24 Commits

Author SHA1 Message Date
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
67 changed files with 33613 additions and 16103 deletions
+4
View File
@@ -10,6 +10,10 @@ compile_commands.json
CTestTestfile.cmake CTestTestfile.cmake
_deps _deps
CMakeUserPresets.json CMakeUserPresets.json
.cmake
obj
CPackConfig.cmake
CPackSourceConfig.cmake
# CLion # CLion
# JetBrains specific template is maintained in a separate JetBrains.gitignore that can # JetBrains specific template is maintained in a separate JetBrains.gitignore that can
+34 -4
View File
@@ -19,13 +19,43 @@ FetchContent_Declare(
) )
FetchContent_MakeAvailable(glm) 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(METHODS_PATH "./src/*/methods/*.cpp")
set(VERSION "V6")
set(VERSION "V4")
file(GLOB_RECURSE METHODS_SRC "${METHODS_PATH}") file(GLOB_RECURSE METHODS_SRC "${METHODS_PATH}")
add_executable(main${VERSION} ./src/testMain.cpp ${METHODS_SRC} ) add_executable(main${VERSION} ./src/testMain.cpp ${METHODS_SRC} )
target_compile_features(main${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>)
+12 -2
View File
@@ -32,11 +32,21 @@ Per spostare l'intera scena si tiene premuto il tasto centrale del mouse.
- Modifica calcolo pivot per gestire spazio 3D - Modifica calcolo pivot per gestire spazio 3D
- Aggiustati assi di riferimento (ora sono coerenti su tutte le classi) - 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
# Per compilare:
cmake --build cmake --build
# Per lanciare: # Per lanciare:
./build/bin/mainV4 ./build/bin/mainV6
File diff suppressed because it is too large Load Diff
File diff suppressed because it is too large Load Diff
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Size=478,260
[Window][Dear ImGui Demo/##Basket_529977C1]
IsChild=1
Size=478,260
[Window][Example: Custom rendering]
Pos=68,96
Size=740,472
[Window][Set data position]
Pos=0,670
Size=800,30
[Window][Dear ImGui Demo/ResizableChild_478B81A3]
IsChild=1
Size=499,136
[Window][Dear ImGui Demo/Red_BEEF922B]
IsChild=1
Size=200,100
[Window][Dear ImGui Style Editor]
Pos=60,60
Size=353,1005
[Window][Set visualization plane]
Pos=400,0
Size=400,30
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@@ -0,0 +1,40 @@
#include "../../pieces/headers/piece_interface.hpp"
#include "../../joints/headers/joint_interface.hpp"
#ifndef COLL_INTERFACE_H
#define COLL_INTERFACE_H
struct collection{
std::vector<PieceInterface*> pieces;
std::vector<JointInterface*> joints;
};
class CollectionInterface{
public:
virtual collection create(ReferencePlane plane) = 0;
virtual ~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
+18
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@@ -0,0 +1,18 @@
#include "collection_interface.hpp"
#include "include_pieces.hpp"
#ifndef GAMBA_H
#define GAMBA_H
class Gamba : public CollectionInterface {
protected:
std::vector<PieceInterface*> 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();
};
#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"
+37
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@@ -0,0 +1,37 @@
#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{
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 setVisibility(bool c);
void setTransparency(float t);
collection create(ReferencePlane plane) override;
};
#endif
+50
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@@ -0,0 +1,50 @@
#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 (1.3),_Float16 (1.7),0});
sensori[1]->body.setRot({_Float16 (1.8),_Float16 (1.7),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];
}
+53
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@@ -0,0 +1,53 @@
#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],pos[2]+150},data[0].dataPos,data[0].cosciaData,data[0].cavigliaData);
dx = new Gamba({pos[0],pos[1]+200,pos[2]+150},data[1].dataPos,data[1].cosciaData,data[1].cavigliaData);
t = new Torso({pos[0],pos[1]+100,pos[2]},_Float16(3.0));
PieceInterface* psx = sx->getJointPiece();
PieceInterface* pdx = dx->getJointPiece();
jsx = new PivotJoint(t, {psx}, rb::Vector3{0,-100,50});
jdx = new PivotJoint(t, {pdx}, rb::Vector3{0,100,50});
}
collection Lower_Body::create(ReferencePlane plane){
collection coll;
switch (plane)
{
case ReferencePlane::XZ: case ReferencePlane::XZN:
coll = coll + sx->create(plane);
coll = coll + dx->create(plane);
break;
case ReferencePlane::YZ:
coll = coll + dx->create(plane);
coll = coll + sx->create(plane);
break;
default:
break;
}
coll.pieces.push_back(t);
coll.joints.push_back(jsx);
coll.joints.push_back(jdx);
return coll;
}
Lower_Body::~Lower_Body(){
delete sx;
delete dx;
delete t;
delete jdx;
delete jsx;
}
void Lower_Body::setVisibility(bool c){
}
+8 -1
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@@ -4,6 +4,11 @@
#include <vector> #include <vector>
#include <string> #include <string>
#ifndef CSV_H
#define CSV_H
#define DATA_PATH std::string("./../../data/")
class CSVProcessor { class CSVProcessor {
private: private:
std::vector<std::string> headers; std::vector<std::string> headers;
@@ -17,4 +22,6 @@ public:
// Getter for data // Getter for data
const std::vector<std::vector<float>>& getData() const; const std::vector<std::vector<float>>& getData() const;
}; };
#endif
+3 -1
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@@ -6,4 +6,6 @@
#include "pieces/headers/sensore.hpp" #include "pieces/headers/sensore.hpp"
#include "pieces/headers/torso.hpp" #include "pieces/headers/torso.hpp"
#include "joints/headers/rigid_joint.hpp" #include "joints/headers/rigid_joint.hpp"
#include "joints/headers/pivot_joint.hpp" #include "joints/headers/pivot_joint.hpp"
#include "collections/headers/gamba.hpp"
#include "collections/headers/lower_body.hpp"
+6 -1
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@@ -1,5 +1,8 @@
#include "joint_interface.hpp" #include "joint_interface.hpp"
#ifndef PIVOTJ_H
#define PIVOTJ_H
class PivotJoint : public JointInterface { class PivotJoint : public JointInterface {
protected: protected:
void rotate(unsigned int id) override; void rotate(unsigned int id) override;
@@ -25,4 +28,6 @@ class PivotJoint : public JointInterface {
PivotJoint(PieceInterface* father,std::vector<PieceInterface*> childs, rb::Vector3 pivotPoint); PivotJoint(PieceInterface* father,std::vector<PieceInterface*> childs, rb::Vector3 pivotPoint);
~PivotJoint(); ~PivotJoint();
}; };
#endif
+5 -1
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@@ -1,5 +1,7 @@
#include "joint_interface.hpp" #include "joint_interface.hpp"
#ifndef RIGIDJ_H
#define RIGIDJ_H
class RigidJoint : public JointInterface { class RigidJoint : public JointInterface {
protected: protected:
@@ -16,4 +18,6 @@ class RigidJoint : public JointInterface {
RigidJoint(PieceInterface* father,std::vector<PieceInterface*> childs); RigidJoint(PieceInterface* father,std::vector<PieceInterface*> childs);
~RigidJoint(); ~RigidJoint();
}; };
#endif
+2 -2
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@@ -8,9 +8,9 @@
enum class ReferencePlane { enum class ReferencePlane {
XY, XZ,
YZ, YZ,
XZ XZN
}; };
//classi //classi
+4 -6
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@@ -14,12 +14,9 @@ class Sensore : public PieceInterface{
std::vector<std::vector<float>> gData; std::vector<std::vector<float>> gData;
std::vector<std::vector<float>> rotData; std::vector<std::vector<float>> rotData;
std::vector<float> timeData; std::vector<float> timeData;
rb::Vector3 stPos;
//in che punto sto controllando il segnale //in che punto sto controllando il segnale
unsigned int dataPos; unsigned int* dataPos;
unsigned int dataIntvl;
//funzioni ausiliarie //funzioni ausiliarie
void calcRotWithG(unsigned int index); void calcRotWithG(unsigned int index);
@@ -27,7 +24,7 @@ class Sensore : public PieceInterface{
public: public:
Sensore(rb::Vector3 coords, _Float16 mass); 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(); ~Sensore();
void update(sf::Clock cl) override; void update(sf::Clock cl) override;
@@ -35,7 +32,8 @@ class Sensore : public PieceInterface{
//funzioni specifiche //funzioni specifiche
void initCSV(std::vector<std::vector<float>> data); void initCSV(std::vector<std::vector<float>> data);
void setIntervall(int min, int max);
void setPos(int &pos);
}; };
#endif #endif
+9 -18
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@@ -9,9 +9,8 @@ Sensore::Sensore(rb::Vector3 coords, _Float16 mass){
initialize_shapes(sensore_Dim); 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; dataPos = st;
this->dataIntvl = dataIntvl;
initCSV(data); initCSV(data);
} }
@@ -32,10 +31,8 @@ void Sensore::initCSV(std::vector<std::vector<float>> data){
std::vector<float> tmpR = {row[2],row[3],row[1]}; std::vector<float> tmpR = {row[2],row[3],row[1]};
std::vector<float> tmpA = {row[5],row[6],row[4]}; std::vector<float> tmpA = {row[5],row[6],row[4]};
std::vector<float> tmpG = {-row[8],-row[9],-row[7]}; std::vector<float> tmpG = {-row[8],-row[9],-row[7]};
/////// DA CAMBIARE QUI ///////////
rotData.push_back(tmpR); rotData.push_back(tmpR);
accData.push_back(tmpA); accData.push_back(tmpA);
gData.push_back(tmpG); gData.push_back(tmpG);
@@ -44,19 +41,16 @@ void Sensore::initCSV(std::vector<std::vector<float>> data){
void Sensore::update(sf::Clock cl){ void Sensore::update(sf::Clock cl){
// Aggiorno la posizione nei dati
int64_t currTime = cl.getElapsedTime().asMicroseconds() *100000; //calcolo la posizione e velocità
if (timeData[dataPos] < currTime && dataIntvl - dataPos > 0) { //aggiorno solo se ho cambiato posizione if (*dataPos >= gData.size()) *dataPos = gData.size()-1;
dataPos++;
//calcolo la posizione e velocità calcRotWithG(*dataPos);
calcRotWithG(dataPos);
body.setAcc(rb::Vector3{accData[dataPos]}); body.setAcc(rb::Vector3{accData[*dataPos]});
body.step(cl); body.step(cl);
}
} }
sf::Shape* Sensore::draw(ReferencePlane plane){ sf::Shape* Sensore::draw(ReferencePlane plane){
@@ -108,9 +102,6 @@ void Sensore::calcRotWithG(unsigned int index){ // calcolo rotazione con valori
body.setRot(rb::Vector3{tmpAY, tmpAX, tmpAZ }); body.setRot(rb::Vector3{tmpAY, tmpAX, tmpAZ });
} }
/*
void Sensore::calcRotWithConstraint(){
};*/
/////////////// cinematica inversa /////////////// cinematica inversa
+199 -33
View File
@@ -2,6 +2,9 @@
#include <math.h> #include <math.h>
#include "pieces/headers/piece_interface.hpp" #include "pieces/headers/piece_interface.hpp"
#include "joints/headers/joint_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> template <typename T1, typename T2>
double dist(sf::Vector2<T1> p1, sf::Vector2<T2> p2) double dist(sf::Vector2<T1> p1, sf::Vector2<T2> p2)
@@ -19,24 +22,50 @@ struct State
int menubar_height = 50; int menubar_height = 50;
std::vector<PieceInterface*> pieces; std::vector<PieceInterface*> pieces;
std::vector<JointInterface*> joints; std::vector<JointInterface*> joints;
std::vector<CollectionInterface*> collections;
std::vector<collection> createdColl;
sf::Vector2f cameraOffset = {0.,0.}; sf::Vector2f cameraOffset = {0.,0.};
sf::Clock clock; sf::Clock clock;
ReferencePlane selectedPlane = ReferencePlane::XZ; ReferencePlane selectedPlane = ReferencePlane::XZ;
int selected = -1; PieceInterface* selected = nullptr;
bool rot_Piece = false; bool rot_Piece = false;
bool drag_Piece = false; bool drag_Piece = false;
bool drag = false; bool drag = false;
sf::Vector2i mouse_pos; 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); 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(); clock.restart();
intervalMajLimit = maj;
intervalMinLimit = min;
this->pos = pos;
updateCollections();
} }
void update(); void update();
void setIntervall(int n){
maxEntries = n;
}
void updateCollections(){
createdColl.clear();
for (auto c: collections){
createdColl.push_back(c->create(selectedPlane));
}
}
}; };
/// ///
@@ -46,14 +75,32 @@ struct State
/// Fisics functions /// Fisics functions
void State::update(){ void State::update(){
for(PieceInterface* p : pieces){ /*
//p->update(clock); std::vector<PieceInterface*> collPieces;
std::vector<JointInterface*> collJoints;
*/
for (auto i : createdColl){
if (play){
for (auto j : i.pieces){
j->update(clock);
}
}
for (auto j : i.joints){
j->movechild();
}
}
if (play){
for(PieceInterface* p : pieces){
p->update(clock);
}
} }
for(JointInterface* j : joints){ for(JointInterface* j : joints){
j->movechild(); j->movechild();
} }
} }
/// ///
@@ -61,17 +108,17 @@ void State::update(){
//////////////////////////////////////////////////////////// ////////////////////////////////////////////////////////////
/// Callback functions /// Callback functions
void handle(const sf::Event::Closed &, State &gs) void handle_close(State &gs)
{ {
gs.window.close(); 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 (keyPressed.scancode == sf::Keyboard::Scancode::Space){
if (gs.selectedPlane == ReferencePlane::XZ) if (gs.selectedPlane == ReferencePlane::XZ)
@@ -79,9 +126,11 @@ void handle(const sf::Event::KeyPressed &keyPressed, State &gs)
else else
gs.selectedPlane = ReferencePlane::XZ; 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; sf::Vector2i offset = mouseMoved.position - gs.mouse_pos;
gs.mouse_pos = mouseMoved.position; gs.mouse_pos = mouseMoved.position;
@@ -106,30 +155,41 @@ void handle(const sf::Event::MouseMoved &mouseMoved, State &gs)
for(PieceInterface* p : gs.pieces){ for(PieceInterface* p : gs.pieces){
p->globalPos = {p->globalPos[0] + (offset.x * px), p->globalPos[1]+ (offset.x * py),p->globalPos[2] + offset.y}; 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; 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]); //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; gs.mouse_pos = mouseBP.position;
if ( mouseBP.button == sf::Mouse::Button::Middle) gs.drag = true; if ( mouseBP.button == sf::Mouse::Button::Middle) gs.drag = true;
#ifdef DEBUG_MODE
if ( mouseBP.button == sf::Mouse::Button::Left){ if ( mouseBP.button == sf::Mouse::Button::Left){
gs.drag_Piece = true; gs.drag_Piece = true;
int i = 0;
for (PieceInterface* p : gs.pieces){ for (PieceInterface* p : gs.pieces){
sf::Vector2f pos; sf::Vector2f pos;
if (gs.selectedPlane == ReferencePlane::XZ) if (gs.selectedPlane == ReferencePlane::XZ)
@@ -138,14 +198,27 @@ void handle(const sf::Event::MouseButtonPressed &mouseBP, State &gs)
pos = {p->globalPos[1]+ p->body.getPos()[1], p->globalPos[2]+ p->body.getPos()[2]}; pos = {p->globalPos[1]+ p->body.getPos()[1], p->globalPos[2]+ p->body.getPos()[2]};
if (dist(pos,mouseBP.position) < 20){ if (dist(pos,mouseBP.position) < 20){
gs.selected = i; gs.selected = 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){ if ( mouseBP.button == sf::Mouse::Button::Right){
gs.rot_Piece = true; gs.rot_Piece = true;
int i = 0;
for (PieceInterface* p : gs.pieces){ for (PieceInterface* p : gs.pieces){
sf::Vector2f pos; sf::Vector2f pos;
if (gs.selectedPlane == ReferencePlane::XZ) if (gs.selectedPlane == ReferencePlane::XZ)
@@ -154,33 +227,47 @@ void handle(const sf::Event::MouseButtonPressed &mouseBP, State &gs)
pos = {p->globalPos[1]+ p->body.getPos()[1], p->globalPos[2]+ p->body.getPos()[2]}; pos = {p->globalPos[1]+ p->body.getPos()[1], p->globalPos[2]+ p->body.getPos()[2]};
if (dist(pos,mouseBP.position) < 20){ if (dist(pos,mouseBP.position) < 20){
gs.selected = i; gs.selected = 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 = false;
gs.drag_Piece = false; gs.drag_Piece = false;
gs.rot_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)); sf::FloatRect visibleArea({0.f, 0.f}, sf::Vector2f(resized.size));
gs.window.setView(sf::View(visibleArea)); gs.window.setView(sf::View(visibleArea));
} }
template <typename T>
void handle(const T &, State &gs)
{
// All unhandled events will end up here
}
/// ///
//////////////////////////////////////////////////////////// ////////////////////////////////////////////////////////////
@@ -191,18 +278,97 @@ void doGUI(State &gs)
{ {
// TODO: here code to display the menus // TODO: here code to display the menus
//Bottoni //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", &currentPlane,0,2,MyEnumNames[currentPlane])) gs.updateCollections();
gs.selectedPlane = (ReferencePlane)currentPlane;
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) void doGraphics(State &gs)
{ {
gs.window.clear(); gs.window.clear();
doGUI(gs);
//disegno i pezzi singoli
for(PieceInterface* p: gs.pieces){ for(PieceInterface* p: gs.pieces){
gs.window.draw(*p->draw(gs.selectedPlane)); 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 // TODO: add here code to display shapes in your canvas
gs.window.display(); gs.window.display();
+47 -13
View File
@@ -1,7 +1,5 @@
#include "include.hpp" #include "include.hpp"
#define DATA_PATH std::string("./../../data/")
int main() { int main() {
CSVProcessor processor; CSVProcessor processor;
try { try {
@@ -28,18 +26,26 @@ int main() {
std::cerr << "Error: " << e.what() << std::endl; 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 //Costruisco la GUI
State gs(800, 600, "Visualizzatore passo"); State gs(800, 700, "Visualizzatore passo",&maj,&min,&pos);
gs.window.setFramerateLimit(60); gs.window.setFramerateLimit(70);
printf("Costruisco gli oggetti\n"); printf("Costruisco gli oggetti\n");
try{ try{
processor.readCSVFile (DATA_PATH + "coscia_filt.csv"); processor.readCSVFile (DATA_PATH + "coscia_filt.csv");
const auto& coscia = processor.getData(); 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 Coscia (rb::Vector3{300,300,300},2));
gs.pieces.push_back(new Sensore (rb::Vector3{300,300,300},_Float16( 0.2 ),900,3000,coscia)); gs.pieces.push_back(new Sensore (rb::Vector3{300,300,300},_Float16( 0.2 ),&pos,coscia));
gs.pieces.push_back(new Caviglia (rb::Vector3{300,300,500},1)); gs.pieces.push_back(new Caviglia (rb::Vector3{300,300,500},1));
gs.pieces[1]->body.setRot({0,0,0}); gs.pieces[1]->body.setRot({0,0,0});
@@ -47,13 +53,13 @@ int main() {
processor.readCSVFile(DATA_PATH + "caviglia_filt.csv"); processor.readCSVFile(DATA_PATH + "caviglia_filt.csv");
const auto& caviglia = processor.getData(); const auto& caviglia = processor.getData();
gs.pieces.push_back(new Sensore (rb::Vector3{300,300,500},_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)); gs.pieces.push_back(new Torso(rb::Vector3{300,400,150},2));
// modifico la rotazione relativa della gamba // modifico la rotazione relativa della gamba
gs.pieces[1]->body.setRot({_Float16 (1.3),_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 (1.5),0}); gs.pieces[3]->body.setRot({_Float16 (1.8),_Float16 (1.7),0});
@@ -62,7 +68,23 @@ int main() {
gs.joints.push_back(new RigidJoint(gs.pieces[1], {gs.pieces[0]})); gs.joints.push_back(new RigidJoint(gs.pieces[1], {gs.pieces[0]}));
gs.joints.push_back(new PivotJoint(gs.pieces[1], {gs.pieces[3]}, rb::Vector3{0,0,100})); gs.joints.push_back(new PivotJoint(gs.pieces[1], {gs.pieces[3]}, rb::Vector3{0,0,100}));
gs.joints.push_back(new RigidJoint(gs.pieces[3], {gs.pieces[2]})); gs.joints.push_back(new RigidJoint(gs.pieces[3], {gs.pieces[2]}));
*/
//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"); printf("Ho costruito tutto!\n");
} }
@@ -70,13 +92,25 @@ int main() {
printf("%s\n",e); printf("%s\n",e);
} }
printf("Avvio l'interfaccia grafica\n"); 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 //Avvio il loop della GUI
gs.clock.start(); gs.clock.start();
gs.updateCollections();
sf::Clock mainClock;
while (gs.window.isOpen()) while (gs.window.isOpen())
{ {
// event loop and handler through callbacks curTime += mainClock.restart().asMilliseconds();
gs.window.handleEvents([&](const auto &event) if (curTime > T){
{ handle(event, gs); }); if (gs.play && pos+curTime/T < maj) pos += curTime / T;
curTime = 0;
}
// Show update // Show update
gs.update(); gs.update();
doGraphics(gs); doGraphics(gs);