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import numpy as np
import dartpy as dart
def main():
world = dart.simulation.World()
tf = dart.math.Isometry3()
tf.set_translation([4, -4, 0])
frame = dart.gui.osg.InteractiveFrame(
dart.dynamics.Frame.World(), 'interactive frame', tf, 2)
world.addSimpleFrame(frame)
tf.set_translation([-4, 4, 0])
draggable = dart.dynamics.SimpleFrame(frame, 'draggable', tf)
draggable.setShape(dart.dynamics.BoxShape([1, 1, 1]))
draggable.getVisualAspect(True).setColor([0.9, 0, 0])
world.addSimpleFrame(draggable)
tf.set_translation([8, 0, 0])
x_marker = dart.dynamics.SimpleFrame(dart.dynamics.Frame.World(), 'X', tf)
x_shape = dart.dynamics.BoxShape([0.2, 0.2, 0.2])
x_marker.setShape(x_shape)
x_marker.getVisualAspect(True).setColor([0.9, 0, 0])
world.addSimpleFrame(x_marker)
tf.set_translation([0, 8, 0])
y_marker = dart.dynamics.SimpleFrame(dart.dynamics.Frame.World(), 'Y', tf)
y_shape = dart.dynamics.BoxShape([0.2, 0.2, 0.2])
y_marker.setShape(y_shape)
y_marker.getVisualAspect(True).setColor([0, 0.9, 0])
world.addSimpleFrame(y_marker)
tf.set_translation([0, 0, 8])
z_marker = dart.dynamics.SimpleFrame(dart.dynamics.Frame.World(), 'Z', tf)
z_shape = dart.dynamics.BoxShape([0.2, 0.2, 0.2])
z_marker.setShape(z_shape)
z_marker.getVisualAspect(True).setColor([0, 0, 0.9])
world.addSimpleFrame(z_marker)
node = dart.gui.osg.WorldNode(world)
viewer = dart.gui.osg.Viewer()
viewer.addWorldNode(node)
viewer.enableDragAndDrop(frame)
viewer.enableDragAndDrop(draggable)
viewer.addInstructionText("\nCtrl + Left-click: Rotate the box\n")
print(viewer.getInstructions())
viewer.setUpViewInWindow(0, 0, 640, 480)
viewer.setCameraHomePosition([20, 17, 17], [0, 0, 0], [0, 0, 1])
viewer.run()
if __name__ == "__main__":
main()
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