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+3
-2
@@ -53,8 +53,9 @@ target_compile_options(common INTERFACE
|
||||
|
||||
set(METHODS_PATH "./src/*/methods/*.cpp")
|
||||
|
||||
set(VERSION "V5")
|
||||
set(VERSION "V10")
|
||||
|
||||
file(GLOB_RECURSE METHODS_SRC "${METHODS_PATH}")
|
||||
add_executable(main${VERSION} ./src/testMain.cpp ${METHODS_SRC} )
|
||||
add_executable(main${VERSION} ./src/Main.cpp ${METHODS_SRC} )
|
||||
target_link_libraries(main${VERSION} PRIVATE SFML::Graphics ImGui-SFML::ImGui-SFML common glm)
|
||||
target_compile_definitions(main${VERSION} PRIVATE $<$<CONFIG:Debug>:DEBUG_MODE>)
|
||||
@@ -37,10 +37,37 @@ Per spostare l'intera scena si tiene premuto il tasto centrale del mouse.
|
||||
- Aggiunta selettore sulla posizione dei dati
|
||||
- Refactoring classe sensore e state per gestire posizione dati da gui
|
||||
|
||||
# Per compliare:
|
||||
## Nella versione v0.6
|
||||
- Aggiunta collezioni
|
||||
- Servono a semplificare la struttura del main e il disegno degli elementi della gamba
|
||||
- Modifica di sfml_util per gestire le collezioni
|
||||
- Aggiunta modalità debug
|
||||
|
||||
## Nella versione v0.7
|
||||
- Aggiunta impostazione di trasparenza dei pezzi
|
||||
- Aggiustato cambio direzione della gamba (sulla visualizzazione dei piani XZ e -XZ)
|
||||
- Aggiunto controllo trasparenza delle collezioni
|
||||
- Modificato lower_body per gestire la trasparenza della gamba più lontana
|
||||
- Ridimensionato bacino per migiore visualizzazione
|
||||
|
||||
## Nella versione v0.8
|
||||
- Aggiunta oscillazione bacino
|
||||
- Aggiustato calcolo posizione con clock dedicato
|
||||
|
||||
## 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 v0.10
|
||||
- Aggiunta controllo texture
|
||||
- Aggiunta pavimento
|
||||
- Refactoring generale
|
||||
- Definizione main finale (non più di test)
|
||||
|
||||
# Per compilare:
|
||||
|
||||
cmake --build
|
||||
|
||||
# Per lanciare:
|
||||
|
||||
./build/bin/mainV5
|
||||
./build/bin/mainV10
|
||||
|
||||
File diff suppressed because it is too large
Load Diff
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"sourceGroupIndex" : 1
|
||||
},
|
||||
{
|
||||
"backtrace" : 2,
|
||||
"compileGroupIndex" : 0,
|
||||
"path" : "build/_deps/sfml-src/src/SFML/Window/Unix/InputImpl.cpp",
|
||||
"sourceGroupIndex" : 1
|
||||
},
|
||||
{
|
||||
"backtrace" : 2,
|
||||
"path" : "build/_deps/sfml-src/src/SFML/Window/Unix/KeyboardImpl.hpp",
|
||||
"sourceGroupIndex" : 1
|
||||
},
|
||||
{
|
||||
"backtrace" : 2,
|
||||
"compileGroupIndex" : 0,
|
||||
"path" : "build/_deps/sfml-src/src/SFML/Window/Unix/KeyboardImpl.cpp",
|
||||
"sourceGroupIndex" : 1
|
||||
},
|
||||
{
|
||||
"backtrace" : 2,
|
||||
"path" : "build/_deps/sfml-src/src/SFML/Window/Unix/KeySymToKeyMapping.hpp",
|
||||
"sourceGroupIndex" : 1
|
||||
},
|
||||
{
|
||||
"backtrace" : 2,
|
||||
"compileGroupIndex" : 0,
|
||||
"path" : "build/_deps/sfml-src/src/SFML/Window/Unix/KeySymToKeyMapping.cpp",
|
||||
"sourceGroupIndex" : 1
|
||||
},
|
||||
{
|
||||
"backtrace" : 2,
|
||||
"path" : "build/_deps/sfml-src/src/SFML/Window/Unix/KeySymToUnicodeMapping.hpp",
|
||||
"sourceGroupIndex" : 1
|
||||
},
|
||||
{
|
||||
"backtrace" : 2,
|
||||
"compileGroupIndex" : 0,
|
||||
"path" : "build/_deps/sfml-src/src/SFML/Window/Unix/KeySymToUnicodeMapping.cpp",
|
||||
"sourceGroupIndex" : 1
|
||||
},
|
||||
{
|
||||
"backtrace" : 2,
|
||||
"compileGroupIndex" : 0,
|
||||
"path" : "build/_deps/sfml-src/src/SFML/Window/Unix/SensorImpl.cpp",
|
||||
"sourceGroupIndex" : 1
|
||||
},
|
||||
{
|
||||
"backtrace" : 2,
|
||||
"path" : "build/_deps/sfml-src/src/SFML/Window/Unix/SensorImpl.hpp",
|
||||
"sourceGroupIndex" : 1
|
||||
},
|
||||
{
|
||||
"backtrace" : 2,
|
||||
"compileGroupIndex" : 0,
|
||||
"path" : "build/_deps/sfml-src/src/SFML/Window/Unix/Display.cpp",
|
||||
"sourceGroupIndex" : 1
|
||||
},
|
||||
{
|
||||
"backtrace" : 2,
|
||||
"path" : "build/_deps/sfml-src/src/SFML/Window/Unix/Display.hpp",
|
||||
"sourceGroupIndex" : 1
|
||||
},
|
||||
{
|
||||
"backtrace" : 2,
|
||||
"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
|
||||
}
|
||||
}
|
||||
+10
-5
@@ -3,8 +3,9 @@ Pos=60,60
|
||||
Size=400,400
|
||||
|
||||
[Window][Dear ImGui Demo]
|
||||
Pos=473,13
|
||||
Size=936,873
|
||||
Pos=487,44
|
||||
Size=455,873
|
||||
Collapsed=1
|
||||
|
||||
[Window][Hello, world!]
|
||||
Pos=11,12
|
||||
@@ -23,8 +24,8 @@ Pos=68,96
|
||||
Size=740,472
|
||||
|
||||
[Window][Set data position]
|
||||
Pos=0,589
|
||||
Size=780,30
|
||||
Pos=0,732
|
||||
Size=924,30
|
||||
|
||||
[Window][Dear ImGui Demo/ResizableChild_478B81A3]
|
||||
IsChild=1
|
||||
@@ -39,6 +40,10 @@ Pos=60,60
|
||||
Size=353,1005
|
||||
|
||||
[Window][Set visualization plane]
|
||||
Pos=380,0
|
||||
Pos=524,0
|
||||
Size=400,30
|
||||
|
||||
[Window][Set time multiplier]
|
||||
Pos=524,702
|
||||
Size=400,30
|
||||
|
||||
|
||||
Binary file not shown.
Executable
BIN
Binary file not shown.
Binary file not shown.
Binary file not shown.
Executable
BIN
Binary file not shown.
Binary file not shown.
Binary file not shown.
+16516
File diff suppressed because it is too large
Load Diff
+16515
File diff suppressed because it is too large
Load Diff
+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
+16516
File diff suppressed because it is too large
Load Diff
+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 +1,77 @@
|
||||
#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 +1,42 @@
|
||||
#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 void update(sf::Clock cl, float multiplier) = 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
|
||||
@@ -0,0 +1,22 @@
|
||||
#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);
|
||||
bool setTransparency(float alpha) override;
|
||||
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 +1,44 @@
|
||||
#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;
|
||||
void setVisibility(bool c);
|
||||
bool setTransparency(float alpha) override;
|
||||
collection create(ReferencePlane plane) override;
|
||||
};
|
||||
|
||||
|
||||
|
||||
#endif
|
||||
@@ -0,0 +1,83 @@
|
||||
#include "../headers/gamba.hpp"
|
||||
|
||||
Gamba::Gamba(rb::Vector3 pos, unsigned int* dataPos, std::string cosciaData, std::string cavigliaData){
|
||||
CSVProcessor processor;
|
||||
try {
|
||||
pezzi.push_back(new Coscia(pos,2));
|
||||
pezzi.push_back(new Caviglia(rb::Vector3{pos[0],pos[1],pos[2]+200},2));
|
||||
|
||||
processor.readCSVFile (DATA_PATH + cosciaData);
|
||||
const auto& coscia = processor.getData();
|
||||
sensori.push_back(new Sensore(pos,_Float16( 0.2 ),dataPos,coscia));
|
||||
|
||||
processor.readCSVFile(DATA_PATH + cavigliaData);
|
||||
const auto& caviglia = processor.getData();
|
||||
sensori.push_back(new Sensore (rb::Vector3{pos[0],pos[1],pos[2]+200},_Float16( 0.2 ),dataPos,caviglia));
|
||||
|
||||
// modifico la rotazione relativa della gamba
|
||||
sensori[0]->body.setRot({_Float16 (1.5708),_Float16 (1.5708),0});
|
||||
sensori[1]->body.setRot({_Float16 (1.5708),_Float16 (1.5708),0});
|
||||
|
||||
joints.push_back(new RigidJoint(sensori[0], {pezzi[0]}));
|
||||
joints.push_back(new PivotJoint(sensori[0], {sensori[1]}, rb::Vector3{0,0,100}));
|
||||
joints.push_back(new RigidJoint(sensori[1], {pezzi[1]}));
|
||||
|
||||
}
|
||||
catch(char* e){
|
||||
throw "Gamba ERROR : "+ std::string(e) +" \n" ;
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
collection Gamba::create(ReferencePlane plane){
|
||||
collection coll;
|
||||
for(auto e : pezzi){
|
||||
coll.pieces.push_back(e);
|
||||
}
|
||||
for(auto e : sensori){
|
||||
coll.pieces.push_back(e);
|
||||
}
|
||||
|
||||
for(auto j : joints){
|
||||
coll.joints.push_back(j);
|
||||
}
|
||||
|
||||
return coll;
|
||||
}
|
||||
|
||||
PieceInterface* Gamba::getJointPiece(){
|
||||
return sensori[0];
|
||||
}
|
||||
|
||||
void Gamba::setDirection(Direction dir){
|
||||
for (auto i : pezzi){
|
||||
i->setDirection(dir);
|
||||
}
|
||||
for (auto i : sensori){
|
||||
i->setDirection(dir);
|
||||
}
|
||||
}
|
||||
|
||||
bool Gamba::setTransparency(float alpha){
|
||||
for (auto i : pezzi){
|
||||
if (!i->setTransparency(alpha)) return false;
|
||||
}
|
||||
for (auto i : sensori){
|
||||
if (!i->setTransparency(alpha)) return false;
|
||||
}
|
||||
return true;
|
||||
}
|
||||
|
||||
float Gamba::getZ_Acc(){
|
||||
|
||||
float totZ_Acc = 0;
|
||||
/*
|
||||
for (auto i : sensori){
|
||||
totZ_Acc += i->getZ_Acc();
|
||||
}*/
|
||||
|
||||
totZ_Acc = sensori[0]->getZ_Acc() + sensori[1]->getZ_Acc();
|
||||
//printf("TotAccGamba %f\n", totZ_Acc);
|
||||
|
||||
return totZ_Acc;
|
||||
}
|
||||
@@ -0,0 +1,107 @@
|
||||
#include "../headers/lower_body.hpp"
|
||||
|
||||
Lower_Body::Lower_Body(rb::Vector3 pos,std::vector<gamba_data> data){
|
||||
if (data.size() != 2) throw "Lower_Body_Error: data vector size must be 2";
|
||||
|
||||
sx = new Gamba({pos[0],pos[1]-60,pos[2]+150},data[0].dataPos,data[0].cosciaData,data[0].cavigliaData);
|
||||
dx = new Gamba({pos[0],pos[1]+60,pos[2]+150},data[1].dataPos,data[1].cosciaData,data[1].cavigliaData);
|
||||
t = new Torso({pos[0],pos[1],pos[2]},_Float16(3.0));
|
||||
|
||||
PieceInterface* psx = sx->getJointPiece();
|
||||
PieceInterface* pdx = dx->getJointPiece();
|
||||
|
||||
jsx = new PivotJoint(t, {psx}, rb::Vector3{0,-60,50});
|
||||
jdx = new PivotJoint(t, {pdx}, rb::Vector3{0,60,50});
|
||||
}
|
||||
|
||||
|
||||
collection Lower_Body::create(ReferencePlane plane){
|
||||
collection coll;
|
||||
|
||||
sx->setTransparency(1);
|
||||
dx->setTransparency(1);
|
||||
|
||||
|
||||
coll.joints.push_back(jsx);
|
||||
coll.joints.push_back(jdx);
|
||||
|
||||
switch (plane)
|
||||
{
|
||||
case ReferencePlane::XZN:
|
||||
dx->setTransparency(0.5);
|
||||
dx->setDirection(Direction::L);
|
||||
sx->setDirection(Direction::R);
|
||||
coll = coll + dx->create(plane);
|
||||
coll = coll + sx->create(plane);
|
||||
break;
|
||||
case ReferencePlane::XZ:
|
||||
sx->setTransparency(0.5);
|
||||
dx->setDirection(Direction::R);
|
||||
sx->setDirection(Direction::L);
|
||||
coll = coll + sx->create(plane);
|
||||
coll = coll + dx->create(plane);
|
||||
break;
|
||||
case ReferencePlane::YZ:
|
||||
sx->setDirection(Direction::R);
|
||||
dx->setDirection(Direction::L);
|
||||
coll = coll + dx->create(plane);
|
||||
coll = coll + sx->create(plane);
|
||||
break;
|
||||
|
||||
default:
|
||||
break;
|
||||
}
|
||||
|
||||
coll.pieces.push_back(t);
|
||||
|
||||
return coll;
|
||||
}
|
||||
|
||||
Lower_Body::~Lower_Body(){
|
||||
delete sx;
|
||||
delete dx;
|
||||
delete t;
|
||||
delete jdx;
|
||||
delete jsx;
|
||||
}
|
||||
|
||||
void Lower_Body::setVisibility(bool c){
|
||||
|
||||
}
|
||||
|
||||
bool Lower_Body::setTransparency(float alpha){
|
||||
if (!sx->setTransparency(alpha)) return false;
|
||||
dx->setTransparency(alpha);
|
||||
t->setTransparency(alpha);
|
||||
return true;
|
||||
}
|
||||
|
||||
void Lower_Body::update(sf::Clock cl, float 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
|
||||
@@ -2,6 +2,7 @@
|
||||
#include <math.h>
|
||||
#include "../../rigidbody/headers/rb.hpp"
|
||||
|
||||
#define TEXTUREPATH std::string("./../../textures/")
|
||||
|
||||
#ifndef PIECE_INTERFACE_H
|
||||
#define PIECE_INTERFACE_H
|
||||
@@ -13,6 +14,11 @@ enum class ReferencePlane {
|
||||
XZN
|
||||
};
|
||||
|
||||
enum class Direction {
|
||||
L,
|
||||
R
|
||||
};
|
||||
|
||||
//classi
|
||||
class PieceInterface{
|
||||
protected:
|
||||
@@ -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;
|
||||
}
|
||||
};
|
||||
|
||||
|
||||
|
||||
@@ -7,7 +7,7 @@
|
||||
|
||||
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;
|
||||
@@ -15,6 +15,8 @@ class Sensore : public PieceInterface{
|
||||
std::vector<std::vector<float>> rotData;
|
||||
std::vector<float> timeData;
|
||||
|
||||
float gModule;
|
||||
|
||||
//in che punto sto controllando il segnale
|
||||
unsigned int* dataPos;
|
||||
|
||||
@@ -27,14 +29,13 @@ class Sensore : public PieceInterface{
|
||||
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);
|
||||
void setIntervall(int min, int max);
|
||||
void setPos(int &pos);
|
||||
|
||||
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;
|
||||
|
||||
|
||||
Some files were not shown because too many files have changed in this diff Show More
Reference in New Issue
Block a user