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a95e98ed8a |
@@ -10,6 +10,10 @@ compile_commands.json
|
||||
CTestTestfile.cmake
|
||||
_deps
|
||||
CMakeUserPresets.json
|
||||
.cmake
|
||||
obj
|
||||
CPackConfig.cmake
|
||||
CPackSourceConfig.cmake
|
||||
|
||||
# CLion
|
||||
# JetBrains specific template is maintained in a separate JetBrains.gitignore that can
|
||||
|
||||
+34
-4
@@ -19,13 +19,43 @@ FetchContent_Declare(
|
||||
)
|
||||
FetchContent_MakeAvailable(glm)
|
||||
|
||||
# Aggiunta ImGUI
|
||||
|
||||
|
||||
FetchContent_Declare(ImGui
|
||||
GIT_REPOSITORY https://github.com/ocornut/imgui
|
||||
GIT_TAG v1.91.9b
|
||||
GIT_SHALLOW ON
|
||||
EXCLUDE_FROM_ALL
|
||||
SYSTEM)
|
||||
FetchContent_MakeAvailable(ImGui)
|
||||
FetchContent_GetProperties(ImGui SOURCE_DIR IMGUI_DIR)
|
||||
|
||||
set(IMGUI_SFML_FIND_SFML OFF)
|
||||
FetchContent_Declare(ImGui-SFML
|
||||
GIT_REPOSITORY https://github.com/SFML/imgui-sfml
|
||||
GIT_TAG v3.0
|
||||
GIT_SHALLOW ON
|
||||
EXCLUDE_FROM_ALL
|
||||
SYSTEM)
|
||||
FetchContent_MakeAvailable(ImGui-SFML)
|
||||
|
||||
add_library(common INTERFACE)
|
||||
target_compile_features(common INTERFACE cxx_std_17)
|
||||
target_compile_options(common INTERFACE
|
||||
$<$<OR:$<CXX_COMPILER_ID:Clang>,$<CXX_COMPILER_ID:AppleClang>,$<CXX_COMPILER_ID:GNU>>: -Wall>
|
||||
$<$<CXX_COMPILER_ID:MSVC>: /W4>
|
||||
)
|
||||
|
||||
|
||||
# Fine aggiunta
|
||||
|
||||
|
||||
set(METHODS_PATH "./src/*/methods/*.cpp")
|
||||
|
||||
|
||||
set(VERSION "V4")
|
||||
set(VERSION "V8")
|
||||
|
||||
file(GLOB_RECURSE METHODS_SRC "${METHODS_PATH}")
|
||||
add_executable(main${VERSION} ./src/testMain.cpp ${METHODS_SRC} )
|
||||
target_compile_features(main${VERSION} PRIVATE cxx_std_17)
|
||||
target_link_libraries(main${VERSION} PRIVATE SFML::Graphics glm)
|
||||
target_link_libraries(main${VERSION} PRIVATE SFML::Graphics ImGui-SFML::ImGui-SFML common glm)
|
||||
target_compile_definitions(main${VERSION} PRIVATE $<$<CONFIG:Debug>:DEBUG_MODE>)
|
||||
@@ -32,11 +32,32 @@ Per spostare l'intera scena si tiene premuto il tasto centrale del mouse.
|
||||
- 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
|
||||
|
||||
# Per compliare:
|
||||
## 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
|
||||
|
||||
# Per compilare:
|
||||
|
||||
cmake --build
|
||||
|
||||
# Per lanciare:
|
||||
|
||||
./build/bin/mainV4
|
||||
./build/bin/mainV8
|
||||
|
||||
File diff suppressed because it is too large
Load Diff
File diff suppressed because it is too large
Load Diff
@@ -1,571 +0,0 @@
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||||
{
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"configurations" :
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[
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{
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Executable
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Executable
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+16516
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+16515
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Load Diff
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Load Diff
Executable → Regular
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Can't render this file because it is too large.
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Can't render this file because it is too large.
|
@@ -0,0 +1,42 @@
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#include "../../pieces/headers/piece_interface.hpp"
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|
||||
|
||||
#ifndef COLL_INTERFACE_H
|
||||
#define COLL_INTERFACE_H
|
||||
|
||||
struct collection{
|
||||
std::vector<PieceInterface*> pieces;
|
||||
std::vector<JointInterface*> joints;
|
||||
};
|
||||
|
||||
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||||
class CollectionInterface{
|
||||
public:
|
||||
virtual collection create(ReferencePlane plane) = 0;
|
||||
virtual void update(sf::Clock cl) = 0;
|
||||
virtual bool setTransparency(float alpha) = 0;
|
||||
virtual ~CollectionInterface(){};
|
||||
};
|
||||
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||||
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|
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collection res;
|
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|
||||
res.pieces.push_back(i);
|
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|
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|
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|
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|
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|
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|
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@@ -0,0 +1,22 @@
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|
||||
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|
||||
|
||||
#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);
|
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bool setTransparency(float alpha) override;
|
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void update(sf::Clock cl)override {};
|
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float getZ_Acc();
|
||||
};
|
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|
||||
#endif
|
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@@ -0,0 +1,7 @@
|
||||
#include "../../csv/headers/csv.hpp"
|
||||
#include "../../pieces/headers/caviglia.hpp"
|
||||
#include "../../pieces/headers/coscia.hpp"
|
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#include "../../pieces/headers/sensore.hpp"
|
||||
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|
||||
#include "../../joints/headers/pivot_joint.hpp"
|
||||
#include "../../pieces/headers/torso.hpp"
|
||||
@@ -0,0 +1,44 @@
|
||||
#include "gamba.hpp"
|
||||
#include "collection_interface.hpp"
|
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|
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#ifndef LOWER_BODY_H
|
||||
#define LOWER_BODY_H
|
||||
|
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struct gamba_data{
|
||||
unsigned int* dataPos;
|
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std::string cosciaData;
|
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std::string cavigliaData;
|
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};
|
||||
|
||||
|
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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) 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 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
|
||||
@@ -7,3 +7,5 @@
|
||||
#include "pieces/headers/torso.hpp"
|
||||
#include "joints/headers/rigid_joint.hpp"
|
||||
#include "joints/headers/pivot_joint.hpp"
|
||||
#include "collections/headers/gamba.hpp"
|
||||
#include "collections/headers/lower_body.hpp"
|
||||
@@ -1,5 +1,8 @@
|
||||
#include "joint_interface.hpp"
|
||||
|
||||
#ifndef PIVOTJ_H
|
||||
#define PIVOTJ_H
|
||||
|
||||
class PivotJoint : public JointInterface {
|
||||
protected:
|
||||
void rotate(unsigned int id) override;
|
||||
@@ -26,3 +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
|
||||
@@ -8,9 +8,14 @@
|
||||
|
||||
|
||||
enum class ReferencePlane {
|
||||
XY,
|
||||
XZ,
|
||||
YZ,
|
||||
XZ
|
||||
XZN
|
||||
};
|
||||
|
||||
enum class Direction {
|
||||
L,
|
||||
R
|
||||
};
|
||||
|
||||
//classi
|
||||
@@ -25,16 +30,25 @@ class PieceInterface{
|
||||
shapeXZ->setFillColor(color);
|
||||
shapeYZ->setFillColor(color);
|
||||
}
|
||||
|
||||
Direction direction = Direction::L;
|
||||
public:
|
||||
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 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;
|
||||
}
|
||||
};
|
||||
|
||||
|
||||
|
||||
@@ -14,12 +14,11 @@ class Sensore : public PieceInterface{
|
||||
std::vector<std::vector<float>> gData;
|
||||
std::vector<std::vector<float>> rotData;
|
||||
std::vector<float> timeData;
|
||||
rb::Vector3 stPos;
|
||||
|
||||
float gModule;
|
||||
|
||||
//in che punto sto controllando il segnale
|
||||
unsigned int dataPos;
|
||||
unsigned int dataIntvl;
|
||||
|
||||
unsigned int* dataPos;
|
||||
|
||||
//funzioni ausiliarie
|
||||
void calcRotWithG(unsigned int index);
|
||||
@@ -27,7 +26,7 @@ class Sensore : public PieceInterface{
|
||||
|
||||
public:
|
||||
Sensore(rb::Vector3 coords, _Float16 mass);
|
||||
Sensore(rb::Vector3 coords, _Float16 mass, unsigned int st, unsigned int dataIntvl, std::vector<std::vector<float>> data);
|
||||
Sensore(rb::Vector3 coords, _Float16 mass, unsigned int* st, std::vector<std::vector<float>> data);
|
||||
~Sensore();
|
||||
|
||||
void update(sf::Clock cl) override;
|
||||
@@ -36,6 +35,7 @@ class Sensore : public PieceInterface{
|
||||
//funzioni specifiche
|
||||
void initCSV(std::vector<std::vector<float>> data);
|
||||
|
||||
float getZ_Acc();
|
||||
};
|
||||
|
||||
#endif
|
||||
@@ -8,7 +8,7 @@
|
||||
|
||||
class Torso : public PieceInterface{
|
||||
private:
|
||||
const sf::Vector3f torso_Dim = {100, 100, 250};
|
||||
const sf::Vector3f torso_Dim = {100, 100, 150};
|
||||
const sf::Color torso_Col = sf::Color::Red;
|
||||
public:
|
||||
Torso(rb::Vector3 coords, _Float16 mass);
|
||||
|
||||
@@ -2,7 +2,7 @@
|
||||
|
||||
Caviglia::Caviglia(rb::Vector3 coords, _Float16 mass){
|
||||
rb::Vector3 com = {caviglia_Dim.x/2,caviglia_Dim.x/2, caviglia_Dim.y/2};
|
||||
body = rb::rigidbody(coords, com, mass);
|
||||
body = rb::rigidbody(coords, com, mass, caviglia_Dim.x/2);
|
||||
color = caviglia_Col;
|
||||
globalPos = {0,0,0};
|
||||
|
||||
@@ -26,12 +26,13 @@ sf::Shape* Caviglia::draw(ReferencePlane plane){
|
||||
|
||||
switch (plane)
|
||||
{
|
||||
case ReferencePlane::XZ:
|
||||
case ReferencePlane::XZ : case ReferencePlane::XZN:
|
||||
{
|
||||
sf::Shape* shape = shapeXZ;
|
||||
shape->setRotation(sf::Angle(sf::radians(tmpRot[1])));
|
||||
shape->setPosition({tmpPos[0]+globalPos[0],tmpPos[2]+globalPos[2]});
|
||||
shape->setScale({1,cos(float(tmpRot[0]))});
|
||||
shape->setFillColor(color*sf::Color(255,255,255,transparency*255));
|
||||
return shape;}
|
||||
break;
|
||||
|
||||
@@ -41,6 +42,7 @@ sf::Shape* Caviglia::draw(ReferencePlane plane){
|
||||
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]))});
|
||||
shape->setFillColor(color*sf::Color(255,255,255,transparency*255));
|
||||
return shape;}
|
||||
break;
|
||||
|
||||
|
||||
@@ -2,7 +2,7 @@
|
||||
|
||||
Coscia::Coscia(rb::Vector3 coords, _Float16 mass){
|
||||
rb::Vector3 com = {coscia_Dim.x/2,coscia_Dim.z/2,coscia_Dim.y/2};
|
||||
body = rb::rigidbody(coords, com, mass);
|
||||
body = rb::rigidbody(coords, com, mass, coscia_Dim.z/2);
|
||||
color = coscia_Col;
|
||||
globalPos = {0,0,0};
|
||||
initialize_shapes(coscia_Dim);
|
||||
@@ -25,17 +25,13 @@ sf::Shape* Coscia::draw(ReferencePlane plane){
|
||||
|
||||
switch (plane)
|
||||
{
|
||||
case ReferencePlane::XZ:
|
||||
case ReferencePlane::XZ : case ReferencePlane::XZN:
|
||||
{
|
||||
sf::Shape* shape = shapeXZ;
|
||||
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});
|
||||
|
||||
|
||||
shape->setFillColor(color*sf::Color(255,255,255,transparency*255));
|
||||
return shape;}
|
||||
break;
|
||||
|
||||
@@ -44,10 +40,8 @@ sf::Shape* Coscia::draw(ReferencePlane plane){
|
||||
sf::Shape* shape = shapeYZ;
|
||||
shape->setRotation(sf::Angle(sf::radians(tmpRot[0])));
|
||||
shape->setPosition({tmpPos[1]+globalPos[1],tmpPos[2]+globalPos[2]});
|
||||
|
||||
//calcolo ridimensionamento dato da cos(x) -> questo per definire l'ancoraggio corretto del pivot
|
||||
shape->setFillColor(color*sf::Color(255,255,255,transparency*255));
|
||||
shape->setScale({1,cos(float(tmpRot[1]))});
|
||||
//shape->setScale({1,(0.5* cos(float(tmpRot[1]*2)))+0.5});
|
||||
return shape;}
|
||||
break;
|
||||
|
||||
|
||||
@@ -3,15 +3,14 @@
|
||||
|
||||
Sensore::Sensore(rb::Vector3 coords, _Float16 mass){
|
||||
rb::Vector3 com = {sensore_Dim.x/2,sensore_Dim.z/2, sensore_Dim.y/2};
|
||||
body = rb::rigidbody(coords, com, mass);
|
||||
body = rb::rigidbody(coords, com, mass, sensore_Dim.z/2);
|
||||
color = sensore_Col;
|
||||
globalPos = {0,0,0};
|
||||
initialize_shapes(sensore_Dim);
|
||||
}
|
||||
|
||||
Sensore::Sensore(rb::Vector3 coords, _Float16 mass, unsigned int st, unsigned int dataIntvl, std::vector<std::vector<float>> data) : Sensore(coords, mass){
|
||||
Sensore::Sensore(rb::Vector3 coords, _Float16 mass, unsigned int* st, std::vector<std::vector<float>> data) : Sensore(coords, mass){
|
||||
dataPos = st;
|
||||
this->dataIntvl = dataIntvl;
|
||||
initCSV(data);
|
||||
}
|
||||
|
||||
@@ -23,7 +22,7 @@ Sensore::~Sensore(){
|
||||
|
||||
void Sensore::initCSV(std::vector<std::vector<float>> data){
|
||||
//timestamp_ns, wx, wy, wz, ax, ay, az, gx, gy, gz
|
||||
if (data.size() < 1) throw "Sensor data empty";
|
||||
if (data.size() < 10) throw "Sensor data empty";
|
||||
float stTime = int64_t( data[0][0] ) ;
|
||||
|
||||
for (std::vector<float> row : data){
|
||||
@@ -33,29 +32,33 @@ 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);
|
||||
}
|
||||
|
||||
//trovo il modulo di g facendo la media del modulo nei primi 1000 campioni
|
||||
gModule = 0;
|
||||
int nCampioni = int(data.size())>1000 ? 1000 : 10;
|
||||
for(int i = 0; i<nCampioni ;i++) {
|
||||
gModule += sqrt(pow(gData[i][0],2)+pow(gData[i][1],2)+pow(gData[i][2],2));
|
||||
}
|
||||
gModule = gModule / 1000;
|
||||
|
||||
}
|
||||
|
||||
|
||||
void Sensore::update(sf::Clock cl){
|
||||
// Aggiorno la posizione nei dati
|
||||
int64_t currTime = cl.getElapsedTime().asMicroseconds() *100000;
|
||||
if (timeData[dataPos] < currTime && dataIntvl - dataPos > 0) { //aggiorno solo se ho cambiato posizione
|
||||
dataPos++;
|
||||
|
||||
//calcolo la posizione e velocità
|
||||
calcRotWithG(dataPos);
|
||||
//calcolo la posizione e velocità
|
||||
if (*dataPos >= gData.size()) *dataPos = gData.size()-1;
|
||||
|
||||
calcRotWithG(*dataPos);
|
||||
|
||||
|
||||
body.setAcc(rb::Vector3{accData[dataPos]});
|
||||
body.step(cl);
|
||||
}
|
||||
body.setAcc(rb::Vector3{accData[*dataPos]});
|
||||
body.step(cl);
|
||||
|
||||
}
|
||||
|
||||
@@ -66,11 +69,13 @@ sf::Shape* Sensore::draw(ReferencePlane plane){
|
||||
|
||||
switch (plane)
|
||||
{
|
||||
case ReferencePlane::XZ:
|
||||
case ReferencePlane::XZ : case ReferencePlane::XZN:
|
||||
{
|
||||
|
||||
sf::Shape* shape = shapeXZ;
|
||||
shape->setRotation(sf::Angle(sf::radians(tmpRot[1])));
|
||||
shape->setPosition({tmpPos[0]+globalPos[0],tmpPos[2]+globalPos[2]});
|
||||
shape->setFillColor(color*sf::Color(255,255,255,transparency*255));
|
||||
return shape;}
|
||||
break;
|
||||
|
||||
@@ -79,6 +84,7 @@ sf::Shape* Sensore::draw(ReferencePlane plane){
|
||||
sf::Shape* shape = shapeYZ;
|
||||
shape->setRotation(sf::Angle(sf::radians(tmpRot[0])));
|
||||
shape->setPosition({tmpPos[1]+globalPos[1],tmpPos[2]+globalPos[2]});
|
||||
shape->setFillColor(color*sf::Color(255,255,255,transparency*255));
|
||||
return shape;}
|
||||
break;
|
||||
|
||||
@@ -91,26 +97,37 @@ sf::Shape* Sensore::draw(ReferencePlane plane){
|
||||
|
||||
|
||||
void Sensore::calcRotWithG(unsigned int index){ // calcolo rotazione con valori della gravità
|
||||
|
||||
int dir = direction == Direction::R ? -1 : 1;
|
||||
std::vector<float> grav = gData[index];
|
||||
float modG = sqrt(pow(grav[0],2)+pow(grav[1],2)+pow(grav[2],2));
|
||||
|
||||
//x = mod * cosX -> mod = x/cosx -> cosx = x/mod
|
||||
|
||||
float tmpSinX = -grav[0] / modG;
|
||||
float tmpSinY = -grav[1] / modG;
|
||||
float tmpSinZ = -grav[2] / modG;
|
||||
float tmpSinX = -grav[0] / gModule;
|
||||
float tmpSinY = -grav[1] / gModule;
|
||||
float tmpSinZ = -grav[2] / gModule;
|
||||
|
||||
float tmpAX = acos(tmpSinX);
|
||||
float tmpAY = acos(tmpSinY);
|
||||
float tmpAX = acos(dir*tmpSinX);
|
||||
float tmpAY = acos(dir*tmpSinY);
|
||||
float tmpAZ = acos(tmpSinZ);
|
||||
|
||||
body.setRot(rb::Vector3{tmpAY, tmpAX, tmpAZ });
|
||||
|
||||
}
|
||||
/*
|
||||
void Sensore::calcRotWithConstraint(){
|
||||
|
||||
};*/
|
||||
float Sensore::getZ_Acc(){
|
||||
int id = *dataPos;
|
||||
float tmpAcc = 0;
|
||||
|
||||
rb::Vector3 acc = body.getAcc();
|
||||
rb::Vector3 rot = body.getRot();
|
||||
|
||||
float modAcc = sqrt(pow(acc[0],2)+pow(acc[1],2)+pow(acc[2],2));
|
||||
|
||||
float zAcc = cos(rot[2]) * modAcc;
|
||||
|
||||
//dipende se il sensore conta la gravità nell'accelerazione sugli assi
|
||||
tmpAcc = zAcc - gModule;
|
||||
//tmpAcc = gModule - sqrt(pow(gData[id][0],2)+pow(gData[id][1],2)+pow(gData[id][2],2));
|
||||
return tmpAcc;
|
||||
}
|
||||
/////////////// cinematica inversa
|
||||
@@ -2,7 +2,7 @@
|
||||
|
||||
Torso::Torso(rb::Vector3 coords, _Float16 mass){
|
||||
rb::Vector3 com = {torso_Dim.x/2, torso_Dim.y/2, torso_Dim.z/2};
|
||||
body = rb::rigidbody(coords,com, mass);
|
||||
body = rb::rigidbody(coords,com, mass, torso_Dim.y/2);
|
||||
color = torso_Col;
|
||||
globalPos = {0,0,0};
|
||||
|
||||
@@ -26,11 +26,12 @@ sf::Shape* Torso::draw(ReferencePlane plane){
|
||||
|
||||
switch (plane)
|
||||
{
|
||||
case ReferencePlane::XZ:
|
||||
case ReferencePlane::XZ: case ReferencePlane::XZN:
|
||||
{
|
||||
sf::Shape* shape = shapeXZ;
|
||||
shape->setRotation(sf::Angle(sf::radians(tmpRot[1])));
|
||||
shape->setPosition({tmpPos[0]+globalPos[0],tmpPos[2]+globalPos[2]});
|
||||
shape->setFillColor(color*sf::Color(255,255,255,transparency*255));
|
||||
return shape;}
|
||||
break;
|
||||
|
||||
@@ -39,6 +40,7 @@ sf::Shape* Torso::draw(ReferencePlane plane){
|
||||
sf::Shape* shape = shapeYZ;
|
||||
shape->setRotation(sf::Angle(sf::radians(tmpRot[0])));
|
||||
shape->setPosition({tmpPos[1]+globalPos[1],tmpPos[2]+globalPos[2]});
|
||||
shape->setFillColor(color*sf::Color(255,255,255,transparency*255));
|
||||
return shape;}
|
||||
break;
|
||||
|
||||
|
||||
@@ -16,7 +16,9 @@
|
||||
Vector3 acc = {0,0,0};
|
||||
Vector3 rot = {0,0,0};
|
||||
Vector3 tanAcc = {0,0,0};
|
||||
Vector3 tanVel = {0,0,0};
|
||||
|
||||
float R = 1;
|
||||
_Float16 mass = 1;
|
||||
|
||||
Vector3 coords = {0,0,0};
|
||||
@@ -26,7 +28,7 @@
|
||||
|
||||
//funzioni
|
||||
void calcVel(const float Dtime);
|
||||
void calcRot(const time_t Dtime);
|
||||
void calcRot(const float Dtime);
|
||||
void calcAcc(const Vector3 Dacc);
|
||||
void calcTanAcc(const Vector3 Dacc);
|
||||
void calcPos(const float Dtime);
|
||||
@@ -34,17 +36,19 @@
|
||||
|
||||
|
||||
public:
|
||||
rigidbody(){}
|
||||
rigidbody(Vector3 coords, Vector3 centerOfMass, _Float16 mass);
|
||||
rigidbody(){ }
|
||||
rigidbody(Vector3 coords, Vector3 centerOfMass, _Float16 mass, float radius);
|
||||
~rigidbody();
|
||||
|
||||
|
||||
Vector3 getPos();
|
||||
Vector3 getRot();
|
||||
Vector3 getAcc();
|
||||
void setPos(const Vector3 Npos);
|
||||
void setRot(const Vector3 Nrot);
|
||||
void setVel(const Vector3 Nacc);
|
||||
void setAcc(const Vector3 Nvel);
|
||||
void setTanAcc(const Vector3 Dacc);
|
||||
void step(const sf::Clock time);
|
||||
|
||||
//complesso, deve definire accelerazione e accelerazione tangenziale
|
||||
|
||||
@@ -3,7 +3,7 @@
|
||||
|
||||
using namespace rb ;
|
||||
|
||||
rigidbody::rigidbody(Vector3 coords, Vector3 centerOfMass, _Float16 mass)
|
||||
rigidbody::rigidbody(Vector3 coords, Vector3 centerOfMass, _Float16 mass, float radius)
|
||||
{
|
||||
if (coords.size() != 3) throw "Coords must be 3";
|
||||
if (centerOfMass.size() != 3) throw "COM coords must be 3";
|
||||
@@ -11,7 +11,7 @@ rigidbody::rigidbody(Vector3 coords, Vector3 centerOfMass, _Float16 mass)
|
||||
this->coords = coords;
|
||||
this->centerOfMass = centerOfMass;
|
||||
this->mass = mass;
|
||||
|
||||
this->R = radius;
|
||||
}
|
||||
|
||||
rigidbody::~rigidbody()
|
||||
@@ -37,7 +37,7 @@ void rigidbody::setPos(Vector3 Npos){
|
||||
}
|
||||
|
||||
void rigidbody::setAcc(const Vector3 Nacc){
|
||||
if (Nacc.size() != 3) throw "Vel vector must be 3 in lenght!";
|
||||
if (Nacc.size() != 3) throw "Acc vector must be 3 in lenght!";
|
||||
|
||||
int i = 0;
|
||||
for (float axis : Nacc){
|
||||
@@ -93,8 +93,47 @@ void rigidbody::step(const sf::Clock time){
|
||||
float dt = (float(Dtime) / 1000000.0) - (float(prevT) / 1000000.0);
|
||||
prevT = Dtime;
|
||||
|
||||
calcRot(dt);
|
||||
calcPos(dt);
|
||||
calcVel(dt);
|
||||
}
|
||||
|
||||
void rigidbody::setTanAcc(const Vector3 Dacc){
|
||||
if (Dacc.size() != 3) throw "Vel vector must be 3 in lenght!";
|
||||
|
||||
int i = 0;
|
||||
for (float a : Dacc ){
|
||||
tanAcc[i] = a;
|
||||
i++;
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
|
||||
void rigidbody::calcRot(const float Dtime){
|
||||
// Ds = wt +1/2*at^2 -> l'accelerazione angolare la trovo ac = v^2/R
|
||||
Vector3 tmpVel;
|
||||
for (float a : tanAcc){
|
||||
tmpVel.push_back( a*Dtime );
|
||||
}
|
||||
int i = 0;
|
||||
for (float nv : tmpVel){
|
||||
tanVel[i++] += nv;
|
||||
}
|
||||
|
||||
Vector3 tmpTanAcc;
|
||||
for (int i = 0; i<3; i++){
|
||||
tmpTanAcc.push_back( pow(tanVel[i],2) / R );
|
||||
}
|
||||
|
||||
i=0;
|
||||
for (auto axes : rot){
|
||||
rot[i] = axes + (0.5 * tmpTanAcc[i] * pow(Dtime,2));
|
||||
i++;
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
rb::Vector3 rigidbody::getAcc(){
|
||||
return Vector3(acc);
|
||||
}
|
||||
+215
-32
@@ -2,6 +2,9 @@
|
||||
#include <math.h>
|
||||
#include "pieces/headers/piece_interface.hpp"
|
||||
#include "joints/headers/joint_interface.hpp"
|
||||
#include "collections/headers/collection_interface.hpp"
|
||||
#include <imgui.h>
|
||||
#include <imgui-SFML.h>
|
||||
|
||||
template <typename T1, typename T2>
|
||||
double dist(sf::Vector2<T1> p1, sf::Vector2<T2> p2)
|
||||
@@ -19,24 +22,52 @@ struct State
|
||||
int menubar_height = 50;
|
||||
std::vector<PieceInterface*> pieces;
|
||||
std::vector<JointInterface*> joints;
|
||||
std::vector<CollectionInterface*> collections;
|
||||
|
||||
std::vector<collection> createdColl;
|
||||
|
||||
sf::Vector2f cameraOffset = {0.,0.};
|
||||
|
||||
sf::Clock clock;
|
||||
sf::Clock PieceClock;
|
||||
ReferencePlane selectedPlane = ReferencePlane::XZ;
|
||||
|
||||
int selected = -1;
|
||||
PieceInterface* selected = nullptr;
|
||||
|
||||
bool rot_Piece = false;
|
||||
bool drag_Piece = false;
|
||||
bool drag = false;
|
||||
sf::Vector2i mouse_pos;
|
||||
|
||||
State(unsigned w, unsigned h, std::string title)
|
||||
/// per settare l'ntervallo di visualizzazione
|
||||
unsigned int* pos ;
|
||||
unsigned int* intervalMajLimit ;
|
||||
unsigned int* intervalMinLimit ;
|
||||
unsigned int maxEntries = 1000;
|
||||
bool play = true;
|
||||
|
||||
State(unsigned w, unsigned h, std::string title, unsigned int* maj, unsigned int* min, unsigned int* pos)
|
||||
{
|
||||
window = sf::RenderWindow(sf::VideoMode({w, h}), title);
|
||||
if (ImGui::SFML::Init(window)); // L'if è solo per togliere il warning, va aggiustato gestendo le eccezioni
|
||||
clock.restart();
|
||||
PieceClock.restart();
|
||||
intervalMajLimit = maj;
|
||||
intervalMinLimit = min;
|
||||
this->pos = pos;
|
||||
updateCollections();
|
||||
}
|
||||
void update();
|
||||
void setIntervall(int n){
|
||||
maxEntries = n;
|
||||
}
|
||||
|
||||
void updateCollections(){
|
||||
createdColl.clear();
|
||||
for (auto c: collections){
|
||||
createdColl.push_back(c->create(selectedPlane));
|
||||
}
|
||||
}
|
||||
};
|
||||
|
||||
///
|
||||
@@ -47,13 +78,36 @@ struct State
|
||||
|
||||
void State::update(){
|
||||
|
||||
/*
|
||||
std::vector<PieceInterface*> collPieces;
|
||||
std::vector<JointInterface*> collJoints;
|
||||
*/
|
||||
if (play){
|
||||
for (auto i : collections){
|
||||
i->update(PieceClock);
|
||||
}
|
||||
}
|
||||
|
||||
for(PieceInterface* p : pieces){
|
||||
//p->update(clock);
|
||||
for (auto i : createdColl){
|
||||
if (play){
|
||||
for (auto j : i.pieces){
|
||||
j->update(PieceClock);
|
||||
}
|
||||
}
|
||||
for (auto j : i.joints){
|
||||
j->movechild();
|
||||
}
|
||||
}
|
||||
|
||||
if (play){
|
||||
for(PieceInterface* p : pieces){
|
||||
p->update(PieceClock);
|
||||
}
|
||||
}
|
||||
for(JointInterface* j : joints){
|
||||
j->movechild();
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
///
|
||||
@@ -61,17 +115,17 @@ void State::update(){
|
||||
|
||||
////////////////////////////////////////////////////////////
|
||||
/// Callback functions
|
||||
void handle(const sf::Event::Closed &, State &gs)
|
||||
void handle_close(State &gs)
|
||||
{
|
||||
gs.window.close();
|
||||
}
|
||||
|
||||
void handle(const sf::Event::TextEntered &textEnter, State &gs)
|
||||
void handle_text(const sf::Event::TextEntered &textEnter, State &gs)
|
||||
{
|
||||
|
||||
}
|
||||
|
||||
void handle(const sf::Event::KeyPressed &keyPressed, State &gs)
|
||||
void handle_keyPressed(const sf::Event::KeyPressed &keyPressed, State &gs)
|
||||
{
|
||||
if (keyPressed.scancode == sf::Keyboard::Scancode::Space){
|
||||
if (gs.selectedPlane == ReferencePlane::XZ)
|
||||
@@ -79,9 +133,11 @@ void handle(const sf::Event::KeyPressed &keyPressed, State &gs)
|
||||
else
|
||||
gs.selectedPlane = ReferencePlane::XZ;
|
||||
}
|
||||
gs.updateCollections();
|
||||
}
|
||||
|
||||
void handle(const sf::Event::MouseMoved &mouseMoved, State &gs)
|
||||
|
||||
void handle_mouseMove(const sf::Event::MouseMoved &mouseMoved, State &gs)
|
||||
{
|
||||
sf::Vector2i offset = mouseMoved.position - gs.mouse_pos;
|
||||
gs.mouse_pos = mouseMoved.position;
|
||||
@@ -106,30 +162,41 @@ void handle(const sf::Event::MouseMoved &mouseMoved, State &gs)
|
||||
for(PieceInterface* p : gs.pieces){
|
||||
p->globalPos = {p->globalPos[0] + (offset.x * px), p->globalPos[1]+ (offset.x * py),p->globalPos[2] + offset.y};
|
||||
}
|
||||
for(collection c : gs.createdColl){
|
||||
for(auto p : c.pieces){
|
||||
p->globalPos = {p->globalPos[0] + (offset.x * px), p->globalPos[1]+ (offset.x * py),p->globalPos[2] + offset.y};
|
||||
}
|
||||
}
|
||||
}
|
||||
if (gs.selected != -1 && gs.drag_Piece){
|
||||
rb::Vector3 tmp = gs.pieces[gs.selected]->body.getPos();
|
||||
gs.pieces[gs.selected]->body.setPos({tmp[0]+ (offset.x * px),tmp[1]+ (offset.x * py),tmp[2]+offset.y});
|
||||
|
||||
#ifdef DEBUG_MODE
|
||||
|
||||
if (gs.selected != nullptr && gs.drag_Piece){
|
||||
rb::Vector3 tmp = gs.selected->body.getPos();
|
||||
gs.selected->body.setPos({tmp[0]+ (offset.x * px),tmp[1]+ (offset.x * py),tmp[2]+offset.y});
|
||||
}
|
||||
if (gs.selected != -1 && gs.rot_Piece){
|
||||
rb::Vector3 tmp = gs.pieces[gs.selected]->body.getRot();
|
||||
if (gs.selected != nullptr && gs.rot_Piece){
|
||||
rb::Vector3 tmp = gs.selected->body.getRot();
|
||||
|
||||
float nrot = float(offset.x)/100;
|
||||
gs.pieces[gs.selected]->body.setRot({tmp[0]+(nrot*py),tmp[1]+(nrot*px),tmp[2]});
|
||||
gs.selected->body.setRot({tmp[0]+(nrot*py),tmp[1]+(nrot*px),tmp[2]});
|
||||
|
||||
//printf("Rotation : %f,%f,%f \n",gs.pieces[gs.selected]->body.getRot()[0],gs.pieces[gs.selected]->body.getRot()[1],gs.pieces[gs.selected]->body.getRot()[2]);
|
||||
}
|
||||
|
||||
#endif
|
||||
|
||||
}
|
||||
|
||||
void handle(const sf::Event::MouseButtonPressed &mouseBP, State &gs)
|
||||
void handle_mousePressed(const sf::Event::MouseButtonPressed &mouseBP, State &gs)
|
||||
{
|
||||
gs.mouse_pos = mouseBP.position;
|
||||
if ( mouseBP.button == sf::Mouse::Button::Middle) gs.drag = true;
|
||||
|
||||
#ifdef DEBUG_MODE
|
||||
|
||||
if ( mouseBP.button == sf::Mouse::Button::Left){
|
||||
gs.drag_Piece = true;
|
||||
int i = 0;
|
||||
|
||||
for (PieceInterface* p : gs.pieces){
|
||||
sf::Vector2f pos;
|
||||
if (gs.selectedPlane == ReferencePlane::XZ)
|
||||
@@ -138,14 +205,27 @@ void handle(const sf::Event::MouseButtonPressed &mouseBP, State &gs)
|
||||
pos = {p->globalPos[1]+ p->body.getPos()[1], p->globalPos[2]+ p->body.getPos()[2]};
|
||||
|
||||
if (dist(pos,mouseBP.position) < 20){
|
||||
gs.selected = i;
|
||||
gs.selected = p;
|
||||
}
|
||||
i++;
|
||||
}
|
||||
for (collection c : gs.createdColl){
|
||||
for (auto p : c.pieces){
|
||||
sf::Vector2f pos;
|
||||
if (gs.selectedPlane == ReferencePlane::XZ)
|
||||
pos = {p->globalPos[0]+ p->body.getPos()[0], p->globalPos[2]+ p->body.getPos()[2]};
|
||||
else if (gs.selectedPlane == ReferencePlane::YZ)
|
||||
pos = {p->globalPos[1]+ p->body.getPos()[1], p->globalPos[2]+ p->body.getPos()[2]};
|
||||
|
||||
if (dist(pos,mouseBP.position) < 20){
|
||||
gs.selected = p;
|
||||
}
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
}
|
||||
if ( mouseBP.button == sf::Mouse::Button::Right){
|
||||
gs.rot_Piece = true;
|
||||
int i = 0;
|
||||
for (PieceInterface* p : gs.pieces){
|
||||
sf::Vector2f pos;
|
||||
if (gs.selectedPlane == ReferencePlane::XZ)
|
||||
@@ -154,33 +234,47 @@ void handle(const sf::Event::MouseButtonPressed &mouseBP, State &gs)
|
||||
pos = {p->globalPos[1]+ p->body.getPos()[1], p->globalPos[2]+ p->body.getPos()[2]};
|
||||
|
||||
if (dist(pos,mouseBP.position) < 20){
|
||||
gs.selected = i;
|
||||
gs.selected = p;
|
||||
}
|
||||
|
||||
}
|
||||
for (collection c : gs.createdColl){
|
||||
for (auto p : c.pieces){
|
||||
sf::Vector2f pos;
|
||||
if (gs.selectedPlane == ReferencePlane::XZ)
|
||||
pos = {p->globalPos[0]+ p->body.getPos()[0], p->globalPos[2]+ p->body.getPos()[2]};
|
||||
else if (gs.selectedPlane == ReferencePlane::YZ)
|
||||
pos = {p->globalPos[1]+ p->body.getPos()[1], p->globalPos[2]+ p->body.getPos()[2]};
|
||||
|
||||
if (dist(pos,mouseBP.position) < 20){
|
||||
gs.selected = p;
|
||||
}
|
||||
|
||||
}
|
||||
i++;
|
||||
}
|
||||
}
|
||||
|
||||
#endif
|
||||
|
||||
}
|
||||
|
||||
void handle(const sf::Event::MouseButtonReleased &, State &gs)
|
||||
void handle_mouseRelease(const sf::Event::MouseButtonReleased &, State &gs)
|
||||
{
|
||||
gs.drag = false;
|
||||
gs.drag_Piece = false;
|
||||
gs.rot_Piece = false;
|
||||
gs.selected = -1;
|
||||
gs.selected = nullptr;
|
||||
}
|
||||
|
||||
void handle(const sf::Event::Resized &resized, State &gs)
|
||||
|
||||
|
||||
void handle_resize(const sf::Event::Resized &resized, State &gs)
|
||||
{
|
||||
sf::FloatRect visibleArea({0.f, 0.f}, sf::Vector2f(resized.size));
|
||||
gs.window.setView(sf::View(visibleArea));
|
||||
}
|
||||
|
||||
template <typename T>
|
||||
void handle(const T &, State &gs)
|
||||
{
|
||||
// All unhandled events will end up here
|
||||
}
|
||||
|
||||
///
|
||||
////////////////////////////////////////////////////////////
|
||||
|
||||
@@ -191,18 +285,107 @@ void doGUI(State &gs)
|
||||
{
|
||||
// TODO: here code to display the menus
|
||||
//Bottoni
|
||||
sf::Time elapsed = gs.clock.restart();
|
||||
|
||||
unsigned int zero = 0;
|
||||
|
||||
ImGui::SFML::Update(gs.window, elapsed);
|
||||
ImGui::ShowDemoWindow();
|
||||
|
||||
//Finestra gestione posizione nei dati
|
||||
ImGuiWindowFlags sdp_flags = ImGuiWindowFlags_NoMove|
|
||||
ImGuiWindowFlags_NoResize|
|
||||
ImGuiWindowFlags_NoScrollbar|
|
||||
ImGuiWindowFlags_NoCollapse|
|
||||
ImGuiWindowFlags_NoTitleBar;
|
||||
|
||||
ImGui::Begin("Set data position", 0,sdp_flags);
|
||||
ImGui::SetNextItemWidth(ImGui::GetContentRegionAvail().x * 0.3);
|
||||
ImGui::SliderScalar("Start", ImGuiDataType_U32 ,gs.intervalMinLimit,&zero,gs.intervalMajLimit);
|
||||
ImGui::SameLine();
|
||||
ImGui::SetNextItemWidth(ImGui::GetContentRegionAvail().x * 0.5);
|
||||
if (ImGui::SliderScalar("Pos", ImGuiDataType_U32 ,gs.pos,gs.intervalMinLimit,gs.intervalMajLimit)){
|
||||
gs.play = false;
|
||||
}
|
||||
ImGui::SameLine();
|
||||
ImGui::SetNextItemWidth(ImGui::GetContentRegionAvail().x * 0.8);
|
||||
ImGui::SliderScalar("End", ImGuiDataType_U32 ,gs.intervalMajLimit,gs.intervalMinLimit,&gs.maxEntries);
|
||||
bool red = false;
|
||||
if (!gs.play){
|
||||
ImGui::PushStyleColor(ImGuiCol_Button, ImVec4(1,0,0,1));
|
||||
red = true;
|
||||
}
|
||||
ImGui::SameLine();
|
||||
if (ImGui::ArrowButton("Play", ImGuiDir_Right)){
|
||||
gs.play = !gs.play;
|
||||
}
|
||||
if (red) ImGui::PopStyleColor();
|
||||
ImGui::End();
|
||||
|
||||
|
||||
//Finestra gestione piano visualizzazione
|
||||
ImGui::Begin("Set visualization plane",0,sdp_flags);
|
||||
const char* MyEnumNames[] = { "XZ", "YZ", "-XZ" };
|
||||
int currentPlane = (int)gs.selectedPlane;
|
||||
if (ImGui::SliderInt("Selected Plane", ¤tPlane,0,2,MyEnumNames[currentPlane])){
|
||||
gs.selectedPlane = (ReferencePlane)currentPlane;
|
||||
gs.updateCollections();
|
||||
}
|
||||
|
||||
|
||||
/*////// DA FARE ///////*/
|
||||
|
||||
//Finestra gestione velocità di riproduzione
|
||||
|
||||
//Finestra controllo sovrapposizione
|
||||
|
||||
ImGui::End();
|
||||
|
||||
|
||||
sf::Vector2u wsize = gs.window.getSize();
|
||||
ImGui::SetWindowPos("Set data position",ImVec2(0,wsize.y - 30));
|
||||
ImGui::SetWindowSize("Set data position",ImVec2(wsize.x,30));
|
||||
ImGui::SetWindowPos("Set visualization plane",ImVec2(wsize.x-400,0));
|
||||
ImGui::SetWindowSize("Set visualization plane",ImVec2(400,30));
|
||||
ImGui::SFML::Render(gs.window);
|
||||
}
|
||||
|
||||
void doGraphics(State &gs)
|
||||
{
|
||||
gs.window.clear();
|
||||
doGUI(gs);
|
||||
|
||||
gs.window.clear();
|
||||
|
||||
//disegno i pezzi singoli
|
||||
for(PieceInterface* p: gs.pieces){
|
||||
gs.window.draw(*p->draw(gs.selectedPlane));
|
||||
}
|
||||
|
||||
//disegno le collezioni
|
||||
for(auto c : gs.createdColl){
|
||||
for(auto p : c.pieces){
|
||||
gs.window.draw(*p->draw(gs.selectedPlane));
|
||||
}
|
||||
}
|
||||
|
||||
while (const std::optional event = gs.window.pollEvent()) {
|
||||
ImGui::SFML::ProcessEvent(gs.window, *event);
|
||||
if (event->is<sf::Event::Closed>())
|
||||
handle_close (gs);
|
||||
if (const auto* resized = event->getIf<sf::Event::Resized>())
|
||||
handle_resize (*resized, gs);
|
||||
if (const auto* pressed = event->getIf<sf::Event::KeyPressed>())
|
||||
handle_keyPressed (*pressed, gs);
|
||||
if (const auto* moved = event->getIf<sf::Event::MouseMoved>())
|
||||
handle_mouseMove (*moved, gs);
|
||||
if (const auto* mpressed = event->getIf<sf::Event::MouseButtonPressed>())
|
||||
handle_mousePressed (*mpressed, gs);
|
||||
if (const auto* mreleased = event->getIf<sf::Event::MouseButtonReleased>())
|
||||
handle_mouseRelease (*mreleased, gs);
|
||||
}
|
||||
doGUI(gs);
|
||||
|
||||
|
||||
|
||||
// TODO: add here code to display shapes in your canvas
|
||||
|
||||
gs.window.display();
|
||||
|
||||
+48
-13
@@ -1,7 +1,5 @@
|
||||
#include "include.hpp"
|
||||
|
||||
#define DATA_PATH std::string("./../../data/")
|
||||
|
||||
int main() {
|
||||
CSVProcessor processor;
|
||||
try {
|
||||
@@ -28,18 +26,26 @@ int main() {
|
||||
std::cerr << "Error: " << e.what() << std::endl;
|
||||
}
|
||||
|
||||
// inizializzo variabili per gestire l'intervallo di visualizzazione
|
||||
|
||||
unsigned int min = 0;
|
||||
unsigned int pos = 0;
|
||||
unsigned int maj = 100;
|
||||
|
||||
//Costruisco la GUI
|
||||
State gs(800, 600, "Visualizzatore passo");
|
||||
gs.window.setFramerateLimit(60);
|
||||
State gs(800, 700, "Visualizzatore passo",&maj,&min,&pos);
|
||||
gs.window.setFramerateLimit(70);
|
||||
printf("Costruisco gli oggetti\n");
|
||||
|
||||
try{
|
||||
|
||||
processor.readCSVFile (DATA_PATH + "coscia_filt.csv");
|
||||
const auto& coscia = processor.getData();
|
||||
gs.setIntervall(coscia.size());
|
||||
|
||||
|
||||
gs.pieces.push_back(new Coscia (rb::Vector3{300,300,300},2));
|
||||
gs.pieces.push_back(new Sensore (rb::Vector3{300,300,300},_Float16( 0.2 ),900,3000,coscia));
|
||||
/*
|
||||
gs.pieces.push_back(new Coscia (rb::Vector3{0,0,0},2));
|
||||
gs.pieces.push_back(new Sensore (rb::Vector3{300,300,300},_Float16( 0.2 ),&pos,coscia));
|
||||
gs.pieces.push_back(new Caviglia (rb::Vector3{300,300,500},1));
|
||||
|
||||
gs.pieces[1]->body.setRot({0,0,0});
|
||||
@@ -47,13 +53,13 @@ int main() {
|
||||
|
||||
processor.readCSVFile(DATA_PATH + "caviglia_filt.csv");
|
||||
const auto& caviglia = processor.getData();
|
||||
gs.pieces.push_back(new Sensore (rb::Vector3{300,300,500},_Float16( 0.2 ),900,3000,caviglia));
|
||||
gs.pieces.push_back(new Sensore (rb::Vector3{300,300,500},_Float16( 0.2 ),&pos,caviglia));
|
||||
|
||||
gs.pieces.push_back(new Torso(rb::Vector3{300,400,150},2));
|
||||
|
||||
// modifico la rotazione relativa della gamba
|
||||
gs.pieces[1]->body.setRot({_Float16 (1.3),_Float16 (1.5),0});
|
||||
gs.pieces[3]->body.setRot({_Float16 (1.8),_Float16 (1.5),0});
|
||||
gs.pieces[1]->body.setRot({_Float16 (1.3),_Float16 (1.7),0});
|
||||
gs.pieces[3]->body.setRot({_Float16 (1.8),_Float16 (1.7),0});
|
||||
|
||||
|
||||
|
||||
@@ -63,6 +69,23 @@ int main() {
|
||||
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.pieces[2]->setDirection(Direction::R);
|
||||
*/
|
||||
//provo ad aggiungere una collection
|
||||
//gs.collections.push_back(new Gamba({220,0,220},&pos,"coscia_filt.csv","caviglia_filt.csv"));
|
||||
|
||||
std::vector<gamba_data> data;
|
||||
gamba_data d;
|
||||
d.dataPos = &pos;
|
||||
d.cavigliaData = "caviglia_dx.csv";
|
||||
d.cosciaData = "coscia_dx.csv";
|
||||
gamba_data s;
|
||||
s.dataPos = &pos;
|
||||
s.cavigliaData = "caviglia_sx.csv";
|
||||
s.cosciaData = "coscia_sx.csv";
|
||||
data.push_back(d);
|
||||
data.push_back(s);
|
||||
gs.collections.push_back(new Lower_Body(rb::Vector3{200,200,100},data));
|
||||
|
||||
printf("Ho costruito tutto!\n");
|
||||
}
|
||||
@@ -70,13 +93,25 @@ int main() {
|
||||
printf("%s\n",e);
|
||||
}
|
||||
printf("Avvio l'interfaccia grafica\n");
|
||||
|
||||
|
||||
unsigned int curTime = 0;
|
||||
unsigned int freq = 50;
|
||||
const unsigned int T = 1000/freq; //i sensori hanno una freq di campionamento di 50hz
|
||||
|
||||
//Avvio il loop della GUI
|
||||
gs.clock.start();
|
||||
gs.updateCollections();
|
||||
|
||||
sf::Clock mainClock;
|
||||
while (gs.window.isOpen())
|
||||
{
|
||||
// event loop and handler through callbacks
|
||||
gs.window.handleEvents([&](const auto &event)
|
||||
{ handle(event, gs); });
|
||||
curTime += mainClock.restart().asMilliseconds();
|
||||
if (curTime > T){
|
||||
if (gs.play && pos+curTime/T < maj) pos += curTime / T;
|
||||
curTime = 0;
|
||||
}
|
||||
|
||||
// Show update
|
||||
gs.update();
|
||||
doGraphics(gs);
|
||||
|
||||
Reference in New Issue
Block a user