[dartpy] Add InteractiveFrame and ImGui APIs

CHANGELOG.md

@@ -13,6 +13,7 @@
   * Added GUI event handler: [#1346](https://github.com/dartsim/dart/pull/1346)
   * Added shadow technique: [#1348](https://github.com/dartsim/dart/pull/1348)
   * Added findSolution and solveAndApply to InverseKinematics: [#1358](https://github.com/dartsim/dart/pull/1358)
+  * Added InteractiveFrame and ImGui APIs: [#1359](https://github.com/dartsim/dart/pull/1359)
 
 ### [DART 6.9.1 (2019-06-06)](https://github.com/dartsim/dart/milestone/59?closed=1)
 

examples/drag_and_drop/main.cpp

@@ -50,6 +50,7 @@ int main()
   tf.translation() = Eigen::Vector3d(-4, 4, 0);
   SimpleFramePtr draggable(new SimpleFrame(frame.get(), "draggable", tf));
   draggable->setShape(std::make_shared<BoxShape>(Eigen::Vector3d(1, 1, 1)));
+  draggable->getVisualAspect(true)->setColor(Eigen::Vector3d(0.9, 0.0, 0.0));
   world->addSimpleFrame(draggable);
 
   tf.translation() = Eigen::Vector3d(8.0, 0.0, 0.0);

python/dartpy/collision/CollisionObject.cpp

@@ -40,7 +40,7 @@ namespace python {
 
 void CollisionObject(py::module& m)
 {
-  ::pybind11::class_<dart::collision::CollisionObject>(m, "CollisionObject")
+  ::py::class_<dart::collision::CollisionObject>(m, "CollisionObject")
       .def(
           "getShape",
           +[](const dart::collision::CollisionObject* self)

python/dartpy/collision/DistanceOption.cpp

@@ -40,21 +40,21 @@ namespace python {
 
 void DistanceOption(py::module& m)
 {
-  ::pybind11::class_<dart::collision::DistanceOption>(m, "DistanceOption")
-      .def(::pybind11::init<>())
-      .def(::pybind11::init<bool>(), ::pybind11::arg("enableNearestPoints"))
+  ::py::class_<dart::collision::DistanceOption>(m, "DistanceOption")
+      .def(::py::init<>())
+      .def(::py::init<bool>(), ::py::arg("enableNearestPoints"))
       .def(
-          ::pybind11::init<bool, double>(),
-          ::pybind11::arg("enableNearestPoints"),
-          ::pybind11::arg("distanceLowerBound"))
+          ::py::init<bool, double>(),
+          ::py::arg("enableNearestPoints"),
+          ::py::arg("distanceLowerBound"))
       .def(
-          ::pybind11::init<
+          ::py::init<
               bool,
               double,
               const std::shared_ptr<dart::collision::DistanceFilter>&>(),
-          ::pybind11::arg("enableNearestPoints"),
-          ::pybind11::arg("distanceLowerBound"),
-          ::pybind11::arg("distanceFilter"))
+          ::py::arg("enableNearestPoints"),
+          ::py::arg("distanceLowerBound"),
+          ::py::arg("distanceFilter"))
       .def_readwrite(
           "enableNearestPoints",
           &dart::collision::DistanceOption::enableNearestPoints)

python/dartpy/collision/DistanceResult.cpp

@@ -40,8 +40,8 @@ namespace python {
 
 void DistanceResult(py::module& m)
 {
-  ::pybind11::class_<dart::collision::DistanceResult>(m, "DistanceResult")
-      .def(::pybind11::init<>())
+  ::py::class_<dart::collision::DistanceResult>(m, "DistanceResult")
+      .def(::py::init<>())
       .def(
           "clear",
           +[](dart::collision::DistanceResult* self) { self->clear(); })

python/dartpy/collision/RaycastOption.cpp

@@ -40,13 +40,13 @@ namespace python {
 
 void RaycastOption(py::module& m)
 {
-  ::pybind11::class_<dart::collision::RaycastOption>(m, "RaycastOption")
-      .def(::pybind11::init<>())
-      .def(::pybind11::init<bool>(), ::pybind11::arg("enableAllHits"))
+  ::py::class_<dart::collision::RaycastOption>(m, "RaycastOption")
+      .def(::py::init<>())
+      .def(::py::init<bool>(), ::py::arg("enableAllHits"))
       .def(
-          ::pybind11::init<bool, bool>(),
-          ::pybind11::arg("enableAllHits"),
-          ::pybind11::arg("sortByClosest"))
+          ::py::init<bool, bool>(),
+          ::py::arg("enableAllHits"),
+          ::py::arg("sortByClosest"))
       .def_readwrite(
           "mEnableAllHits", &dart::collision::RaycastOption::mEnableAllHits)
       .def_readwrite(

python/dartpy/collision/RaycastResult.cpp

@@ -42,16 +42,16 @@ namespace python {
 
 void RaycastResult(py::module& m)
 {
-  ::pybind11::class_<dart::collision::RayHit>(m, "RayHit")
-      .def(::pybind11::init<>())
+  ::py::class_<dart::collision::RayHit>(m, "RayHit")
+      .def(::py::init<>())
       .def_readwrite(
           "mCollisionObject", &dart::collision::RayHit::mCollisionObject)
       .def_readwrite("mNormal", &dart::collision::RayHit::mNormal)
       .def_readwrite("mPoint", &dart::collision::RayHit::mPoint)
       .def_readwrite("mFraction", &dart::collision::RayHit::mFraction);
 
-  ::pybind11::class_<dart::collision::RaycastResult>(m, "RaycastResult")
-      .def(::pybind11::init<>())
+  ::py::class_<dart::collision::RaycastResult>(m, "RaycastResult")
+      .def(::py::init<>())
       .def(
           "clear", +[](dart::collision::RaycastResult* self) { self->clear(); })
       .def(

python/dartpy/gui/osg/ImGuiHandler.cpp

@@ -0,0 +1,116 @@
+/*
+ * Copyright (c) 2011-2019, The DART development contributors
+ * All rights reserved.
+ *
+ * The list of contributors can be found at:
+ *   https://github.com/dartsim/dart/blob/master/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 <dart/dart.hpp>
+#include <dart/gui/osg/osg.hpp>
+#include <pybind11/eigen.h>
+#include <pybind11/pybind11.h>
+
+PYBIND11_DECLARE_HOLDER_TYPE(T, ::osg::ref_ptr<T>, true);
+
+namespace py = pybind11;
+
+namespace dart {
+namespace python {
+
+void ImGuiHandler(py::module& m)
+{
+  ::pybind11::class_<
+      dart::gui::osg::ImGuiHandler,
+      osg::ref_ptr<dart::gui::osg::ImGuiHandler> >(m, "ImGuiHandler")
+      .def(::pybind11::init<>())
+      .def(
+          "newFrame",
+          +[](dart::gui::osg::ImGuiHandler* self, osg::RenderInfo& renderInfo) {
+            self->newFrame(renderInfo);
+          },
+          ::pybind11::arg("renderInfo"))
+      .def(
+          "render",
+          +[](dart::gui::osg::ImGuiHandler* self, osg::RenderInfo& renderInfo) {
+            self->render(renderInfo);
+          },
+          ::pybind11::arg("renderInfo"))
+      .def(
+          "setCameraCallbacks",
+          +[](dart::gui::osg::ImGuiHandler* self, osg::Camera* camera) {
+            self->setCameraCallbacks(camera);
+          },
+          ::pybind11::arg("camera"))
+      .def(
+          "hasWidget",
+          +[](const dart::gui::osg::ImGuiHandler* self,
+              const std::shared_ptr<dart::gui::osg::ImGuiWidget>& widget)
+              -> bool { return self->hasWidget(widget); },
+          ::pybind11::arg("widget"))
+      .def(
+          "addWidget",
+          +[](dart::gui::osg::ImGuiHandler* self,
+              const std::shared_ptr<dart::gui::osg::ImGuiWidget>& widget) {
+            self->addWidget(widget);
+          },
+          ::pybind11::arg("widget"))
+      .def(
+          "addWidget",
+          +[](dart::gui::osg::ImGuiHandler* self,
+              const std::shared_ptr<dart::gui::osg::ImGuiWidget>& widget,
+              bool visible) { self->addWidget(widget, visible); },
+          ::pybind11::arg("widget"),
+          ::pybind11::arg("visible"))
+      .def(
+          "removeWidget",
+          +[](dart::gui::osg::ImGuiHandler* self,
+              const std::shared_ptr<dart::gui::osg::ImGuiWidget>& widget) {
+            self->removeWidget(widget);
+          },
+          ::pybind11::arg("widget"))
+      .def(
+          "removeAllWidget",
+          +[](dart::gui::osg::ImGuiHandler* self) { self->removeAllWidget(); })
+      .def(
+          "handle",
+          +[](dart::gui::osg::ImGuiHandler* self,
+              const osgGA::GUIEventAdapter& eventAdapter,
+              osgGA::GUIActionAdapter& actionAdapter,
+              osg::Object* object,
+              osg::NodeVisitor* nodeVisitor) -> bool {
+            return self->handle(
+                eventAdapter, actionAdapter, object, nodeVisitor);
+          },
+          ::pybind11::arg("eventAdapter"),
+          ::pybind11::arg("actionAdapter"),
+          ::pybind11::arg("object"),
+          ::pybind11::arg("nodeVisitor"));
+}
+
+} // namespace python
+} // namespace dart

python/dartpy/gui/osg/ImGuiViewer.cpp

@@ -0,0 +1,69 @@
+/*
+ * Copyright (c) 2011-2019, The DART development contributors
+ * All rights reserved.
+ *
+ * The list of contributors can be found at:
+ *   https://github.com/dartsim/dart/blob/master/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 <dart/dart.hpp>
+#include <dart/gui/osg/osg.hpp>
+#include <pybind11/eigen.h>
+#include <pybind11/pybind11.h>
+
+PYBIND11_DECLARE_HOLDER_TYPE(T, ::osg::ref_ptr<T>, true);
+
+namespace py = pybind11;
+
+namespace dart {
+namespace python {
+
+void ImGuiViewer(py::module& m)
+{
+  ::py::class_<
+      dart::gui::osg::ImGuiViewer,
+      dart::gui::osg::Viewer,
+      osg::ref_ptr<dart::gui::osg::ImGuiViewer>>(m, "ImGuiViewer")
+      .def(::py::init<>())
+      .def(::py::init<const osg::Vec4&>(), ::py::arg("clearColor"))
+      .def(
+          "getImGuiHandler",
+          +[](dart::gui::osg::ImGuiViewer* self)
+              -> dart::gui::osg::ImGuiHandler* {
+            return self->getImGuiHandler();
+          },
+          ::py::return_value_policy::reference_internal)
+      .def(
+          "showAbout",
+          +[](dart::gui::osg::ImGuiViewer* self) { self->showAbout(); })
+      .def("hideAbout", +[](dart::gui::osg::ImGuiViewer* self) {
+        self->hideAbout();
+      });
+}
+
+} // namespace python
+} // namespace dart

python/dartpy/gui/osg/ImGuiWidget.cpp

@@ -0,0 +1,66 @@
+/*
+ * Copyright (c) 2011-2019, The DART development contributors
+ * All rights reserved.
+ *
+ * The list of contributors can be found at:
+ *   https://github.com/dartsim/dart/blob/master/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 <dart/dart.hpp>
+#include <dart/gui/osg/osg.hpp>
+#include <pybind11/eigen.h>
+#include <pybind11/pybind11.h>
+
+PYBIND11_DECLARE_HOLDER_TYPE(T, ::osg::ref_ptr<T>, true);
+
+namespace py = pybind11;
+
+namespace dart {
+namespace python {
+
+void ImGuiWidget(py::module& m)
+{
+  ::pybind11::class_<dart::gui::osg::ImGuiWidget>(m, "ImGuiWidget")
+      .def("render", +[](dart::gui::osg::ImGuiWidget* self) { self->render(); })
+      .def(
+          "setVisible",
+          +[](dart::gui::osg::ImGuiWidget* self, bool visible) {
+            self->setVisible(visible);
+          },
+          ::pybind11::arg("visible"))
+      .def(
+          "toggleVisible",
+          +[](dart::gui::osg::ImGuiWidget* self) { self->toggleVisible(); })
+      .def("show", +[](dart::gui::osg::ImGuiWidget* self) { self->show(); })
+      .def("hide", +[](dart::gui::osg::ImGuiWidget* self) { self->hide(); })
+      .def("isVisible", +[](const dart::gui::osg::ImGuiWidget* self) -> bool {
+        return self->isVisible();
+      });
+}
+
+} // namespace python
+} // namespace dart