != 3 || v2.size() != 3) { if (v1.size() != 3 || v2.size() != 3) {
throw std::invalid_argument("I vettori devono avere esattamente 3 elementi."); 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(){ Vector3 rigidbody::getPos(){
return Vector3 {coords}; return Vector3 {coords};
} }
Vector3_s rigidbody::getRot(){ Vector3 rigidbody::getRot(){
return Vector3_s {rot}; return Vector3 {rot};
} }
void rigidbody::setPos(Vector3 Npos){ 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!"; if (Nrot.size() != 3) throw "Vel vector must be 3 in lenght!";
int i = 0; int i = 0;
for (_Float16 axis : Nrot){ for (float axis : Nrot){
rot[i] = axis; rot[i] = axis;
i++; i++;
} }
src/sfml_util.cpp
+35 -13
View File
@@ -49,7 +49,7 @@ void State::update(){
for(PieceInterface* p : pieces){ for(PieceInterface* p : pieces){
p->update(clock); //p->update(clock);
} }
for(JointInterface* j : joints){ for(JointInterface* j : joints){
j->movechild(); j->movechild();
@@ -85,23 +85,39 @@ void handle(const sf::Event::MouseMoved &mouseMoved, State &gs)
{ {
sf::Vector2i offset = mouseMoved.position - gs.mouse_pos; sf::Vector2i offset = mouseMoved.position - gs.mouse_pos;
gs.mouse_pos = mouseMoved.position; 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){ if (gs.drag){
for(PieceInterface* p : gs.pieces){ for(PieceInterface* p : gs.pieces){
p->globalPos = {p->globalPos[0] + offset.x, p->globalPos[1],p->globalPos[2] + offset.y}; p->globalPos = {p->globalPos[0] + (offset.x * px), p->globalPos[1]+ (offset.x * py),p->globalPos[2] + offset.y};
/// Devo spostare sul piano di visualizzazione
/// Quindi dovrò settare una variabile che mi definisce qual è il piano preso in considerazione, questo sarà nello state
} }
} }
if (gs.selected != -1 && gs.drag_Piece){ if (gs.selected != -1 && gs.drag_Piece){
rb::Vector3 tmp = gs.pieces[gs.selected]->body.getPos(); 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){ if (gs.selected != -1 && gs.rot_Piece){
rb::Vector3_s tmp = gs.pieces[gs.selected]->body.getRot(); rb::Vector3 tmp = gs.pieces[gs.selected]->body.getRot();
_Float16 nrot = _Float16(offset.x)/10; float nrot = float(offset.x)/100;
gs.pieces[gs.selected]->body.setRot({tmp[0],tmp[1],tmp[2]+nrot}); gs.pieces[gs.selected]->body.setRot({tmp[0]+(nrot*py),tmp[1]+(nrot*px),tmp[2]});
//printf("Rotation : %f,%f,%f \n",gs.pieces[gs.selected]->body.getRot()[0],gs.pieces[gs.selected]->body.getRot()[1],gs.pieces[gs.selected]->body.getRot()[2]);
} }
@@ -115,8 +131,11 @@ void handle(const sf::Event::MouseButtonPressed &mouseBP, State &gs)
gs.drag_Piece = true; gs.drag_Piece = true;
int i = 0; int i = 0;
for (PieceInterface* p : gs.pieces){ for (PieceInterface* p : gs.pieces){
sf::Vector2f pos;
sf::Vector2f pos = {p->globalPos[0]+ p->body.getPos()[0], p->globalPos[2]+ p->body.getPos()[2]}; if (gs.selectedPlane == ReferencePlane::XZ)
pos = {p->globalPos[0]+ p->body.getPos()[0], p->globalPos[2]+ p->body.getPos()[2]};
else if (gs.selectedPlane == ReferencePlane::YZ)
pos = {p->globalPos[1]+ p->body.getPos()[1], p->globalPos[2]+ p->body.getPos()[2]};
if (dist(pos,mouseBP.position) < 20){ if (dist(pos,mouseBP.position) < 20){
gs.selected = i; gs.selected = i;
@@ -128,8 +147,11 @@ void handle(const sf::Event::MouseButtonPressed &mouseBP, State &gs)
gs.rot_Piece = true; gs.rot_Piece = true;
int i = 0; int i = 0;
for (PieceInterface* p : gs.pieces){ for (PieceInterface* p : gs.pieces){
sf::Vector2f pos;
sf::Vector2f pos = {p->globalPos[0]+ p->body.getPos()[0], p->globalPos[2]+ p->body.getPos()[2]}; if (gs.selectedPlane == ReferencePlane::XZ)
pos = {p->globalPos[0]+ p->body.getPos()[0], p->globalPos[2]+ p->body.getPos()[2]};
else if (gs.selectedPlane == ReferencePlane::YZ)
pos = {p->globalPos[1]+ p->body.getPos()[1], p->globalPos[2]+ p->body.getPos()[2]};
if (dist(pos,mouseBP.position) < 20){ if (dist(pos,mouseBP.position) < 20){
gs.selected = i; gs.selected = i;
src/testMain.cpp
+7 -7
View File
@@ -38,30 +38,30 @@ int main() {
const auto& coscia = processor.getData(); 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 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}); gs.pieces[1]->body.setRot({0,0,0});
processor.readCSVFile(DATA_PATH + "caviglia_filt.csv"); processor.readCSVFile(DATA_PATH + "caviglia_filt.csv");
const auto& caviglia = processor.getData(); 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)); gs.pieces.push_back(new Torso(rb::Vector3{300,400,150},2));
// modifico la rotazione relativa della gamba // modifico la rotazione relativa della gamba
gs.pieces[1]->body.setRot({0,0,_Float16 (1.6)}); gs.pieces[1]->body.setRot({_Float16 (1.3),_Float16 (1.5),0});
gs.pieces[3]->body.setRot({0,0,_Float16 (1.7)}); gs.pieces[3]->body.setRot({_Float16 (1.8),_Float16 (1.5),0});
// aggiungo i joint // 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 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 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 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"); printf("Ho costruito tutto!\n");