21 Commits

Author SHA1 Message Date
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
92 changed files with 33482 additions and 16596 deletions
+2 -1
View File
@@ -53,8 +53,9 @@ target_compile_options(common INTERFACE
set(METHODS_PATH "./src/*/methods/*.cpp") set(METHODS_PATH "./src/*/methods/*.cpp")
set(VERSION "V5") set(VERSION "V7")
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 ${METHODS_SRC} )
target_link_libraries(main${VERSION} PRIVATE SFML::Graphics ImGui-SFML::ImGui-SFML common glm) target_link_libraries(main${VERSION} PRIVATE SFML::Graphics ImGui-SFML::ImGui-SFML common glm)
target_compile_definitions(main${VERSION} PRIVATE $<$<CONFIG:Debug>:DEBUG_MODE>)
+15 -2
View File
@@ -37,10 +37,23 @@ Per spostare l'intera scena si tiene premuto il tasto centrale del mouse.
- Aggiunta selettore sulla posizione dei dati - Aggiunta selettore sulla posizione dei dati
- Refactoring classe sensore e state per gestire posizione dati da gui - Refactoring classe sensore e state per gestire posizione dati da gui
# Per compliare: ## Nella versione v0.6
- Aggiunta collezioni
- Servono a semplificare la struttura del main e il disegno degli elementi della gamba
- Modifica di sfml_util per gestire le collezioni
- Aggiunta modalità debug
## Nella versione v0.7
- Aggiunta impostazione di trasparenza dei pezzi
- Aggiustato cambio direzione della gamba (sulla visualizzazione dei piani XZ e -XZ)
- Aggiunto controllo trasparenza delle collezioni
- Modificato lower_body per gestire la trasparenza della gamba più lontana
- Ridimensionato bacino per migiore visualizzazione
# Per compilare:
cmake --build cmake --build
# Per lanciare: # Per lanciare:
./build/bin/mainV5 ./build/bin/mainV7
File diff suppressed because it is too large Load Diff
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@@ -3,8 +3,8 @@ Pos=60,60
Size=400,400 Size=400,400
[Window][Dear ImGui Demo] [Window][Dear ImGui Demo]
Pos=473,13 Pos=781,47
Size=936,873 Size=455,873
[Window][Hello, world!] [Window][Hello, world!]
Pos=11,12 Pos=11,12
@@ -23,8 +23,8 @@ Pos=68,96
Size=740,472 Size=740,472
[Window][Set data position] [Window][Set data position]
Pos=0,589 Pos=0,670
Size=780,30 Size=800,30
[Window][Dear ImGui Demo/ResizableChild_478B81A3] [Window][Dear ImGui Demo/ResizableChild_478B81A3]
IsChild=1 IsChild=1
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Size=353,1005 Size=353,1005
[Window][Set visualization plane] [Window][Set visualization plane]
Pos=380,0 Pos=400,0
Size=400,30 Size=400,30
BIN
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+16516
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+16515
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File diff suppressed because it is too large Load Diff
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Can't render this file because it is too large.
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#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 bool setTransparency(float alpha) = 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
+20
View File
@@ -0,0 +1,20 @@
#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();
void setDirection(Direction dir);
bool setTransparency(float alpha) override;
};
#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
View File
@@ -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);
bool setTransparency(float alpha) override;
collection create(ReferencePlane plane) override;
};
#endif
+69
View File
@@ -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){
coll.pieces.push_back(e);
}
for(auto e : sensori){
coll.pieces.push_back(e);
}
for(auto j : joints){
coll.joints.push_back(j);
}
return coll;
}
PieceInterface* Gamba::getJointPiece(){
return sensori[0];
}
void Gamba::setDirection(Direction dir){
for (auto i : pezzi){
i->setDirection(dir);
}
for (auto i : sensori){
i->setDirection(dir);
}
}
bool Gamba::setTransparency(float alpha){
for (auto i : pezzi){
if (!i->setTransparency(alpha)) return false;
}
for (auto i : sensori){
if (!i->setTransparency(alpha)) return false;
}
return true;
}
+75
View File
@@ -0,0 +1,75 @@
#include "../headers/lower_body.hpp"
Lower_Body::Lower_Body(rb::Vector3 pos,std::vector<gamba_data> data){
if (data.size() != 2) throw "Lower_Body_Error: data vector size must be 2";
sx = new Gamba({pos[0],pos[1]-60,pos[2]+150},data[0].dataPos,data[0].cosciaData,data[0].cavigliaData);
dx = new Gamba({pos[0],pos[1]+60,pos[2]+150},data[1].dataPos,data[1].cosciaData,data[1].cavigliaData);
t = new Torso({pos[0],pos[1],pos[2]},_Float16(3.0));
PieceInterface* psx = sx->getJointPiece();
PieceInterface* pdx = dx->getJointPiece();
jsx = new PivotJoint(t, {psx}, rb::Vector3{0,-60,50});
jdx = new PivotJoint(t, {pdx}, rb::Vector3{0,60,50});
}
collection Lower_Body::create(ReferencePlane plane){
collection coll;
sx->setTransparency(1);
dx->setTransparency(1);
switch (plane)
{
case ReferencePlane::XZN:
dx->setTransparency(0.5);
dx->setDirection(Direction::L);
sx->setDirection(Direction::R);
coll = coll + dx->create(plane);
coll = coll + sx->create(plane);
break;
case ReferencePlane::XZ:
sx->setTransparency(0.5);
dx->setDirection(Direction::R);
sx->setDirection(Direction::L);
coll = coll + sx->create(plane);
coll = coll + dx->create(plane);
break;
case ReferencePlane::YZ:
sx->setDirection(Direction::R);
dx->setDirection(Direction::L);
coll = coll + dx->create(plane);
coll = coll + sx->create(plane);
break;
default:
break;
}
coll.pieces.push_back(t);
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){
}
bool Lower_Body::setTransparency(float alpha){
if (!sx->setTransparency(alpha)) return false;
dx->setTransparency(alpha);
t->setTransparency(alpha);
return true;
}
+7
View File
@@ -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;
@@ -18,3 +23,5 @@ public:
const std::vector<std::vector<float>>& getData() const; const std::vector<std::vector<float>>& getData() const;
}; };
#endif
+2
View File
@@ -7,3 +7,5 @@
#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"
+5
View File
@@ -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;
@@ -26,3 +29,5 @@ 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
+4
View File
@@ -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:
@@ -17,3 +19,5 @@ class RigidJoint : public JointInterface {
RigidJoint(PieceInterface* father,std::vector<PieceInterface*> childs); RigidJoint(PieceInterface* father,std::vector<PieceInterface*> childs);
~RigidJoint(); ~RigidJoint();
}; };
#endif
+15 -1
View File
@@ -13,6 +13,11 @@ enum class ReferencePlane {
XZN XZN
}; };
enum class Direction {
L,
R
};
//classi //classi
class PieceInterface{ class PieceInterface{
protected: protected:
@@ -25,16 +30,25 @@ class PieceInterface{
shapeXZ->setFillColor(color); shapeXZ->setFillColor(color);
shapeYZ->setFillColor(color); shapeYZ->setFillColor(color);
} }
Direction direction = Direction::L;
public: public:
sf::Shape* shapeXZ, *shapeYZ; sf::Shape* shapeXZ, *shapeYZ;
rb::Vector3 globalPos; rb::Vector3 globalPos;
rb::rigidbody body; rb::rigidbody body;
sf::Color color; sf::Color color;
float transparency = 1.0; //canale alpha del pezzo
virtual void update(sf::Clock cl) = 0; virtual void update(sf::Clock cl) = 0;
virtual sf::Shape* draw(ReferencePlane plane) = 0; virtual sf::Shape* draw(ReferencePlane plane) = 0;
virtual ~PieceInterface(){} 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;
}
}; };
-1
View File
@@ -34,7 +34,6 @@ class Sensore : public PieceInterface{
void initCSV(std::vector<std::vector<float>> data); void initCSV(std::vector<std::vector<float>> data);
void setIntervall(int min, int max); void setIntervall(int min, int max);
void setPos(int &pos); void setPos(int &pos);
}; };
#endif #endif
+1 -1
View File
@@ -8,7 +8,7 @@
class Torso : public PieceInterface{ class Torso : public PieceInterface{
private: 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 sf::Color torso_Col = sf::Color::Red;
public: public:
Torso(rb::Vector3 coords, _Float16 mass); Torso(rb::Vector3 coords, _Float16 mass);
+3 -1
View File
@@ -26,12 +26,13 @@ sf::Shape* Caviglia::draw(ReferencePlane plane){
switch (plane) switch (plane)
{ {
case ReferencePlane::XZ: case ReferencePlane::XZ : case ReferencePlane::XZN:
{ {
sf::Shape* shape = shapeXZ; sf::Shape* shape = shapeXZ;
shape->setRotation(sf::Angle(sf::radians(tmpRot[1]))); shape->setRotation(sf::Angle(sf::radians(tmpRot[1])));
shape->setPosition({tmpPos[0]+globalPos[0],tmpPos[2]+globalPos[2]}); shape->setPosition({tmpPos[0]+globalPos[0],tmpPos[2]+globalPos[2]});
shape->setScale({1,cos(float(tmpRot[0]))}); shape->setScale({1,cos(float(tmpRot[0]))});
shape->setFillColor(color*sf::Color(255,255,255,transparency*255));
return shape;} return shape;}
break; break;
@@ -41,6 +42,7 @@ sf::Shape* Caviglia::draw(ReferencePlane plane){
shape->setRotation(sf::Angle(sf::radians(tmpRot[0]))); shape->setRotation(sf::Angle(sf::radians(tmpRot[0])));
shape->setPosition({tmpPos[1]+globalPos[1],tmpPos[2]+globalPos[2]}); shape->setPosition({tmpPos[1]+globalPos[1],tmpPos[2]+globalPos[2]});
shape->setScale({1,cos(float(tmpRot[1]))}); shape->setScale({1,cos(float(tmpRot[1]))});
shape->setFillColor(color*sf::Color(255,255,255,transparency*255));
return shape;} return shape;}
break; break;
+3 -9
View File
@@ -25,17 +25,13 @@ sf::Shape* Coscia::draw(ReferencePlane plane){
switch (plane) switch (plane)
{ {
case ReferencePlane::XZ: case ReferencePlane::XZ : case ReferencePlane::XZN:
{ {
sf::Shape* shape = shapeXZ; sf::Shape* shape = shapeXZ;
shape->setRotation(sf::Angle(sf::radians(tmpRot[1]))); shape->setRotation(sf::Angle(sf::radians(tmpRot[1])));
shape->setPosition({tmpPos[0]+globalPos[0],tmpPos[2]+globalPos[2]}); shape->setPosition({tmpPos[0]+globalPos[0],tmpPos[2]+globalPos[2]});
//calcolo ridimensionamento dato da cos(x)-> questo per definire l'ancoraggio corretto del pivot
shape->setScale({1,cos(float(tmpRot[0]))}); shape->setScale({1,cos(float(tmpRot[0]))});
//shape->setScale({1,(0.5* cos(float(tmpRot[0]*2)))+0.5}); shape->setFillColor(color*sf::Color(255,255,255,transparency*255));
return shape;} return shape;}
break; break;
@@ -44,10 +40,8 @@ sf::Shape* Coscia::draw(ReferencePlane plane){
sf::Shape* shape = shapeYZ; sf::Shape* shape = shapeYZ;
shape->setRotation(sf::Angle(sf::radians(tmpRot[0]))); shape->setRotation(sf::Angle(sf::radians(tmpRot[0])));
shape->setPosition({tmpPos[1]+globalPos[1],tmpPos[2]+globalPos[2]}); shape->setPosition({tmpPos[1]+globalPos[1],tmpPos[2]+globalPos[2]});
shape->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({1,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;} return shape;}
break; break;
+7 -6
View File
@@ -32,8 +32,6 @@ void Sensore::initCSV(std::vector<std::vector<float>> data){
std::vector<float> tmpA = {row[5],row[6],row[4]}; std::vector<float> tmpA = {row[5],row[6],row[4]};
std::vector<float> tmpG = {-row[8],-row[9],-row[7]}; std::vector<float> tmpG = {-row[8],-row[9],-row[7]};
/////// DA CAMBIARE QUI ///////////
rotData.push_back(tmpR); rotData.push_back(tmpR);
accData.push_back(tmpA); accData.push_back(tmpA);
@@ -62,11 +60,13 @@ sf::Shape* Sensore::draw(ReferencePlane plane){
switch (plane) switch (plane)
{ {
case ReferencePlane::XZ: case ReferencePlane::XZ : case ReferencePlane::XZN:
{ {
sf::Shape* shape = shapeXZ; sf::Shape* shape = shapeXZ;
shape->setRotation(sf::Angle(sf::radians(tmpRot[1]))); shape->setRotation(sf::Angle(sf::radians(tmpRot[1])));
shape->setPosition({tmpPos[0]+globalPos[0],tmpPos[2]+globalPos[2]}); shape->setPosition({tmpPos[0]+globalPos[0],tmpPos[2]+globalPos[2]});
shape->setFillColor(color*sf::Color(255,255,255,transparency*255));
return shape;} return shape;}
break; break;
@@ -75,6 +75,7 @@ sf::Shape* Sensore::draw(ReferencePlane plane){
sf::Shape* shape = shapeYZ; sf::Shape* shape = shapeYZ;
shape->setRotation(sf::Angle(sf::radians(tmpRot[0]))); shape->setRotation(sf::Angle(sf::radians(tmpRot[0])));
shape->setPosition({tmpPos[1]+globalPos[1],tmpPos[2]+globalPos[2]}); shape->setPosition({tmpPos[1]+globalPos[1],tmpPos[2]+globalPos[2]});
shape->setFillColor(color*sf::Color(255,255,255,transparency*255));
return shape;} return shape;}
break; break;
@@ -87,7 +88,7 @@ sf::Shape* Sensore::draw(ReferencePlane plane){
void Sensore::calcRotWithG(unsigned int index){ // calcolo rotazione con valori della gravità 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]; std::vector<float> grav = gData[index];
float modG = sqrt(pow(grav[0],2)+pow(grav[1],2)+pow(grav[2],2)); float modG = sqrt(pow(grav[0],2)+pow(grav[1],2)+pow(grav[2],2));
@@ -97,8 +98,8 @@ void Sensore::calcRotWithG(unsigned int index){ // calcolo rotazione con valori
float tmpSinY = -grav[1] / modG; float tmpSinY = -grav[1] / modG;
float tmpSinZ = -grav[2] / modG; float tmpSinZ = -grav[2] / modG;
float tmpAX = acos(tmpSinX); float tmpAX = acos(dir*tmpSinX);
float tmpAY = acos(tmpSinY); float tmpAY = acos(dir*tmpSinY);
float tmpAZ = acos(tmpSinZ); float tmpAZ = acos(tmpSinZ);
body.setRot(rb::Vector3{tmpAY, tmpAX, tmpAZ }); body.setRot(rb::Vector3{tmpAY, tmpAX, tmpAZ });
+3 -1
View File
@@ -26,11 +26,12 @@ sf::Shape* Torso::draw(ReferencePlane plane){
switch (plane) switch (plane)
{ {
case ReferencePlane::XZ: case ReferencePlane::XZ: case ReferencePlane::XZN:
{ {
sf::Shape* shape = shapeXZ; sf::Shape* shape = shapeXZ;
shape->setRotation(sf::Angle(sf::radians(tmpRot[1]))); shape->setRotation(sf::Angle(sf::radians(tmpRot[1])));
shape->setPosition({tmpPos[0]+globalPos[0],tmpPos[2]+globalPos[2]}); shape->setPosition({tmpPos[0]+globalPos[0],tmpPos[2]+globalPos[2]});
shape->setFillColor(color*sf::Color(255,255,255,transparency*255));
return shape;} return shape;}
break; break;
@@ -39,6 +40,7 @@ sf::Shape* Torso::draw(ReferencePlane plane){
sf::Shape* shape = shapeYZ; sf::Shape* shape = shapeYZ;
shape->setRotation(sf::Angle(sf::radians(tmpRot[0]))); shape->setRotation(sf::Angle(sf::radians(tmpRot[0])));
shape->setPosition({tmpPos[1]+globalPos[1],tmpPos[2]+globalPos[2]}); shape->setPosition({tmpPos[1]+globalPos[1],tmpPos[2]+globalPos[2]});
shape->setFillColor(color*sf::Color(255,255,255,transparency*255));
return shape;} return shape;}
break; break;
+102 -17
View File
@@ -2,6 +2,7 @@
#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.h>
#include <imgui-SFML.h> #include <imgui-SFML.h>
@@ -21,12 +22,16 @@ 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;
@@ -48,11 +53,19 @@ struct State
intervalMajLimit = maj; intervalMajLimit = maj;
intervalMinLimit = min; intervalMinLimit = min;
this->pos = pos; this->pos = pos;
updateCollections();
} }
void update(); void update();
void setIntervall(int n){ void setIntervall(int n){
maxEntries = n; maxEntries = n;
} }
void updateCollections(){
createdColl.clear();
for (auto c: collections){
createdColl.push_back(c->create(selectedPlane));
}
}
}; };
/// ///
@@ -63,6 +76,22 @@ struct State
void State::update(){ void State::update(){
/*
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){ if (play){
for(PieceInterface* p : pieces){ for(PieceInterface* p : pieces){
p->update(clock); p->update(clock);
@@ -97,8 +126,10 @@ void handle_keyPressed(const sf::Event::KeyPressed &keyPressed, State &gs)
else else
gs.selectedPlane = ReferencePlane::XZ; gs.selectedPlane = ReferencePlane::XZ;
} }
gs.updateCollections();
} }
void handle_mouseMove(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;
@@ -124,20 +155,28 @@ void handle_mouseMove(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
} }
@@ -145,9 +184,12 @@ 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)
@@ -156,14 +198,27 @@ void handle_mousePressed(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)
@@ -172,12 +227,28 @@ void handle_mousePressed(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_mouseRelease(const sf::Event::MouseButtonReleased &, State &gs) void handle_mouseRelease(const sf::Event::MouseButtonReleased &, State &gs)
@@ -185,9 +256,11 @@ 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_resize(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));
@@ -247,8 +320,11 @@ void doGUI(State &gs)
ImGui::Begin("Set visualization plane",0,sdp_flags); ImGui::Begin("Set visualization plane",0,sdp_flags);
const char* MyEnumNames[] = { "XZ", "YZ", "-XZ" }; const char* MyEnumNames[] = { "XZ", "YZ", "-XZ" };
int currentPlane = (int)gs.selectedPlane; int currentPlane = (int)gs.selectedPlane;
ImGui::SliderInt("Selected Plane", &currentPlane,0,2,MyEnumNames[currentPlane]); if (ImGui::SliderInt("Selected Plane", &currentPlane,0,2,MyEnumNames[currentPlane])){
gs.selectedPlane = (ReferencePlane)currentPlane; gs.selectedPlane = (ReferencePlane)currentPlane;
gs.updateCollections();
}
ImGui::End(); ImGui::End();
@@ -264,10 +340,19 @@ void doGraphics(State &gs)
{ {
gs.window.clear(); gs.window.clear();
//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()) { while (const std::optional event = gs.window.pollEvent()) {
ImGui::SFML::ProcessEvent(gs.window, *event); ImGui::SFML::ProcessEvent(gs.window, *event);
if (event->is<sf::Event::Closed>()) if (event->is<sf::Event::Closed>())
+22 -5
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 {
@@ -35,17 +33,18 @@ int main() {
unsigned int maj = 100; unsigned int maj = 100;
//Costruisco la GUI //Costruisco la GUI
State gs(800, 600, "Visualizzatore passo",&maj,&min,&pos); State gs(800, 700, "Visualizzatore passo",&maj,&min,&pos);
gs.window.setFramerateLimit(70); 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.setIntervall(coscia.size());
/*
gs.pieces.push_back(new Coscia (rb::Vector3{300,300,300},2)); gs.pieces.push_back(new Coscia (rb::Vector3{0,0,0},2));
gs.pieces.push_back(new Sensore (rb::Vector3{300,300,300},_Float16( 0.2 ),&pos,coscia)); gs.pieces.push_back(new 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));
@@ -70,6 +69,23 @@ int main() {
gs.joints.push_back(new PivotJoint(gs.pieces[1], {gs.pieces[3]}, rb::Vector3{0,0,100})); gs.joints.push_back(new PivotJoint(gs.pieces[1], {gs.pieces[3]}, rb::Vector3{0,0,100}));
gs.joints.push_back(new RigidJoint(gs.pieces[3], {gs.pieces[2]})); gs.joints.push_back(new RigidJoint(gs.pieces[3], {gs.pieces[2]}));
gs.pieces[2]->setDirection(Direction::R);
*/
//provo ad aggiungere una collection
//gs.collections.push_back(new Gamba({220,0,220},&pos,"coscia_filt.csv","caviglia_filt.csv"));
std::vector<gamba_data> data;
gamba_data d;
d.dataPos = &pos;
d.cavigliaData = "caviglia_dx.csv";
d.cosciaData = "coscia_dx.csv";
gamba_data s;
s.dataPos = &pos;
s.cavigliaData = "caviglia_sx.csv";
s.cosciaData = "coscia_sx.csv";
data.push_back(d);
data.push_back(s);
gs.collections.push_back(new Lower_Body(rb::Vector3{200,200,100},data));
printf("Ho costruito tutto!\n"); printf("Ho costruito tutto!\n");
} }
@@ -85,6 +101,7 @@ int main() {
//Avvio il loop della GUI //Avvio il loop della GUI
gs.clock.start(); gs.clock.start();
gs.updateCollections();
sf::Clock mainClock; sf::Clock mainClock;
while (gs.window.isOpen()) while (gs.window.isOpen())