import Sofa

import SofaTypes

import numpy

from numpy import array

from Sofa.Types import RGBAColor

class DrawingExamples(Sofa.Core.Controller):

def __init__(self, *args, **kwargs):

# These are needed (and the normal way to override from a python class)

Sofa.Core.Controller.__init__(self, *args, **kwargs)

self.target = kwargs.get("target", None)

self.mo = kwargs.get("mo", None)

def draw(self, visual_context):

dt = visual_context.getDrawTool()

if self.target is not None:

dt.disableLighting()

dt.drawPoints(self.target.position, 5.0, RGBAColor("blue"))

dt.drawTriangles(self.target.position, self.target.triangles, RGBAColor("white"))

dt.drawQuads(self.target.position, self.target.quads, RGBAColor("white"))

dt.enableLighting()

dt.drawFrames(self.mo.position, [0.1,0.1,0.1])

dt.disableLighting()

dt.drawPoints(array([[-1.5,-1.0,0.0]]), 5.0, RGBAColor("red"))

dt.drawPoints([[-1.3,0,-1], [1.3,0,-1]], 10.0, RGBAColor("green"))

dt.drawLines([[-1.3,0,-1], [1.3,0,-1]], 1.0, RGBAColor("green"))

dt.drawFrames([[-1.5,0.1,-1]], [[0.0,0,0,1.0]], [0.1,0.1,0.1])

dt.drawText([-2.0,-1.0,0.0], 0.5, "This is not a raptor", RGBAColor("white"))

dt.drawOverlayText([10, 10], 16, "Overlay text", RGBAColor("pink"))

dt.enableLighting()

def createScene(root):

root.dt = 0.01

root.bbox = [[-1,-1,-1],[1,1,1]]

root.addObject("RequiredPlugin", pluginName=['Sofa.Component.IO.Mesh',

'Sofa.Component.StateContainer'])

root.addObject('DefaultVisualManagerLoop')

root.addObject('DefaultAnimationLoop')

root.addObject("MeshOBJLoader", name="loader", filename="mesh/raptor_35kp.obj")

root.addObject("MechanicalObject",

name="mo",

template="Rigid3",

position=[[float(i)/10.0, 0.0,0.0, 0.0, 0.0, 0.0, 1.0] for i in range(0,10)])

# Add our python controller in the scene

root.addObject( DrawingExamples(name="DrawingController2",

target=root.loader,

mo=root.mo) )