Modifica di readme

CMakeLists.txt

@@ -53,7 +53,7 @@ target_compile_options(common INTERFACE
 
 set(METHODS_PATH "./src/*/methods/*.cpp")
 
-set(VERSION "V6")
+set(VERSION "V7")
 
 file(GLOB_RECURSE METHODS_SRC "${METHODS_PATH}")
 add_executable(main${VERSION} ./src/testMain.cpp ${METHODS_SRC} )

README.md

@@ -43,10 +43,17 @@ Per spostare l'intera scena si tiene premuto il tasto centrale del mouse.
 - 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
 
 # Per lanciare:
 
-    ./build/bin/mainV6
+    ./build/bin/mainV7

src/collections/headers/collection_interface.hpp

@@ -13,6 +13,7 @@ struct collection{
 class CollectionInterface{
     public:
         virtual collection create(ReferencePlane plane) = 0;
+        virtual bool setTransparency(float alpha) = 0; 
         virtual ~CollectionInterface(){};
 };
 

src/collections/headers/gamba.hpp

@@ -13,6 +13,8 @@ class Gamba : public CollectionInterface {
         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

src/collections/headers/lower_body.hpp

@@ -28,7 +28,7 @@ public:
     ~Lower_Body();
 
     void setVisibility(bool c);
-    void setTransparency(float t);
+    bool setTransparency(float alpha) override;
     collection create(ReferencePlane plane) override;
 };
 

src/collections/methods/gamba.cpp

@@ -15,8 +15,8 @@ Gamba::Gamba(rb::Vector3 pos, unsigned int* dataPos, std::string cosciaData, std
         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[0]->body.setRot({_Float16 (1.5708),_Float16 (1.5708),0});
-        sensori[1]->body.setRot({_Float16 (1.8),_Float16 (1.7),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}));
@@ -47,4 +47,23 @@ collection Gamba::create(ReferencePlane plane){
 
 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;
 }

src/collections/methods/lower_body.cpp

@@ -3,28 +3,43 @@
 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);
+    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]+200,pos[2]+150},data[1].dataPos,data[1].cosciaData,data[1].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]+100,pos[2]},_Float16(3.0));
+    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,-100,50});
+    jsx = new PivotJoint(t, {psx}, rb::Vector3{0,-60,50});
-    jdx = new PivotJoint(t, {pdx}, rb::Vector3{0,100,50});
+    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::XZ: case ReferencePlane::XZN:
+    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;
@@ -50,4 +65,11 @@ Lower_Body::~Lower_Body(){
 
 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;
 }

src/pieces/headers/piece_interface.hpp

@@ -13,6 +13,11 @@ enum class ReferencePlane {
     XZN
 };
 
+enum class Direction {
+    L,
+    R
+};
+
 //classi
 class PieceInterface{
     protected:
@@ -25,16 +30,25 @@ class PieceInterface{
             shapeXZ->setFillColor(color);
             shapeYZ->setFillColor(color);
         }
-
+        Direction direction = Direction::L;
     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 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;
+        }
 };
 
 

src/pieces/headers/torso.hpp

@@ -8,7 +8,7 @@
 
 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;
     public:
         Torso(rb::Vector3 coords, _Float16 mass);

src/pieces/methods/caviglia_class.cpp

@@ -26,12 +26,13 @@ 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->setFillColor(color*sf::Color(255,255,255,transparency*255));
         return shape;}
         break;
     
@@ -41,6 +42,7 @@ sf::Shape* Caviglia::draw(ReferencePlane plane){
         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->setFillColor(color*sf::Color(255,255,255,transparency*255));
         return shape;}
         break;
     

src/pieces/methods/coscia_class.cpp

@@ -25,17 +25,13 @@ sf::Shape* Coscia::draw(ReferencePlane plane){
 
     switch (plane)
     {
-    case ReferencePlane::XZ:
+    case ReferencePlane::XZ : case ReferencePlane::XZN:
         {
         sf::Shape* shape = shapeXZ;
         shape->setRotation(sf::Angle(sf::radians(tmpRot[1])));
         shape->setPosition({tmpPos[0]+globalPos[0],tmpPos[2]+globalPos[2]});
-
-        //calcolo ridimensionamento dato da cos(x)-> questo per definire l'ancoraggio corretto del pivot
         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;}
         break;
     
@@ -44,10 +40,8 @@ sf::Shape* Coscia::draw(ReferencePlane plane){
         sf::Shape* shape = shapeYZ;
         shape->setRotation(sf::Angle(sf::radians(tmpRot[0])));
         shape->setPosition({tmpPos[1]+globalPos[1],tmpPos[2]+globalPos[2]});
-
+        shape->setFillColor(color*sf::Color(255,255,255,transparency*255));
-        //calcolo ridimensionamento dato da cos(x) -> questo per definire l'ancoraggio corretto del pivot
         shape->setScale({1,cos(float(tmpRot[1]))});
-        //shape->setScale({1,(0.5* cos(float(tmpRot[1]*2)))+0.5});
         return shape;}
         break;
     

src/pieces/methods/sensore_class.cpp

@@ -60,11 +60,13 @@ sf::Shape* Sensore::draw(ReferencePlane plane){
 
     switch (plane)
     {
-    case ReferencePlane::XZ:
+    case ReferencePlane::XZ : case ReferencePlane::XZN:
         {
+       
         sf::Shape* shape = shapeXZ;
         shape->setRotation(sf::Angle(sf::radians(tmpRot[1])));
         shape->setPosition({tmpPos[0]+globalPos[0],tmpPos[2]+globalPos[2]});
+        shape->setFillColor(color*sf::Color(255,255,255,transparency*255));
         return shape;}
         break;
     
@@ -73,6 +75,7 @@ sf::Shape* Sensore::draw(ReferencePlane plane){
         sf::Shape* shape = shapeYZ;
         shape->setRotation(sf::Angle(sf::radians(tmpRot[0])));
         shape->setPosition({tmpPos[1]+globalPos[1],tmpPos[2]+globalPos[2]});
+        shape->setFillColor(color*sf::Color(255,255,255,transparency*255));
         return shape;}
         break;
     
@@ -85,7 +88,7 @@ sf::Shape* Sensore::draw(ReferencePlane plane){
 
 
 void Sensore::calcRotWithG(unsigned int index){ // calcolo rotazione con valori della gravità
-
+    int dir = direction == Direction::R ? -1 : 1;
     std::vector<float> grav = gData[index];
     float modG = sqrt(pow(grav[0],2)+pow(grav[1],2)+pow(grav[2],2));
 
@@ -95,8 +98,8 @@ void Sensore::calcRotWithG(unsigned int index){ // calcolo rotazione con valori
     float tmpSinY = -grav[1] / 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);
 
     body.setRot(rb::Vector3{tmpAY, tmpAX, tmpAZ });

src/pieces/methods/torso.cpp

@@ -26,11 +26,12 @@ sf::Shape* Torso::draw(ReferencePlane plane){
 
     switch (plane)
     {
-    case ReferencePlane::XZ:
+    case ReferencePlane::XZ: case ReferencePlane::XZN:
         {
         sf::Shape* shape = shapeXZ;
         shape->setRotation(sf::Angle(sf::radians(tmpRot[1])));
         shape->setPosition({tmpPos[0]+globalPos[0],tmpPos[2]+globalPos[2]});
+        shape->setFillColor(color*sf::Color(255,255,255,transparency*255));
         return shape;}
         break;
     
@@ -39,6 +40,7 @@ sf::Shape* Torso::draw(ReferencePlane plane){
         sf::Shape* shape = shapeYZ;
         shape->setRotation(sf::Angle(sf::radians(tmpRot[0])));
         shape->setPosition({tmpPos[1]+globalPos[1],tmpPos[2]+globalPos[2]});
+        shape->setFillColor(color*sf::Color(255,255,255,transparency*255));
         return shape;}
         break;
     

src/sfml_util.cpp

@@ -320,8 +320,11 @@ void doGUI(State &gs)
     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();
+    if (ImGui::SliderInt("Selected Plane", &currentPlane,0,2,MyEnumNames[currentPlane])){
-    gs.selectedPlane = (ReferencePlane)currentPlane;
+        gs.selectedPlane = (ReferencePlane)currentPlane;
+        gs.updateCollections();
+    } 
+    
     ImGui::End();
 
 

src/testMain.cpp

@@ -43,8 +43,8 @@ int main() {
         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{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 Caviglia (rb::Vector3{300,300,500},1));
 
@@ -68,11 +68,12 @@ 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]}));
+        
+        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;
@@ -85,7 +86,7 @@ int main() {
         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");
     }
     catch(char* e){