dartpy 7.0.0.dev0__cp312-cp312-manylinux_2_39_x86_64.whl

share/doc/dart/examples/tinkertoy/TinkertoyWidget.cpp

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+/*
+ * Copyright (c) 2011-2025, The DART development contributors
+ * All rights reserved.
+ *
+ * The list of contributors can be found at:
+ *   https://github.com/dartsim/dart/blob/main/LICENSE
+ *
+ * This file is provided under the following "BSD-style" License:
+ *   Redistribution and use in source and binary forms, with or
+ *   without modification, are permitted provided that the following
+ *   conditions are met:
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * This code incorporates portions of Open Dynamics Engine
+ *     (Copyright (c) 2001-2004, Russell L. Smith. All rights
+ *     reserved.) and portions of FCL (Copyright (c) 2011, Willow
+ *     Garage, Inc. All rights reserved.), which were released under
+ *     the same BSD license as below
+ *
+ *   THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND
+ *   CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES,
+ *   INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
+ *   MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ *   DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
+ *   CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+ *   SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+ *   LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF
+ *   USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ *   AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *   LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *   ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *   POSSIBILITY OF SUCH DAMAGE.
+ */
+
+#include "TinkertoyWidget.hpp"
+
+#include "TinkertoyWorldNode.hpp"
+
+//==============================================================================
+TinkertoyWidget::TinkertoyWidget(
+    dart::gui::osg::ImGuiViewer* viewer, TinkertoyWorldNode* node)
+  : mViewer(viewer),
+    mNode(node),
+    mGuiGravity(true),
+    mGravity(true),
+    mGuiHeadlights(true)
+{
+  // Do nothing
+}
+
+//==============================================================================
+void TinkertoyWidget::render()
+{
+  ImGui::SetNextWindowPos(ImVec2(10, 20));
+  ImGui::SetNextWindowSize(ImVec2(360, 640));
+  ImGui::SetNextWindowBgAlpha(0.5f);
+  if (!ImGui::Begin(
+          "Tinkertoy Control",
+          nullptr,
+          ImGuiWindowFlags_NoResize | ImGuiWindowFlags_MenuBar
+              | ImGuiWindowFlags_HorizontalScrollbar)) {
+    // Early out if the window is collapsed, as an optimization.
+    ImGui::End();
+    return;
+  }
+
+  // Menu
+  if (ImGui::BeginMenuBar()) {
+    if (ImGui::BeginMenu("Menu")) {
+      if (ImGui::MenuItem("Exit"))
+        mViewer->setDone(true);
+      ImGui::EndMenu();
+    }
+    if (ImGui::BeginMenu("Help")) {
+      if (ImGui::MenuItem("About DART"))
+        mViewer->showAbout();
+      ImGui::EndMenu();
+    }
+    ImGui::EndMenuBar();
+  }
+
+  ImGui::Text("<TODO: Short description about this example>");
+  ImGui::Spacing();
+
+  if (ImGui::CollapsingHeader("Help")) {
+    ImGui::PushTextWrapPos(ImGui::GetCursorPos().x + 320);
+    ImGui::Text("User Guid:\n");
+    ImGui::Text("%s", mViewer->getInstructions().c_str());
+    ImGui::Text("Left-click on a block to select it.\n");
+    ImGui::Text("Press [Backspace] to deselect.\n");
+    ImGui::Text("Press [Tab] to reset the camera view\n");
+    ImGui::Text("Press [`] to reset the orientation of the target\n");
+    ImGui::Text("\n --- While Simulation is Paused ---\n");
+    ImGui::Text(
+        "The selected block will be red; all other blocks will be yellow.\n");
+    ImGui::Text(
+        "Press [1] -> [3] to attach a new block to the selected block.\n");
+    ImGui::Text("[1]: Attach using a WeldJoint\n");
+    ImGui::Text("[2]: Attach using a RevoluteJoint\n");
+    ImGui::Text("[3]: Attach using a BallJoint\n");
+    ImGui::Text(
+        "The longitudinal direction of the new block will be along the x-axis "
+        "(Red) of the target.\n");
+    ImGui::Text(
+        "The joint axis will follow the z-axis (Blue) of the target when "
+        "making a RevolueJoint.\n");
+    ImGui::Text(
+        "Press [Delete] to permanently remove a block and all of its "
+        "children.\n");
+    ImGui::Text(
+        "Adding a block when nothing is currently selected will attach it to "
+        "the world, beginning a new tree.\n");
+    ImGui::Text("\n --- While Simulation is Active ---\n");
+    ImGui::Text(
+        "The selected block will be Fuchsia; all other blocks will be blue.\n");
+    ImGui::Text("Move around the target to pull on the selected block.\n");
+    ImGui::Text("Press [Up] or [Down] to adjust the pulling strength.\n");
+    ImGui::Text("Press [G] to toggle Gravity\n");
+    ImGui::Text(
+        "Blocks belonging to different trees can collide with each other "
+        "during simulation.\n");
+    ImGui::Text(
+        "Collisions between blocks belonging to the same tree will be "
+        "ignored.\n");
+    ImGui::PopTextWrapPos();
+  }
+
+  if (ImGui::CollapsingHeader("Simulation", ImGuiTreeNodeFlags_DefaultOpen)) {
+    int e = mViewer->isSimulating() ? 0 : 1;
+    if (mViewer->isAllowingSimulation()) {
+      if (ImGui::RadioButton("Play", &e, 0) && !mViewer->isSimulating())
+        mViewer->simulate(true);
+      ImGui::SameLine();
+      if (ImGui::RadioButton("Pause", &e, 1) && mViewer->isSimulating())
+        mViewer->simulate(false);
+    }
+  }
+
+  if (ImGui::CollapsingHeader(
+          "World Options", ImGuiTreeNodeFlags_DefaultOpen)) {
+    // Gravity
+    ImGui::Checkbox("Gravity On/Off", &mGuiGravity);
+    setGravity(mGuiGravity);
+
+    ImGui::Spacing();
+
+    // Headlights
+    mGuiHeadlights = mViewer->checkHeadlights();
+    ImGui::Checkbox("Headlights On/Off", &mGuiHeadlights);
+    mViewer->switchHeadlights(mGuiHeadlights);
+  }
+
+  if (ImGui::CollapsingHeader(
+          "Tinkertoy Options", ImGuiTreeNodeFlags_DefaultOpen)) {
+    ImGui::SliderFloat(
+        "Force Coeff",
+        &mNode->mForceCoeff,
+        MinForceCoeff,
+        MaxForceCoeff,
+        "%.1f");
+
+    ImGui::Spacing();
+
+    const auto reorient = ImGui::Button("Reorient Target");
+    if (reorient)
+      mNode->reorientTarget();
+
+    const auto clearTarget = ImGui::Button("Reset Target");
+    if (clearTarget)
+      mNode->clearPick();
+
+    const auto addWeld = ImGui::Button("Add a Weld-Joint Block");
+    if (addWeld)
+      mNode->addWeldJointBlock();
+
+    const auto addRevolute = ImGui::Button("Add a Revolute-Joint Block");
+    if (addRevolute)
+      mNode->addRevoluteJointBlock();
+
+    const auto addBall = ImGui::Button("Add a Ball-Joint Block");
+    if (addBall)
+      mNode->addBallJointBlock();
+
+    const auto deleteBlock = ImGui::Button("Delete Block");
+    if (deleteBlock)
+      mNode->deletePick();
+  }
+
+  ImGui::End();
+}
+
+//==============================================================================
+void TinkertoyWidget::setGravity(bool gravity)
+{
+  if (mGravity == gravity)
+    return;
+
+  mGravity = gravity;
+
+  if (mGravity)
+    mNode->getWorld()->setGravity(-9.81 * Eigen::Vector3d::UnitZ());
+  else
+    mNode->getWorld()->setGravity(Eigen::Vector3d::Zero());
+}

share/doc/dart/examples/tinkertoy/TinkertoyWidget.hpp

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+/*
+ * Copyright (c) 2011-2025, The DART development contributors
+ * All rights reserved.
+ *
+ * The list of contributors can be found at:
+ *   https://github.com/dartsim/dart/blob/main/LICENSE
+ *
+ * This file is provided under the following "BSD-style" License:
+ *   Redistribution and use in source and binary forms, with or
+ *   without modification, are permitted provided that the following
+ *   conditions are met:
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * This code incorporates portions of Open Dynamics Engine
+ *     (Copyright (c) 2001-2004, Russell L. Smith. All rights
+ *     reserved.) and portions of FCL (Copyright (c) 2011, Willow
+ *     Garage, Inc. All rights reserved.), which were released under
+ *     the same BSD license as below
+ *
+ *   THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND
+ *   CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES,
+ *   INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
+ *   MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ *   DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
+ *   CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+ *   SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+ *   LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF
+ *   USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ *   AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *   LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *   ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *   POSSIBILITY OF SUCH DAMAGE.
+ */
+
+#ifndef DART_EXAMPLE_OSG_OSGATLASSIMBICON_TINKERTOYWIDGET_HPP_
+#define DART_EXAMPLE_OSG_OSGATLASSIMBICON_TINKERTOYWIDGET_HPP_
+
+#include "dart/gui/osg/ImGuiViewer.hpp"
+#include "dart/gui/osg/ImGuiWidget.hpp"
+
+class TinkertoyWorldNode;
+
+class TinkertoyWidget : public dart::gui::osg::ImGuiWidget
+{
+public:
+  /// Constructor
+  TinkertoyWidget(
+      dart::gui::osg::ImGuiViewer* viewer, TinkertoyWorldNode* node);
+
+  // Documentation inherited
+  void render() override;
+
+protected:
+  void setGravity(bool gravity);
+
+  osg::ref_ptr<dart::gui::osg::ImGuiViewer> mViewer;
+
+  TinkertoyWorldNode* mNode;
+
+  bool mGuiGravity;
+  bool mGravity;
+
+  bool mGuiHeadlights;
+};
+
+#endif // DART_EXAMPLE_OSG_OSGATLASSIMBICON_TINKERTOYWIDGET_HPP_

share/doc/dart/examples/tinkertoy/TinkertoyWorldNode.cpp

@@ -0,0 +1,35 @@
+/*
+ * Copyright (c) 2011-2025, The DART development contributors
+ * All rights reserved.
+ *
+ * The list of contributors can be found at:
+ *   https://github.com/dartsim/dart/blob/main/LICENSE
+ *
+ * This file is provided under the following "BSD-style" License:
+ *   Redistribution and use in source and binary forms, with or
+ *   without modification, are permitted provided that the following
+ *   conditions are met:
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND
+ *   CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES,
+ *   INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
+ *   MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ *   DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
+ *   CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+ *   SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+ *   LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF
+ *   USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ *   AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *   LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *   ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *   POSSIBILITY OF SUCH DAMAGE.
+ */
+
+#include "TinkertoyWorldNode.hpp"
+
+//==============================================================================