# -*- coding: utf-8 -*-
from grippercontroller import GripperController
from finger import Finger


def Gripper(parentNode=None):
    gripper = parentNode.addChild("Gripper")

    f1 = Finger(gripper, "Finger1",
                rotation=[0, 0, 105],
                translation=[20.0, 0.0, 0.0],
                fixingBox=[-20, -10, 0, 20, 10, 15],
                pullPointLocation=[3, 10.5, 3])

    f2 = Finger(gripper, "Finger2",
                rotation=[180, 0, 65],
                translation=[-10.0, 0.0, -4.0],
                fixingBox=[-20, -10, -30, 20, 10, 0],
                pullPointLocation=[3, 10.5, -7])

    f3 = Finger(gripper, "Finger3",
                rotation=[180, 0, 65],
                translation=[-10.0, 0.0, 34.0],
                fixingBox=[-20, -10, 0, 20, 10, 50],
                pullPointLocation=[3, 10.5, 31.5])

    gripper.addObject(GripperController([f1, f2, f3]))

    return gripper


def createScene(rootNode):
    """To test the content of this file, try:
    >>> runSofa gripper.py
    """
    from stlib3.scene import MainHeader, ContactHeader
    MainHeader(rootNode, gravity=[0.0, -981.0, 0.0], plugins=["SoftRobots"])
    ContactHeader(rootNode, alarmDistance=4, contactDistance=3, frictionCoef=0.08)
    rootNode.VisualStyle.displayFlags = "showBehavior showCollisionModels"

    Gripper(rootNode)
    return rootNode