Initial commit.

.gitignore

@@ -0,0 +1,5 @@
+__pycache__
+/app/bin/content
+*.fbm
+/resources_compiled
+/app/resources_compiled

.vscode/launch.json

@@ -0,0 +1,16 @@
+{
+    // Use IntelliSense to learn about possible attributes.
+    // Hover to view descriptions of existing attributes.
+    // For more information, visit: https://go.microsoft.com/fwlink/?linkid=830387
+    "version": "0.2.0",
+    "configurations": [
+        {
+            "name": "Python: Poppy api rest",
+            "type": "python",
+            "request": "launch",
+            "program": "poppy_api_rest.py",
+            "cwd": "${workspaceFolder}/app",
+            "console": "integratedTerminal"
+        }
+    ]
+}

README.md

@@ -0,0 +1,39 @@
+# HARFANG® 3.0 Poppy Ergo Jr
+
+This project demonstrate the usage of the [HARFANG 3.0 API](https://www.harfang3d.com/releases/3.0.0/) in **Python** with the [**Poppy Ergo Junior**](https://www.poppy-project.org/en/robots/poppy-ergo-jr/) robot.
+
+[![](https://raw.githubusercontent.com/harfang3d/image-storage/main/portfolio/3.0.0/digital-twin-poppy-ergo-jr-yt.png)](https://www.youtube.com/watch?v=5kzy_JD_1Ag)
+
+## To run the project:
+
+### Windows (Win64) platform:
+
+```bash
+git clone https://github.com/harfang3d/python-digital-twin poppy
+cd poppy/
+curl https://www.harfang3d.com/releases/3.0.0/assetc-win-x64-3.0.0.zip --output assetc.zip
+powershell -command "Expand-Archive assetc.zip assetc"
+pip install -r requirements.txt
+assetc\assetc.exe resources app/resources_compiled
+cd app
+python poppy_api_rest.py
+```
+
+### Linux platform:
+
+```bash
+git clone https://github.com/harfang3d/python-digital-twin poppy
+cd poppy/
+wget https://www.harfang3d.com/releases/3.0.0/assetc-ubuntu-x64-3.0.0.zip
+unzip assetc-ubuntu-x64-3.0.0.zip -d assetc
+wget https://www.harfang3d.com/releases/3.0.0/harfang-3.0.0-cp32-abi3-linux_x86_64.whl
+python3 -m pip install harfang-3.0.0-cp32-abi3-linux_x86_64.whl
+assetc/assetc resources app/resources_compiled
+cd app
+python3 poppy_api_rest.py
+```
+
+## Notes:
+
+* To run the program, you can also open the project folder using [Visual Studio Code](https://code.visualstudio.com/) and use the provided debug target.
+* If you want to know more about HARFANG, please visit the [official website](https://www.harfang3d.com).

app/OrbitalCam.py

@@ -0,0 +1,55 @@
+import harfang as hg
+
+d = 5
+
+cam_rot_speed = 0.5
+k_wheel = 10
+
+
+def OrbitalController(keyboard, mouse, cam_pos, cam_rot, cam_tgt, dt, width, height):
+	global d
+	dt_sec = hg.time_to_sec_f(dt)
+
+	k_ar = hg.ComputeAspectRatioX(width, height).x
+
+	state_modified = False
+	if mouse.Down(hg.MB_0):
+		speed = dt_sec * cam_rot_speed
+		delta_x = mouse.DtX()
+		delta_y = -mouse.DtY()
+		cam_rot.x += delta_y * speed
+		cam_rot.y += delta_x * speed
+
+		# clamp X
+		if cam_rot.x > 1.57:
+			cam_rot.x = 1.57
+		if cam_rot.x < 0:
+			cam_rot.x = 0
+
+	if keyboard.Down(hg.K_LAlt):
+		if mouse.Down(hg.MB_0):
+			z_value = -mouse.DtY() * 5
+			speed = d * dt_sec * 10
+			d += z_value * speed
+
+	if mouse.Wheel() != 0:
+		wheel_dt = mouse.Wheel()
+
+		k = abs(wheel_dt) * k_wheel * dt_sec
+		if wheel_dt > 0:
+			d /= k + 1
+		else:
+			d *= k + 1
+
+		if d < 3:
+			d = 3  # make sure not to come too close to the target
+		if d > 28:
+			d = 28
+
+	if mouse.Down(hg.MB_2):  # scroll viewpoint
+		speed = d * dt_sec * 0.1
+		mat = hg.TransformationMat4(cam_pos, cam_rot)
+		cam_tgt += (hg.GetX(mat) * -mouse.DtX() * k_ar + hg.GetY(mat) * -mouse.DtY()) * speed
+
+	world = hg.TransformationMat4(cam_tgt, cam_rot, hg.Vec3.One) * hg.TranslationMat4(hg.Vec3(0, 0, -d))
+	return world, cam_rot, cam_tgt, hg.GetT(world)

app/compile_content.bat

@@ -0,0 +1 @@
+..\assetc\assetc.exe ..\resources resources_compiled