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13 Commits
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23798ab582 | ||
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10d7c806ec |
+2
-1
@@ -53,8 +53,9 @@ target_compile_options(common INTERFACE
|
||||
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||||
set(METHODS_PATH "./src/*/methods/*.cpp")
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||||
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||||
set(VERSION "V5")
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||||
set(VERSION "V6")
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||||
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||||
file(GLOB_RECURSE METHODS_SRC "${METHODS_PATH}")
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||||
add_executable(main${VERSION} ./src/testMain.cpp ${METHODS_SRC} )
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||||
target_link_libraries(main${VERSION} PRIVATE SFML::Graphics ImGui-SFML::ImGui-SFML common glm)
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||||
target_compile_definitions(main${VERSION} PRIVATE $<$<CONFIG:Debug>:DEBUG_MODE>)
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||||
@@ -37,10 +37,16 @@ Per spostare l'intera scena si tiene premuto il tasto centrale del mouse.
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- Aggiunta selettore sulla posizione dei dati
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- Refactoring classe sensore e state per gestire posizione dati da gui
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||||
# Per compliare:
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||||
## Nella versione v0.6
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- Aggiunta collezioni
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||||
- Servono a semplificare la struttura del main e il disegno degli elementi della gamba
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||||
- Modifica di sfml_util per gestire le collezioni
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||||
- Aggiunta modalità debug
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||||
|
||||
# Per compilare:
|
||||
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||||
cmake --build
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||||
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||||
# Per lanciare:
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||||
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||||
./build/bin/mainV5
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||||
./build/bin/mainV6
|
||||
|
||||
File diff suppressed because it is too large
Load Diff
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||||
"path" : "build/_deps/sfml-src/src/SFML/Window/Unix/Utils.hpp",
|
||||
"sourceGroupIndex" : 1
|
||||
},
|
||||
{
|
||||
"backtrace" : 2,
|
||||
"compileGroupIndex" : 0,
|
||||
"path" : "build/_deps/sfml-src/src/SFML/Window/Unix/VideoModeImpl.cpp",
|
||||
"sourceGroupIndex" : 1
|
||||
},
|
||||
{
|
||||
"backtrace" : 2,
|
||||
"compileGroupIndex" : 0,
|
||||
"path" : "build/_deps/sfml-src/src/SFML/Window/Unix/VulkanImplX11.cpp",
|
||||
"sourceGroupIndex" : 1
|
||||
},
|
||||
{
|
||||
"backtrace" : 2,
|
||||
"compileGroupIndex" : 0,
|
||||
"path" : "build/_deps/sfml-src/src/SFML/Window/Unix/WindowImplX11.cpp",
|
||||
"sourceGroupIndex" : 1
|
||||
},
|
||||
{
|
||||
"backtrace" : 2,
|
||||
"path" : "build/_deps/sfml-src/src/SFML/Window/Unix/WindowImplX11.hpp",
|
||||
"sourceGroupIndex" : 1
|
||||
},
|
||||
{
|
||||
"backtrace" : 2,
|
||||
"compileGroupIndex" : 0,
|
||||
"path" : "build/_deps/sfml-src/src/SFML/Window/Unix/GlxContext.cpp",
|
||||
"sourceGroupIndex" : 1
|
||||
},
|
||||
{
|
||||
"backtrace" : 2,
|
||||
"path" : "build/_deps/sfml-src/src/SFML/Window/Unix/GlxContext.hpp",
|
||||
"sourceGroupIndex" : 1
|
||||
},
|
||||
{
|
||||
"backtrace" : 2,
|
||||
"compileGroupIndex" : 0,
|
||||
"path" : "build/_deps/sfml-src/src/SFML/Window/Unix/JoystickImpl.cpp",
|
||||
"sourceGroupIndex" : 1
|
||||
},
|
||||
{
|
||||
"backtrace" : 2,
|
||||
"path" : "build/_deps/sfml-src/src/SFML/Window/Unix/JoystickImpl.hpp",
|
||||
"sourceGroupIndex" : 1
|
||||
}
|
||||
],
|
||||
"type" : "STATIC_LIBRARY"
|
||||
}
|
||||
@@ -1,78 +0,0 @@
|
||||
{
|
||||
"kind" : "toolchains",
|
||||
"toolchains" :
|
||||
[
|
||||
{
|
||||
"compiler" :
|
||||
{
|
||||
"implicit" : {},
|
||||
"path" : "/usr/bin/cc"
|
||||
},
|
||||
"language" : "C"
|
||||
},
|
||||
{
|
||||
"compiler" :
|
||||
{
|
||||
"id" : "GNU",
|
||||
"implicit" :
|
||||
{
|
||||
"includeDirectories" :
|
||||
[
|
||||
"/usr/include/c++/15",
|
||||
"/usr/include/x86_64-linux-gnu/c++/15",
|
||||
"/usr/include/c++/15/backward",
|
||||
"/usr/lib/gcc/x86_64-linux-gnu/15/include",
|
||||
"/usr/local/include",
|
||||
"/usr/include/x86_64-linux-gnu",
|
||||
"/usr/include"
|
||||
],
|
||||
"linkDirectories" :
|
||||
[
|
||||
"/usr/lib/gcc/x86_64-linux-gnu/15",
|
||||
"/usr/lib/x86_64-linux-gnu",
|
||||
"/usr/lib",
|
||||
"/lib/x86_64-linux-gnu",
|
||||
"/lib"
|
||||
],
|
||||
"linkFrameworkDirectories" : [],
|
||||
"linkLibraries" :
|
||||
[
|
||||
"stdc++",
|
||||
"m",
|
||||
"gcc_s",
|
||||
"gcc",
|
||||
"c",
|
||||
"gcc_s",
|
||||
"gcc"
|
||||
]
|
||||
},
|
||||
"path" : "/usr/bin/c++",
|
||||
"version" : "15.2.0"
|
||||
},
|
||||
"language" : "CXX",
|
||||
"sourceFileExtensions" :
|
||||
[
|
||||
"C",
|
||||
"M",
|
||||
"c++",
|
||||
"cc",
|
||||
"cpp",
|
||||
"cxx",
|
||||
"m",
|
||||
"mm",
|
||||
"mpp",
|
||||
"CPP",
|
||||
"ixx",
|
||||
"cppm",
|
||||
"ccm",
|
||||
"cxxm",
|
||||
"c++m"
|
||||
]
|
||||
}
|
||||
],
|
||||
"version" :
|
||||
{
|
||||
"major" : 1,
|
||||
"minor" : 0
|
||||
}
|
||||
}
|
||||
+5
-5
@@ -3,8 +3,8 @@ Pos=60,60
|
||||
Size=400,400
|
||||
|
||||
[Window][Dear ImGui Demo]
|
||||
Pos=473,13
|
||||
Size=936,873
|
||||
Pos=781,47
|
||||
Size=455,873
|
||||
|
||||
[Window][Hello, world!]
|
||||
Pos=11,12
|
||||
@@ -23,8 +23,8 @@ Pos=68,96
|
||||
Size=740,472
|
||||
|
||||
[Window][Set data position]
|
||||
Pos=0,589
|
||||
Size=780,30
|
||||
Pos=0,670
|
||||
Size=800,30
|
||||
|
||||
[Window][Dear ImGui Demo/ResizableChild_478B81A3]
|
||||
IsChild=1
|
||||
@@ -39,6 +39,6 @@ Pos=60,60
|
||||
Size=353,1005
|
||||
|
||||
[Window][Set visualization plane]
|
||||
Pos=380,0
|
||||
Pos=400,0
|
||||
Size=400,30
|
||||
|
||||
|
||||
Executable
BIN
Binary file not shown.
Binary file not shown.
+16516
File diff suppressed because it is too large
Load Diff
Executable → Regular
|
Can't render this file because it is too large.
|
+16515
File diff suppressed because it is too large
Load Diff
Executable → Regular
|
Can't render this file because it is too large.
|
@@ -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
|
||||
@@ -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"
|
||||
@@ -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
|
||||
@@ -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];
|
||||
}
|
||||
@@ -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){
|
||||
|
||||
}
|
||||
@@ -4,6 +4,11 @@
|
||||
#include <vector>
|
||||
#include <string>
|
||||
|
||||
#ifndef CSV_H
|
||||
#define CSV_H
|
||||
|
||||
#define DATA_PATH std::string("./../../data/")
|
||||
|
||||
class CSVProcessor {
|
||||
private:
|
||||
std::vector<std::string> headers;
|
||||
@@ -18,3 +23,5 @@ public:
|
||||
const std::vector<std::vector<float>>& getData() const;
|
||||
|
||||
};
|
||||
|
||||
#endif
|
||||
@@ -7,3 +7,5 @@
|
||||
#include "pieces/headers/torso.hpp"
|
||||
#include "joints/headers/rigid_joint.hpp"
|
||||
#include "joints/headers/pivot_joint.hpp"
|
||||
#include "collections/headers/gamba.hpp"
|
||||
#include "collections/headers/lower_body.hpp"
|
||||
@@ -1,5 +1,8 @@
|
||||
#include "joint_interface.hpp"
|
||||
|
||||
#ifndef PIVOTJ_H
|
||||
#define PIVOTJ_H
|
||||
|
||||
class PivotJoint : public JointInterface {
|
||||
protected:
|
||||
void rotate(unsigned int id) override;
|
||||
@@ -26,3 +29,5 @@ class PivotJoint : public JointInterface {
|
||||
PivotJoint(PieceInterface* father,std::vector<PieceInterface*> childs, rb::Vector3 pivotPoint);
|
||||
~PivotJoint();
|
||||
};
|
||||
|
||||
#endif
|
||||
@@ -1,5 +1,7 @@
|
||||
#include "joint_interface.hpp"
|
||||
|
||||
#ifndef RIGIDJ_H
|
||||
#define RIGIDJ_H
|
||||
|
||||
class RigidJoint : public JointInterface {
|
||||
protected:
|
||||
@@ -17,3 +19,5 @@ class RigidJoint : public JointInterface {
|
||||
RigidJoint(PieceInterface* father,std::vector<PieceInterface*> childs);
|
||||
~RigidJoint();
|
||||
};
|
||||
|
||||
#endif
|
||||
@@ -34,7 +34,6 @@ class Sensore : public PieceInterface{
|
||||
void initCSV(std::vector<std::vector<float>> data);
|
||||
void setIntervall(int min, int max);
|
||||
void setPos(int &pos);
|
||||
|
||||
};
|
||||
|
||||
#endif
|
||||
@@ -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> tmpG = {-row[8],-row[9],-row[7]};
|
||||
|
||||
/////// DA CAMBIARE QUI ///////////
|
||||
|
||||
|
||||
rotData.push_back(tmpR);
|
||||
accData.push_back(tmpA);
|
||||
|
||||
+98
-16
@@ -2,6 +2,7 @@
|
||||
#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>
|
||||
|
||||
@@ -21,12 +22,16 @@ 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;
|
||||
ReferencePlane selectedPlane = ReferencePlane::XZ;
|
||||
|
||||
int selected = -1;
|
||||
PieceInterface* selected = nullptr;
|
||||
|
||||
bool rot_Piece = false;
|
||||
bool drag_Piece = false;
|
||||
@@ -48,11 +53,19 @@ struct State
|
||||
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));
|
||||
}
|
||||
}
|
||||
};
|
||||
|
||||
///
|
||||
@@ -63,6 +76,22 @@ struct State
|
||||
|
||||
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){
|
||||
for(PieceInterface* p : pieces){
|
||||
p->update(clock);
|
||||
@@ -97,8 +126,10 @@ void handle_keyPressed(const sf::Event::KeyPressed &keyPressed, State &gs)
|
||||
else
|
||||
gs.selectedPlane = ReferencePlane::XZ;
|
||||
}
|
||||
gs.updateCollections();
|
||||
}
|
||||
|
||||
|
||||
void handle_mouseMove(const sf::Event::MouseMoved &mouseMoved, State &gs)
|
||||
{
|
||||
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){
|
||||
p->globalPos = {p->globalPos[0] + (offset.x * px), p->globalPos[1]+ (offset.x * py),p->globalPos[2] + offset.y};
|
||||
}
|
||||
for(collection c : gs.createdColl){
|
||||
for(auto p : c.pieces){
|
||||
p->globalPos = {p->globalPos[0] + (offset.x * px), p->globalPos[1]+ (offset.x * py),p->globalPos[2] + offset.y};
|
||||
}
|
||||
if (gs.selected != -1 && gs.drag_Piece){
|
||||
rb::Vector3 tmp = gs.pieces[gs.selected]->body.getPos();
|
||||
gs.pieces[gs.selected]->body.setPos({tmp[0]+ (offset.x * px),tmp[1]+ (offset.x * py),tmp[2]+offset.y});
|
||||
}
|
||||
if (gs.selected != -1 && gs.rot_Piece){
|
||||
rb::Vector3 tmp = gs.pieces[gs.selected]->body.getRot();
|
||||
}
|
||||
|
||||
#ifdef DEBUG_MODE
|
||||
|
||||
if (gs.selected != nullptr && gs.drag_Piece){
|
||||
rb::Vector3 tmp = gs.selected->body.getPos();
|
||||
gs.selected->body.setPos({tmp[0]+ (offset.x * px),tmp[1]+ (offset.x * py),tmp[2]+offset.y});
|
||||
}
|
||||
if (gs.selected != nullptr && gs.rot_Piece){
|
||||
rb::Vector3 tmp = gs.selected->body.getRot();
|
||||
|
||||
float nrot = float(offset.x)/100;
|
||||
gs.pieces[gs.selected]->body.setRot({tmp[0]+(nrot*py),tmp[1]+(nrot*px),tmp[2]});
|
||||
gs.selected->body.setRot({tmp[0]+(nrot*py),tmp[1]+(nrot*px),tmp[2]});
|
||||
|
||||
//printf("Rotation : %f,%f,%f \n",gs.pieces[gs.selected]->body.getRot()[0],gs.pieces[gs.selected]->body.getRot()[1],gs.pieces[gs.selected]->body.getRot()[2]);
|
||||
}
|
||||
|
||||
#endif
|
||||
|
||||
}
|
||||
|
||||
@@ -145,9 +184,12 @@ 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)
|
||||
@@ -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]};
|
||||
|
||||
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)
|
||||
@@ -172,11 +227,27 @@ 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]};
|
||||
|
||||
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;
|
||||
}
|
||||
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
#endif
|
||||
|
||||
}
|
||||
|
||||
@@ -185,9 +256,11 @@ 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_resize(const sf::Event::Resized &resized, State &gs)
|
||||
{
|
||||
sf::FloatRect visibleArea({0.f, 0.f}, sf::Vector2f(resized.size));
|
||||
@@ -247,7 +320,7 @@ void doGUI(State &gs)
|
||||
ImGui::Begin("Set visualization plane",0,sdp_flags);
|
||||
const char* MyEnumNames[] = { "XZ", "YZ", "-XZ" };
|
||||
int currentPlane = (int)gs.selectedPlane;
|
||||
ImGui::SliderInt("Selected Plane", ¤tPlane,0,2,MyEnumNames[currentPlane]);
|
||||
if (ImGui::SliderInt("Selected Plane", ¤tPlane,0,2,MyEnumNames[currentPlane])) gs.updateCollections();
|
||||
gs.selectedPlane = (ReferencePlane)currentPlane;
|
||||
ImGui::End();
|
||||
|
||||
@@ -264,10 +337,19 @@ void doGraphics(State &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>())
|
||||
|
||||
+20
-4
@@ -1,7 +1,5 @@
|
||||
#include "include.hpp"
|
||||
|
||||
#define DATA_PATH std::string("./../../data/")
|
||||
|
||||
int main() {
|
||||
CSVProcessor processor;
|
||||
try {
|
||||
@@ -35,16 +33,17 @@ int main() {
|
||||
unsigned int maj = 100;
|
||||
|
||||
//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);
|
||||
printf("Costruisco gli oggetti\n");
|
||||
|
||||
try{
|
||||
|
||||
processor.readCSVFile (DATA_PATH + "coscia_filt.csv");
|
||||
const auto& coscia = processor.getData();
|
||||
gs.setIntervall(coscia.size());
|
||||
|
||||
|
||||
/*
|
||||
gs.pieces.push_back(new Coscia (rb::Vector3{300,300,300},2));
|
||||
gs.pieces.push_back(new Sensore (rb::Vector3{300,300,300},_Float16( 0.2 ),&pos,coscia));
|
||||
gs.pieces.push_back(new Caviglia (rb::Vector3{300,300,500},1));
|
||||
@@ -69,7 +68,23 @@ int main() {
|
||||
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]}));
|
||||
*/
|
||||
|
||||
//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");
|
||||
}
|
||||
@@ -85,6 +100,7 @@ int main() {
|
||||
|
||||
//Avvio il loop della GUI
|
||||
gs.clock.start();
|
||||
gs.updateCollections();
|
||||
|
||||
sf::Clock mainClock;
|
||||
while (gs.window.isOpen())
|
||||
|
||||
Reference in New Issue
Block a user