Aggiornato readme

Update README.md
Merge branch 'main' of https://github.com/Endert0m/FCG_VisualizzatoreCamminata
2026-06-24 14:58:04 +02:00 · 2026-06-24 13:06:17 +02:00 · 2026-06-23 18:58:23 +02:00 · 2026-06-23 18:58:15 +02:00 · 2026-06-23 13:13:22 +02:00 · 2026-06-23 13:11:25 +02:00
99 changed files with 100159 additions and 16232 deletions
@@ -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
@@ -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 "V11")
 set(VERSION "V4")
 file(GLOB_RECURSE METHODS_SRC "${METHODS_PATH}")
-add_executable(main${VERSION} ./src/testMain.cpp ${METHODS_SRC} )
+add_executable(main${VERSION} ./src/Main.cpp ${METHODS_SRC} )
-target_compile_features(main${VERSION} PRIVATE cxx_std_17)
+target_link_libraries(main${VERSION} PRIVATE SFML::Graphics ImGui-SFML::ImGui-SFML common glm)
-target_link_libraries(main${VERSION} PRIVATE SFML::Graphics glm)
+target_compile_definitions(main${VERSION} PRIVATE $<$<CONFIG:Debug>:DEBUG_MODE>)
@@ -1,5 +1,7 @@
 # FCG_VisualizzatoreCamminata
 - # **Nella branch All_Releases ci sono tutte le release con istruzioni per la compilazione e la relazione** 
 ## Nella versione versione v0.1 è presente la base del progetto.
@@ -32,11 +34,49 @@ 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  
-    cmake --build
+## Nella versione v0.7
 - Aggiunta impostazione di trasparenza dei pezzi
 - Aggiustato cambio direzione della gamba (sulla visualizzazione dei piani XZ e -XZ)
 - Aggiunto controllo trasparenza delle collezioni
 - Modificato lower_body per gestire la trasparenza della gamba più lontana
 - Ridimensionato bacino per migiore visualizzazione
 ## Nella versione v0.8
 - Aggiunta oscillazione bacino 
 - Aggiustato calcolo posizione con clock dedicato
 ## Nella versione v0.9
 - Modificata la funzione update di pezzi e collezioni per implementare controllo sul tempo
 - Aggiunta finestra con slider per selezione moltiplicatore del tempo
 ## Nella versione v1.0
 - Aggiunta controllo texture 
 - Aggiunta pavimento 
 - Refactoring generale
 - Definizione main finale (non più di test)
 ## Nella versione v1.1
 - Aggiunta controllo visibilità collezioni su GUI
 - Refactoring collezioni
 # Per compilare:
    mkdir build //se non esiste già
    cd build
    cmake ..
    cmake --build . -j$(nproc)
 # Per lanciare:
-
+    cd bin
-    ./build/bin/mainV4
+    ./mainV11
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 [Window][Debug##Default]
 Pos=60,60
 Size=400,400
 [Window][Dear ImGui Demo]
 Pos=487,44
 Size=455,873
 Collapsed=1
 [Window][Hello, world!]
 Pos=11,12
 Size=212,56
 [Window][Dear ImGui Demo/##Basket_87771727]
 IsChild=1
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 IsChild=1
 Size=478,260
 [Window][Example: Custom rendering]
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 Pos=0,670
 Size=800,30
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 IsChild=1
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 IsChild=1
 Size=200,100
 [Window][Dear ImGui Style Editor]
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 Size=353,1005
 [Window][Set visualization plane]
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 Size=400,30
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 Pos=400,639
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 Pos=500,31
 Size=300,70
@@ -0,0 +1,77 @@
 #include "include.hpp"
 int main() {
    CSVProcessor processor;
    // inizializzo variabili per gestire l'intervallo di visualizzazione
    unsigned int min = 0;
    unsigned int pos = 0;
    unsigned int maj = 100;
    //Costruisco la GUI 
    State gs(800, 700, "Visualizzatore passo",&maj,&min,&pos);
    gs.window.setFramerateLimit(70);
    printf("Costruisco gli oggetti\n");
    try{
        processor.readCSVFile (DATA_PATH + "coscia_filt.csv"); //utilizzo questo file per definire la dimensione dei dati
        const auto& coscia = processor.getData();
        gs.setIntervall(coscia.size());
        //provo ad aggiungere una collection
        //gs.collections.push_back(new Gamba({220,0,220},&pos,"coscia_filt.csv","caviglia_filt.csv"));
        std::vector<gamba_data> data;
        gamba_data d;
        d.dataPos = &pos;
        d.cavigliaData = "caviglia_dx.csv";
        d.cosciaData = "coscia_dx.csv";
        gamba_data s;
        s.dataPos = &pos;
        s.cavigliaData = "caviglia_sx.csv";
        s.cosciaData = "coscia_sx.csv";
        data.push_back(d);
        data.push_back(s);
        gs.collections.push_back(new Lower_Body(rb::Vector3{200,200,100},data));
        //aggiungo il pavimento 
        gs.pieces.push_back(new Pavimento({200,200,550},_Float16(0.2) ));
        gs.pieces[0]->body.setRot({0,-0.03,0});
        printf("Ho costruito tutto!\n");
    }
    catch(char* e){
        printf("%s\n",e);
    }
    printf("Avvio l'interfaccia grafica\n");
    unsigned int curTime = 0;
    unsigned int freq = 50; //frequenza campionamento sensori
    const unsigned int T = 1000/freq; //i sensori hanno una freq di campionamento di 50hz
    //Avvio il loop della GUI
    gs.clock.start();
    gs.updateCollections();
    sf::Clock mainClock;
    while (gs.window.isOpen()) 
    {
        curTime += mainClock.restart().asMilliseconds() *(*gs.tMul) ;
        if (curTime > T){
            if (gs.play && pos+curTime/T < maj) pos += curTime / T; 
            curTime = 0;
        }
        // Show update
        gs.update();
        doGraphics(gs);
    }
    return 0;
 }
@@ -0,0 +1,59 @@
 #include "../../pieces/headers/piece_interface.hpp"
 #include "../../joints/headers/joint_interface.hpp"
 #ifndef COLL_INTERFACE_H
 #define COLL_INTERFACE_H
 struct collection{
    std::vector<PieceInterface*> pieces;
    std::vector<JointInterface*> joints;
 };
 class CollectionInterface{
    protected:
        float transparency = 1.0;
        bool isVisible = true;
    public:
        virtual collection create(ReferencePlane plane) = 0;
        virtual void update(sf::Clock cl, float multiplier) = 0;
        virtual bool setTransparency(float alpha) {
            if (alpha < 0 || alpha > 1) return false;
            transparency = alpha;
            return true;
        }; 
        virtual bool getVisibility(){
            return isVisible;
        }
        virtual float getTransparency() {
            return transparency;
        }
        virtual void setVisibility(bool c) {
            isVisible = c;
        }
        virtual ~CollectionInterface(){};
 };
 inline collection operator+(collection c1, collection c2){
    collection res;
    for (PieceInterface* i : c1.pieces){
        res.pieces.push_back(i);
    }
    for (PieceInterface* i : c2.pieces){
        res.pieces.push_back(i);
    }
    for (JointInterface* i : c1.joints){
        res.joints.push_back(i);
    }
    for (JointInterface* i : c2.joints){
        res.joints.push_back(i);
    }
    return res;
 }
 #endif
@@ -0,0 +1,21 @@
 #include "collection_interface.hpp"
 #include "include_pieces.hpp"
 #ifndef GAMBA_H
 #define GAMBA_H
 class Gamba : public CollectionInterface {
    protected:
        std::vector<Sensore*> sensori;
        std::vector<PieceInterface*> pezzi;
        std::vector<JointInterface*> joints;
    public:
        Gamba(rb::Vector3 pos, unsigned int* dataPos, std::string cosciaData, std::string cavigliaData);
        collection create(ReferencePlane plane) override;
        PieceInterface* getJointPiece();
        void setDirection(Direction dir);
        void update(sf::Clock cl, float multiplier)override {};
        float getZ_Acc();
 };
 #endif
@@ -0,0 +1,7 @@
 #include "../../csv/headers/csv.hpp"
 #include "../../pieces/headers/caviglia.hpp"
 #include "../../pieces/headers/coscia.hpp"
 #include "../../pieces/headers/sensore.hpp"
 #include "../../joints/headers/rigid_joint.hpp"
 #include "../../joints/headers/pivot_joint.hpp"
 #include "../../pieces/headers/torso.hpp"
@@ -0,0 +1,42 @@
 #include "gamba.hpp"
 #include "collection_interface.hpp"
 #ifndef LOWER_BODY_H
 #define LOWER_BODY_H
 struct gamba_data{
    unsigned int* dataPos; 
    std::string cosciaData; 
    std::string cavigliaData;
 };
 class Lower_Body : public CollectionInterface{
 private:
    int64_t prevT = 0;
    float velD = 0;
    float velS = 0;
    float posS = 0;
    float posD = 0;
 protected:
    Gamba* sx;
    Gamba* dx;
    Torso* t;
    PivotJoint* jsx;
    PivotJoint* jdx;
    bool visible = true;
    float alpha = 1;
 public:
    Lower_Body(rb::Vector3 pos, std::vector<gamba_data> data);
    ~Lower_Body();
    void update(sf::Clock cl, float multiplier) override;
    collection create(ReferencePlane plane) override;
 };
 #endif
@@ -0,0 +1,69 @@
 #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){
        e->setTransparency(transparency);
        coll.pieces.push_back(e);
    }
    for(auto e : sensori){
        e->setTransparency(transparency);
        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);
    }
 }
 float Gamba::getZ_Acc(){
    float totZ_Acc = 0;
    totZ_Acc = sensori[0]->getZ_Acc() + sensori[1]->getZ_Acc();
    return totZ_Acc;
 }
@@ -0,0 +1,98 @@
 #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(transparency);
    dx->setTransparency(transparency);
    t->setTransparency(transparency);
    if (isVisible){
        coll.joints.push_back(jsx);
        coll.joints.push_back(jdx);
        switch (plane)
        {
        case ReferencePlane::XZN: 
            dx->setTransparency(0.5 * transparency);
            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 * transparency);
            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::update(sf::Clock cl, float multiplier){
    float sxAcc = sx->getZ_Acc() ;
    float dxAcc = dx->getZ_Acc() ;
    int64_t Dtime = cl.getElapsedTime().asMicroseconds();
    if (prevT == 0) prevT = Dtime;
    float dt = (float(Dtime) / 1000000.0) - (float(prevT) / 1000000.0);
    prevT = Dtime;
    float tmpVelS = sxAcc*dt;
    float tmpVelD = dxAcc*dt;
    float tmpPosD =  tmpVelD *dt *500 + velD * 500 * dt; 
    float tmpPosS =  tmpVelS * 500 *dt + velS * 500 * dt;
    velD += tmpVelD; 
    velS += tmpVelS;
    // PosD + PosS + Z = 0
    float alpha = atan(tmpPosD/60.0 - tmpPosS/60); //il 60 è il raggio (dimesione del bacino)
    //applico smoothing e ritorno a zero
    velD -= velD * fabs(alpha);
    velS -= velS * fabs(alpha) ;
    t->body.setRot({alpha,0,0});
    auto tPos = t->body.getPos();
 }
@@ -4,6 +4,11 @@
 #include <vector>
 #include <string>
 #ifndef CSV_H
 #define CSV_H
 #define DATA_PATH std::string("./../../data/")
 class CSVProcessor {
 private:
    std::vector<std::string> headers;
@@ -18,3 +23,5 @@ public:
    const std::vector<std::vector<float>>& getData() const;
 };
 #endif
@@ -5,5 +5,8 @@
 #include "pieces/headers/caviglia.hpp"
 #include "pieces/headers/sensore.hpp"
 #include "pieces/headers/torso.hpp"
 #include "pieces/headers/pavimento.hpp"
 #include "joints/headers/rigid_joint.hpp"
 #include "joints/headers/pivot_joint.hpp"
 #include "collections/headers/gamba.hpp"
 #include "collections/headers/lower_body.hpp"
@@ -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
@@ -3,18 +3,21 @@
 #ifndef CAVIGLIA_H
 #define CAVIGLIA_H
 class Caviglia : public PieceInterface{
    private:
        const sf::Vector3f caviglia_Dim = {60, 200, 60};
        const sf::Color caviglia_Col = sf::Color(230,160,11,255);
        const std::string TEXTURE_F = std::string("cavigliaF.png");
        const std::string TEXTURE_L = std::string("cavigliaL.png");
    public: 
        Caviglia(rb::Vector3 coords, _Float16 mass);
        ~Caviglia();
-        void update(sf::Clock cl) override;
+        void update(sf::Clock cl, float multiplier) override;
        sf::Shape* draw(ReferencePlane plane) override;
 };
@@ -5,17 +5,21 @@
 class Coscia : public PieceInterface{
    private:
        const sf::Vector3f coscia_Dim = {80, 200, 80};
        const sf::Color coscia_Col = sf::Color::Yellow;
        const std::string TEXTURE_F = std::string("cosciaF.png");
        const std::string TEXTURE_L = std::string("cosciaL.png");
    public: 
        Coscia(rb::Vector3 coords, _Float16 mass);
        ~Coscia();
-        void update(sf::Clock cl) override;
+        void update(sf::Clock cl, float multiplier) override;
        sf::Shape* draw(ReferencePlane plane) override;
 };
@@ -1 +0,0 @@
 #include "piece_interface.hpp"
@@ -0,0 +1,25 @@
 #include "piece_interface.hpp"
 #ifndef PAVIMENTO_H
 #define PAVIMENTO_H
 class Pavimento : public PieceInterface{
    private:
        const sf::Vector3f pavimento_Dim = {600, 40, 600};
        const sf::Color pavimento_Col = sf::Color(255,255,255,255);
        const std::string TEXTURE_F = std::string("pavimentoF.png");
        const std::string TEXTURE_L = std::string("pavimentoL.png");
    public: 
        Pavimento(rb::Vector3 coords, _Float16 mass);
        ~Pavimento();
        void update(sf::Clock cl, float multiplier) override {};
        sf::Shape* draw(ReferencePlane plane) override;
 };
 #endif
@@ -2,15 +2,21 @@
 #include <math.h>
 #include "../../rigidbody/headers/rb.hpp"
 #define TEXTUREPATH std::string("./../../textures/")
 #ifndef PIECE_INTERFACE_H
 #define PIECE_INTERFACE_H
 enum class ReferencePlane {
-    XY,
+    XZ,
    YZ,
-    XZ
+    XZN
 };
 enum class Direction {
    L,
    R
 };
 //classi
@@ -25,16 +31,41 @@ class PieceInterface{
            shapeXZ->setFillColor(color);
            shapeYZ->setFillColor(color);
        }
        Direction direction = Direction::L;
        sf::Texture TextureF ;
        sf::Texture TextureL ;
        void setTextures (std::string F, std::string L){
            try{
                TextureF = sf::Texture(TEXTUREPATH + F);
                TextureL = sf::Texture(TEXTUREPATH + L);
                shapeXZ->setTexture(&TextureL);
                shapeYZ->setTexture(&TextureF);
            }catch(...){
                throw "Errore nel caricamento texture.";
            }
        }
    public:
        sf::Shape* shapeXZ, *shapeYZ;
        rb::Vector3 globalPos;
        rb::rigidbody body;
        sf::Color color;
        float transparency = 1.0; //canale alpha del pezzo
-        virtual void update(sf::Clock cl) = 0;
+        virtual void update(sf::Clock cl, float multiplier) = 0;
        virtual sf::Shape* draw(ReferencePlane plane) = 0;
        virtual ~PieceInterface(){}
        virtual void setDirection(Direction dir){
            direction = dir;
        }
        virtual bool setTransparency(float alpha){
            if (alpha < 0 || alpha > 1) return false;
            transparency = alpha; 
            return true;
        }
 };
@@ -7,19 +7,18 @@
 class Sensore : public PieceInterface{
    private:
-        const sf::Vector3f sensore_Dim = {30, 60, 30};
+        const sf::Vector3f sensore_Dim = {15, 20, 15};
        const sf::Color sensore_Col = sf::Color::Red;
        std::vector<std::vector<float>> accData;
        std::vector<std::vector<float>> gData;
        std::vector<std::vector<float>> rotData;
        std::vector<float> timeData;
-        rb::Vector3 stPos;
+
        float gModule;
        //in che punto sto controllando il segnale 
-        unsigned int dataPos;
+        unsigned int* dataPos;
        unsigned int dataIntvl; 
        //funzioni ausiliarie
        void calcRotWithG(unsigned int index);
@@ -27,15 +26,16 @@ 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;
+        void update(sf::Clock cl,float multiplier) override;
        sf::Shape* draw(ReferencePlane plane) override;
        //funzioni specifiche
        void initCSV(std::vector<std::vector<float>> data);
        float getZ_Acc();
 };
 #endif
@@ -4,17 +4,19 @@
 #define TORSO_H
 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;
        const std::string TEXTURE_F = std::string("bacinoF.png");
        const std::string TEXTURE_L = std::string("bacinoL.png");
    public:
        Torso(rb::Vector3 coords, _Float16 mass);
        ~Torso();
-        void update(sf::Clock cl) override;
+        void update(sf::Clock cl, float multiplier) override;
        sf::Shape* draw(ReferencePlane plane) override;
 };
@@ -2,11 +2,18 @@
 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};
    initialize_shapes(caviglia_Dim);
    try{
        setTextures(TEXTURE_F,TEXTURE_L);
    }
    catch (const char* &e ){
        printf("Caviglia: %s\n", e);
    }
 }
@@ -15,7 +22,7 @@ Caviglia::~Caviglia(){
    delete shapeYZ;
 }
-void Caviglia::update(sf::Clock cl){
+void Caviglia::update(sf::Clock cl,float multiplier){
    //body.step(cl);
 }
@@ -26,12 +33,14 @@ 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->setScale({plane == ReferencePlane::XZ ? float(1.0) : float(-1.0),cos(float(tmpRot[0]))});
        shape->setFillColor(color*sf::Color(255,255,255,transparency*255));
        return shape;}
        break;
@@ -40,7 +49,8 @@ sf::Shape* Caviglia::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->setScale({1,cos(float(tmpRot[1]))});
+        shape->setScale({direction == Direction::R ? float(1.0) : float(-1.0),cos(float(tmpRot[1]))});
        shape->setFillColor(color*sf::Color(255,255,255,transparency*255));
        return shape;}
        break;
@@ -2,10 +2,17 @@
 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);
    try{
        setTextures(TEXTURE_F,TEXTURE_L);
    }
    catch (const char* &e ){
        printf("Coscia: %s\n", e);
    }
 }
 Coscia::~Coscia(){
@@ -13,7 +20,7 @@ Coscia::~Coscia(){
    delete shapeYZ;
 }
-void Coscia::update(sf::Clock cl){
+void Coscia::update(sf::Clock cl, float multiplier){
    //body.step(cl);
 }
@@ -25,17 +32,13 @@ 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]});
-
+        shape->setScale({plane == ReferencePlane::XZ ? float(1.0) : float(-1.0),cos(float(tmpRot[0]))});
-        //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[0]))});
        //shape->setScale({1,(0.5* cos(float(tmpRot[0]*2)))+0.5});
        return shape;}
        break;
@@ -44,10 +47,8 @@ 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]});
-
+        shape->setFillColor(color*sf::Color(255,255,255,transparency*255));
-        //calcolo ridimensionamento dato da cos(x) -> questo per definire l'ancoraggio corretto del pivot
+        shape->setScale({direction == Direction::R ? float(1.0) : float(-1.0),cos(float(tmpRot[1]))});
        shape->setScale({1,cos(float(tmpRot[1]))});
        //shape->setScale({1,(0.5* cos(float(tmpRot[1]*2)))+0.5});
        return shape;}
        break;
@@ -0,0 +1,57 @@
 #include "../headers/pavimento.hpp"
 Pavimento::Pavimento(rb::Vector3 coords, _Float16 mass){
    rb::Vector3 com = {pavimento_Dim.x/2,pavimento_Dim.z/2,pavimento_Dim.y/2};
    body = rb::rigidbody(coords, com, mass, pavimento_Dim.z/2);
    color = pavimento_Col;
    globalPos = {0,0,0};
    initialize_shapes(pavimento_Dim);
    try{
        setTextures(TEXTURE_F,TEXTURE_L);
    }
    catch (const char* &e ){
        printf("Pavimento: %s\n", e);
    }
 }
 Pavimento::~Pavimento(){
    delete shapeXZ;
    delete shapeYZ;
 }
 sf::Shape* Pavimento::draw(ReferencePlane plane){
    rb::Vector3 tmpPos = body.getPos();
    rb::Vector3 tmpRot = body.getRot();
    switch (plane)
    {
    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({plane == ReferencePlane::XZ ? float(1.0) : float(-1.0),cos(float(tmpRot[0]))});
        shape->setFillColor(color*sf::Color(255,255,255,transparency*255));
        return shape;}
        break;
    case ReferencePlane::YZ:
        {
        sf::Shape* shape = shapeYZ;
        shape->setRotation(sf::Angle(sf::radians(tmpRot[0])));
        shape->setPosition({tmpPos[1]+globalPos[1],tmpPos[2]+globalPos[2]});
        shape->setFillColor(color*sf::Color(255,255,255,transparency*255));
        shape->setScale({1,cos(float(tmpRot[1]))});
        return shape;}
        break;
    default:
        break;
    }
    return nullptr;
 }
@@ -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){
+void Sensore::update(sf::Clock cl, float multiplier){
    // 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
+    //calcolo la posizione e velocità
-        calcRotWithG(dataPos);
+    if (*dataPos >= gData.size()) *dataPos = gData.size()-1;
    calcRotWithG(*dataPos);
-        body.setAcc(rb::Vector3{accData[dataPos]});
+    body.setAcc(rb::Vector3{accData[*dataPos]});
-        body.step(cl);
+    body.step(cl, multiplier);
    }
 }
@@ -66,11 +69,14 @@ 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));
        shape->setScale({plane == ReferencePlane::XZ ? float(1.0) : float(-1.0),1});
        return shape;}
        break;
@@ -79,6 +85,8 @@ 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));
        shape->setScale({direction == Direction::R ? float(1.0) : float(-1.0),1});
        return shape;}
        break;
@@ -91,26 +99,37 @@ 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 tmpSinX = -grav[0] / gModule;
-    float tmpSinY = -grav[1] / modG;
+    float tmpSinY = -grav[1] / gModule;
-    float tmpSinZ = -grav[2] / modG;
+    float tmpSinZ = -grav[2] / gModule;
-    float tmpAX = acos(tmpSinX);
+    float tmpAX = acos(dir*tmpSinX);
-    float tmpAY = acos(tmpSinY);
+    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
@@ -2,11 +2,18 @@
 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};
    initialize_shapes(torso_Dim);
    try{
        setTextures(TEXTURE_F,TEXTURE_L);
    }
    catch (const char* &e){
        printf("Caviglia: %s\n", e);
    }
 }
 Torso::~Torso(){
@@ -14,7 +21,7 @@ Torso::~Torso(){
    delete shapeYZ;
 }
-void Torso::update(sf::Clock cl){
+void Torso::update(sf::Clock cl,float multiplier){
 }
@@ -26,11 +33,13 @@ 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->setScale({plane == ReferencePlane::XZ ? float(1.0) : float(-1.0),cos(float(tmpRot[0]))});
        shape->setFillColor(color*sf::Color(255,255,255,transparency*255));
        return shape;}
        break;
@@ -39,6 +48,7 @@ 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);
@@ -34,18 +36,20 @@
            public:
-                rigidbody(){}
+                rigidbody(){ }
-                rigidbody(Vector3 coords, Vector3 centerOfMass, _Float16 mass);
+                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 step(const sf::Clock time);
+                void setTanAcc(const Vector3 Dacc);
                void step(const sf::Clock time, float multiplier);
                //complesso, deve definire accelerazione e accelerazione tangenziale 
                void appForce(Vector3 f, Vector3 pos);
@@ -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){
@@ -85,16 +85,55 @@ void rigidbody::calcPos(const float Dtime){
    }
 }
-void rigidbody::step(const sf::Clock time){
+void rigidbody::step(const sf::Clock time, float multiplier){
    int64_t Dtime = time.getElapsedTime().asMicroseconds();
    if (prevT == 0) prevT = Dtime;
-    float dt = (float(Dtime) / 1000000.0) - (float(prevT) / 1000000.0);
+    float dt = ((float(Dtime) / 1000000.0) - (float(prevT) / 1000000.0)) * multiplier;
    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);
 }
@@ -2,6 +2,10 @@
 #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>
 #include <format>
 template <typename T1, typename T2>
 double dist(sf::Vector2<T1> p1, sf::Vector2<T2> p2)
@@ -19,24 +23,56 @@ 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;
    float* tMul; 
    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();
        tMul = new float(1.0);
        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));
        }
    }
    ~State(){
        delete tMul;
    }
 };
 ///
@@ -47,13 +83,36 @@ struct State
 void State::update(){
    /*
    std::vector<PieceInterface*> collPieces;
    std::vector<JointInterface*> collJoints;
    */
    if (play){
        for (auto i : collections){
            i->update(PieceClock, *tMul);
        }
    }
-    for(PieceInterface* p : pieces){
+    for (auto i : createdColl){
-        //p->update(clock);
+        if (play){
            for (auto j : i.pieces){
                j->update(PieceClock, *tMul);
            }
        }
        for (auto j : i.joints){
            j->movechild();
        }
    }
    if (play){
        for(PieceInterface* p : pieces){
            p->update(PieceClock, *tMul);
        }
    }
    for(JointInterface* j : joints){
        j->movechild();
    }
 }
 ///
@@ -61,17 +120,17 @@ 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 +138,11 @@ 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 +167,41 @@ 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();
+    #ifdef DEBUG_MODE
-        gs.pieces[gs.selected]->body.setPos({tmp[0]+ (offset.x * px),tmp[1]+ (offset.x * py),tmp[2]+offset.y});
+
    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){
+    if (gs.selected != nullptr && gs.rot_Piece){
-        rb::Vector3 tmp = gs.pieces[gs.selected]->body.getRot();
+        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 +210,27 @@ 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 +239,47 @@ 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
 }
 ///
 ////////////////////////////////////////////////////////////
@@ -189,20 +288,140 @@ void handle(const T &, State &gs)
 /// Graphics
 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);
    //Finestra gestione posizione nei dati
    ImGuiWindowFlags sdp_flags = ImGuiWindowFlags_NoMove|
                                 ImGuiWindowFlags_NoResize|
                                 ImGuiWindowFlags_NoScrollbar|
                                 ImGuiWindowFlags_NoCollapse|
                                 ImGuiWindowFlags_NoTitleBar;
    // Finestra gestione posizione dati  
    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", &currentPlane,0,2,MyEnumNames[currentPlane])){
        gs.selectedPlane = (ReferencePlane)currentPlane;
        gs.updateCollections();
    } 
    ImGui::End();
    //Finestra gestione velocità di riproduzione 
    ImGui::Begin("Set time multiplier", 0,sdp_flags);
    const float TimeMul[] = {0.5, 0.75, 1, 1.25, 1.5};
    const char* TimeMulChar[] = {"0.5", "0.75", "1", "1.25", "1.5"};
    static int Timeid = 2;
    ImGui::SliderInt("Time", &Timeid,0,4,TimeMulChar[Timeid]);
    *gs.tMul = TimeMul[Timeid]; 
    ImGui::End();
    //Finestra controllo sovrapposizione (solo su collezioni)
    ImGui::Begin("Set overlap", 0,sdp_flags);
    int c = 0;
    for (auto i : gs.collections){
        std::stringstream s;
        s <<"Collezione :" << c;
        ImGui::Text(s.str().c_str());
        float tmpTr = i->getTransparency();
        if (ImGui::SliderFloat("Transparency ", &tmpTr,0.0,1.0)) {
            gs.updateCollections();
            i->setTransparency(tmpTr);
        }
        bool tmpVs = i->getVisibility();
        if (ImGui::Checkbox("is visible", &tmpVs)) {
            i->setVisibility(tmpVs);
            gs.updateCollections();
        }
        c++;
        ImGui::Separator();
    }
    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::SetWindowPos("Set time multiplier",ImVec2(wsize.x-400,wsize.y - 61));
    ImGui::SetWindowSize("Set time multiplier",ImVec2(400,30));
    ImGui::SetWindowPos("Set overlap",ImVec2(wsize.x-300,31));
    ImGui::SetWindowSize("Set overlap",ImVec2(300,70*gs.collections.size()));
    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();
@@ -1,87 +0,0 @@
 #include "include.hpp"
 #define DATA_PATH std::string("./../../data/")
 int main() {
    CSVProcessor processor;
    try {
        processor.readCSVFile("data.csv");
        // Access headers
        const auto& headers = processor.getHeaders();
        for (const auto& header : headers) {
            std::cout << header << "\t";
        }
        std::cout << std::endl;
        // Access data
        int n = 0;
        const auto& data = processor.getData();
        for (const auto& row : data) {
            if (n++ >40) break;
            for (float value : row) {
                std::cout << value << "\t";
            }
            std::cout << std::endl;
        }
    } catch (const std::exception& e) {
        std::cerr << "Error: " << e.what() << std::endl;
    }
    //Costruisco la GUI 
    State gs(800, 600, "Visualizzatore passo");
    gs.window.setFramerateLimit(60);
    printf("Costruisco gli oggetti\n");
    try{
        processor.readCSVFile (DATA_PATH + "coscia_filt.csv");
        const auto& coscia = processor.getData();
        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{300,300,500},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{300,300,500},_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({_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]}));
        printf("Ho costruito tutto!\n");
    }
    catch(char* e){
        printf("%s\n",e);
    }
    printf("Avvio l'interfaccia grafica\n");
    //Avvio il loop della GUI
    gs.clock.start();
    while (gs.window.isOpen()) 
    {
        // event loop and handler through callbacks
        gs.window.handleEvents([&](const auto &event)
                               { handle(event, gs); });
        // Show update
        gs.update();
        doGraphics(gs);
    }
    return 0;
 }
Author	SHA1	Message	Date
Endertom	dfbe5684a5	Aggiornato readme	2026-06-24 14:58:04 +02:00
Endert0m	de272f572b	Update README.md	2026-06-24 13:06:17 +02:00
Endertom	f4dd508152	Merge branch 'main' of https://github.com/Endert0m/FCG_VisualizzatoreCamminata	2026-06-23 18:58:23 +02:00
Endertom	a1c8443b8e	Aggiunta relazione	2026-06-23 18:58:15 +02:00
Endert0m	5af236ad44	Update README.md	2026-06-23 13:13:22 +02:00
Endertom	7fadd4a9ef	Modifica versione in cmakelists	2026-06-23 13:11:25 +02:00
Endertom	5588ccee31	Aggiunta finestra di controllo visibilità	2026-06-23 12:52:19 +02:00
Endertom	c48d0505fc	Refactoring collezioni	2026-06-23 11:39:36 +02:00
Endertom	2dfd574814	Preparazione controllo visibilità collezioni	2026-06-23 11:31:19 +02:00
Endertom	f74155e9f7	Rimosso demo imGui	2026-06-22 19:42:39 +02:00
Endertom	68b9d89c12	Refactoring main e update di readme	2026-06-22 19:31:38 +02:00
Endertom	1dd7ce812a	Aggiunte texture pavimento	2026-06-22 19:20:31 +02:00
Endertom	276e00aee1	Aggiustata direzione texture su YZ	2026-06-22 19:01:14 +02:00
Endertom	d2a0256a3e	Aggiunta pavimento	2026-06-22 18:57:07 +02:00
Endertom	4e763fc2af	Aggiustato cambio direzione texture	2026-06-22 18:37:19 +02:00
Endertom	818677f831	Aggiunta texture	2026-06-22 17:12:46 +02:00
Endertom	37619774f2	Refactoring per inserimento texture	2026-06-22 16:39:59 +02:00
Endertom	821dd67b5b	Fix dei warning e posizione texture	2026-06-22 16:08:39 +02:00
Endertom	4ac25779bd	Preparazione aggiunta texture	2026-06-22 16:00:08 +02:00
Endertom	729c634854	Modifica README	2026-06-22 12:56:54 +02:00
Endertom	217635d871	Link del tempo all'aggiornamento dei dati	2026-06-22 12:40:36 +02:00
Endertom	539045bd80	Aggiunta finestra selezione moltiplicatore tempo	2026-06-22 12:23:23 +02:00
Endertom	c6094c6a44	Modifica di update() per gestire moltiplicatore tempo	2026-06-22 12:16:32 +02:00
Endertom	f05db110ff	Aggiornato README	2026-06-22 11:32:26 +02:00
Endertom	f131849292	Applicazione correzione rotazione bacino	2026-06-22 10:38:24 +02:00
Endertom	7c2897aae1	fix rotazione	2026-06-21 23:43:17 +02:00
Endertom	1349de403c	Aggiunto clock per i pezzi (aggiusta calcolo veocità)	2026-06-21 12:43:21 +02:00
Endertom	e1965aaf1e	Cambio sistema per rotazione bacino (non funziona)	2026-06-21 11:58:12 +02:00
Endertom	7fee7b1e13	Modifica per aggiornare la rotazione (non Funziona)	2026-06-20 20:39:48 +02:00
Endertom	a1441cc28e	Aggiunta calcolo rotazione da accTan in rb	2026-06-20 20:21:29 +02:00
Endertom	ef2e09ef0f	Preparazione per controllo accelerazione tangenziale	2026-06-20 17:40:06 +02:00
Endertom	51c620ef4d	Aggiunta restituzione Z_acc su gamba	2026-06-20 17:26:05 +02:00
Endertom	bf10647b70	Modifica sensore per restituire accelerazione su z	2026-06-20 17:06:47 +02:00
Endertom	be1678beaf	Preparazione alla versione 0.8	2026-06-20 16:18:48 +02:00
Endertom	14c143ff56	Modifica di readme	2026-06-20 13:06:32 +02:00
Endertom	4ef359d64c	Ridimensionamento bacino	2026-06-20 12:59:17 +02:00
Endertom	4d8d1316e0	Aggiustata direzione gambe su piano YZ	2026-06-20 10:51:27 +02:00
Endertom	e440779338	Aggiunto ctrl transp su lower_body in base al piano	2026-06-20 10:20:56 +02:00
Endertom	fc5eba1279	Aggiuto controllo trasparenza nelle collezioni	2026-06-20 09:57:53 +02:00
Endertom	83f132a1c4	Aggiunta selezione trasparenza pezzi	2026-06-20 09:42:32 +02:00
Endertom	a2eee90e10	Modifica nome eseguibile	2026-06-19 23:44:35 +02:00
Endertom	fa6d6cf76e	Aggiunto cambio direzione per corretta visualizzaione dx/sx	2026-06-19 19:04:28 +02:00
Endert0m	a16cc97048	Update README.md	2026-06-19 17:28:28 +02:00
Endertom	4b75af28f8	Aggiunta dati gamba	2026-06-19 17:14:02 +02:00
Endertom	331aaae279	Modifica Readme	2026-06-19 16:46:35 +02:00
Endertom	298db61ace	Aggiornati handle per debug su collezioni	2026-06-19 14:03:45 +02:00
Endertom	83928c9bd7	Aggiustata posizione gambe in lower_body	2026-06-19 12:59:42 +02:00
Endertom	0d4b6d1242	Aggiunta viusalizzazione collection su sfml_util	2026-06-19 11:33:47 +02:00
Endertom	23798ab582	Test lower_body in main	2026-06-18 22:32:30 +02:00
Endertom	842f384bb8	Aggiunte e modifiche per lower_body	2026-06-18 18:01:09 +02:00
Endertom	9189246361	Aggiunta modalità debug	2026-06-18 12:23:22 +02:00
Endertom	f8fdc1dc84	Aggiunto header lower_body	2026-06-18 12:13:35 +02:00
Endertom	a2a299c0a1	Aggiustati include	2026-06-08 11:46:06 +02:00
Endertom	f15e13475d	Aggiustato warning sulla throw	2026-06-08 11:35:44 +02:00
Endertom	10d7c806ec	Aggiunta Collections per ridurre dimensione main	2026-06-08 11:31:21 +02:00
Endert0m	945a85cacf	Update README.md	2026-06-07 16:34:36 +02:00
Endertom	a118eedb18	Aggiornamento README	2026-06-07 16:33:05 +02:00
Endertom	2d417cec32	Fissata posizione selezione piano	2026-06-07 16:30:35 +02:00
Endertom	c1627b1759	Aggiunta cambio piano su gui	2026-06-07 13:39:04 +02:00
Endertom	3266cc38db	Aggiustato crash causa non inizializzazione variabile	2026-06-07 11:34:50 +02:00
Endertom	f8dde34b83	Aggiunta pulsante play	2026-06-06 13:04:54 +02:00
Endertom	ba5e071c6f	Controllo posizione con gui completa	2026-06-06 11:27:21 +02:00
Endertom	52b2a95032	Cambio posizione aggoirnamento dati (da concludere)	2026-06-06 10:57:51 +02:00
Endertom	474b4e6c8c	Merge branch 'main' of https://github.com/Endert0m/FCG_VisualizzatoreCamminata	2026-06-04 20:02:44 +02:00
Endertom	8397164b6b	Aggiunta Imgui e sliders per intervallo visualizzazione	2026-06-04 20:00:46 +02:00
Endertom	a95e98ed8a	Modifica gitignore per non caricare build files	2026-06-03 11:56:18 +02:00