Rimosso demo imGui

CMakeLists.txt

@@ -53,9 +53,9 @@ target_compile_options(common INTERFACE
 
 set(METHODS_PATH "./src/*/methods/*.cpp")
 
-set(VERSION "V9")
+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>)

README.md

@@ -58,10 +58,16 @@ Per spostare l'intera scena si tiene premuto il tasto centrale del mouse.
 - 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/mainV9
+    ./build/bin/mainV10

build/bin/imgui.ini

@@ -5,6 +5,7 @@ Size=400,400
 [Window][Dear ImGui Demo]
 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=0,670
+Pos=0,732
-Size=800,30
+Size=924,30
 
 [Window][Dear ImGui Demo/ResizableChild_478B81A3]
 IsChild=1
@@ -39,10 +40,10 @@ Pos=60,60
 Size=353,1005
 
 [Window][Set visualization plane]
-Pos=400,0
+Pos=524,0
 Size=400,30
 
 [Window][Set time multiplier]
-Pos=400,640
+Pos=524,702
 Size=400,30
 

src/Main.cpp

@@ -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;
+}
+

src/collections/methods/lower_body.cpp

@@ -81,7 +81,7 @@ void Lower_Body::update(sf::Clock cl, float multiplier){
     float dxAcc = dx->getZ_Acc() ;
 
     int64_t Dtime = cl.getElapsedTime().asMicroseconds();
-    if (prevT == 0) prevT >= Dtime;
+    if (prevT == 0) prevT = Dtime;
     float dt = (float(Dtime) / 1000000.0) - (float(prevT) / 1000000.0);
     prevT = Dtime;
 

src/include.hpp

@@ -5,6 +5,7 @@
 #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"

src/pieces/headers/caviglia.hpp

@@ -3,12 +3,15 @@
 #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);

src/pieces/headers/coscia.hpp

@@ -5,11 +5,15 @@
 
 
 
+
 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);

src/pieces/headers/joint_piece.hpp

@@ -1 +0,0 @@
-#include "piece_interface.hpp"

src/pieces/headers/pavimento.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

src/pieces/headers/piece_interface.hpp

@@ -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
@@ -31,6 +32,22 @@ class PieceInterface{
             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;

src/pieces/headers/sensore.hpp

@@ -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;

src/pieces/headers/torso.hpp

@@ -4,12 +4,14 @@
 #define TORSO_H
 
 
-
-
 class Torso : public PieceInterface{
     private:
         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();

src/pieces/methods/caviglia_class.cpp

@@ -7,6 +7,13 @@ Caviglia::Caviglia(rb::Vector3 coords, _Float16 mass){
     globalPos = {0,0,0};
 
     initialize_shapes(caviglia_Dim);
+    try{
+        setTextures(TEXTURE_F,TEXTURE_L);
+    }
+    catch (const char* &e ){
+        printf("Caviglia: %s\n", e);
+    }
+    
 }
 
 
@@ -31,8 +38,9 @@ sf::Shape* Caviglia::draw(ReferencePlane plane){
         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;
     
@@ -41,7 +49,7 @@ 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;

src/pieces/methods/coscia_class.cpp

@@ -6,6 +6,13 @@ Coscia::Coscia(rb::Vector3 coords, _Float16 mass){
     color = coscia_Col;
     globalPos = {0,0,0};
     initialize_shapes(coscia_Dim);
+
+    try{
+        setTextures(TEXTURE_F,TEXTURE_L);
+    }
+    catch (const char* &e ){
+        printf("Coscia: %s\n", e);
+    }
 }
 
 Coscia::~Coscia(){
@@ -30,7 +37,7 @@ sf::Shape* Coscia::draw(ReferencePlane plane){
         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;
@@ -41,7 +48,7 @@ sf::Shape* Coscia::draw(ReferencePlane plane){
         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));
-        shape->setScale({1,cos(float(tmpRot[1]))});
+        shape->setScale({direction == Direction::R ? float(1.0) : float(-1.0),cos(float(tmpRot[1]))});
         return shape;}
         break;
     

src/pieces/methods/pavimento.cpp

@@ -0,0 +1,57 @@
+#include "../headers/pavimento.hpp"
+
+Pavimento::Pavimento(rb::Vector3 coords, _Float16 mass){
+    rb::Vector3 com = {pavimento_Dim.x/2,pavimento_Dim.z/2,pavimento_Dim.y/2};
+    body = rb::rigidbody(coords, com, mass, pavimento_Dim.z/2);
+    color = pavimento_Col;
+    globalPos = {0,0,0};
+    initialize_shapes(pavimento_Dim);
+
+    try{
+        setTextures(TEXTURE_F,TEXTURE_L);
+    }
+    catch (const char* &e ){
+        printf("Pavimento: %s\n", e);
+    }
+}
+
+Pavimento::~Pavimento(){
+    delete shapeXZ;
+    delete shapeYZ;
+}
+
+ sf::Shape* Pavimento::draw(ReferencePlane plane){
+     
+    rb::Vector3 tmpPos = body.getPos();
+    rb::Vector3 tmpRot = body.getRot();
+
+
+    switch (plane)
+    {
+    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({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;
+    
+    case ReferencePlane::YZ:
+        {
+        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));
+        shape->setScale({1,cos(float(tmpRot[1]))});
+        return shape;}
+        break;
+    
+    default:
+        break;
+    }
+
+   
+    return nullptr;
+ }

src/pieces/methods/sensore_class.cpp

@@ -76,6 +76,7 @@ sf::Shape* Sensore::draw(ReferencePlane plane){
         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));
+        shape->setScale({plane == ReferencePlane::XZ ? float(1.0) : float(-1.0),1});
         return shape;}
         break;
     
@@ -85,6 +86,7 @@ sf::Shape* Sensore::draw(ReferencePlane plane){
         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));
+        shape->setScale({direction == Direction::R ? float(1.0) : float(-1.0),1});
         return shape;}
         break;
     
@@ -115,7 +117,7 @@ void Sensore::calcRotWithG(unsigned int index){ // calcolo rotazione con valori
 }
 
 float Sensore::getZ_Acc(){
-    int id = *dataPos;
+    //int id = *dataPos;
     float tmpAcc = 0;
     
     rb::Vector3 acc = body.getAcc();

src/pieces/methods/torso.cpp

@@ -7,6 +7,13 @@ Torso::Torso(rb::Vector3 coords, _Float16 mass){
     globalPos = {0,0,0};
 
     initialize_shapes(torso_Dim);
+
+    try{
+        setTextures(TEXTURE_F,TEXTURE_L);
+    }
+    catch (const char* &e){
+        printf("Caviglia: %s\n", e);
+    }
 }
 
 Torso::~Torso(){
@@ -31,6 +38,7 @@ sf::Shape* Torso::draw(ReferencePlane plane){
         sf::Shape* shape = shapeXZ;
         shape->setRotation(sf::Angle(sf::radians(tmpRot[1])));
         shape->setPosition({tmpPos[0]+globalPos[0],tmpPos[2]+globalPos[2]});
+        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;

src/rigidbody/methods/rb_class.cpp

@@ -87,7 +87,7 @@ void rigidbody::calcPos(const float Dtime){
 
 void rigidbody::step(const sf::Clock time, float multiplier){
     int64_t Dtime = time.getElapsedTime().asMicroseconds();
-    if (prevT == 0) prevT >= Dtime;
+    if (prevT == 0) prevT = Dtime;
 
 
     float dt = ((float(Dtime) / 1000000.0) - (float(prevT) / 1000000.0)) * multiplier;

src/sfml_util.cpp

@@ -287,14 +287,12 @@ void handle_resize(const sf::Event::Resized &resized, State &gs)
 /// Graphics
 void doGUI(State &gs)
 {
-    // TODO: here code to display the menus
     //Bottoni
     sf::Time elapsed = gs.clock.restart();
 
     unsigned int zero = 0;
 
     ImGui::SFML::Update(gs.window, elapsed);
-    ImGui::ShowDemoWindow();
 
     //Finestra gestione posizione nei dati
     ImGuiWindowFlags sdp_flags = ImGuiWindowFlags_NoMove|

src/testMain.cpp

@@ -1,122 +0,0 @@
-#include "include.hpp"
-
-int main() {
-    CSVProcessor processor;
-    try {
-        processor.readCSVFile("data.csv");
-
-        // Access headers
-        const auto& headers = processor.getHeaders();
-        for (const auto& header : headers) {
-            std::cout << header << "\t";
-        }
-        std::cout << std::endl;
-
-        // Access data
-        int n = 0;
-        const auto& data = processor.getData();
-        for (const auto& row : data) {
-            if (n++ >40) break;
-            for (float value : row) {
-                std::cout << value << "\t";
-            }
-            std::cout << std::endl;
-        }
-    } catch (const std::exception& e) {
-        std::cerr << "Error: " << e.what() << std::endl;
-    }
-
-    // inizializzo variabili per gestire l'intervallo di visualizzazione
-
-    unsigned int min = 0;
-    unsigned int pos = 0;
-    unsigned int maj = 100;
-
-    //Costruisco la GUI 
-    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{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));
-
-        gs.pieces[1]->body.setRot({0,0,0});
-
-
-        processor.readCSVFile(DATA_PATH + "caviglia_filt.csv");
-        const auto& caviglia = processor.getData();
-        gs.pieces.push_back(new Sensore (rb::Vector3{300,300,500},_Float16( 0.2 ),&pos,caviglia));
-
-        gs.pieces.push_back(new Torso(rb::Vector3{300,400,150},2));
-
-        // modifico la rotazione relativa della gamba
-        gs.pieces[1]->body.setRot({_Float16 (1.3),_Float16 (1.7),0});
-        gs.pieces[3]->body.setRot({_Float16 (1.8),_Float16 (1.7),0});
-
-
-
-        // aggiungo i joint
-        gs.joints.push_back(new PivotJoint(gs.pieces[4], {gs.pieces[1]}, rb::Vector3{0,-100,50}));
-        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;
-        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");
-    }
-    catch(char* e){
-        printf("%s\n",e);
-    }
-    printf("Avvio l'interfaccia grafica\n");
-
-
-    unsigned int curTime = 0;
-    unsigned int freq = 50;
-    const unsigned int T = 1000/freq; //i sensori hanno una freq di campionamento di 50hz
-
-    //Avvio il loop della GUI
-    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;
-}
-