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damienmarchaldamienmarchal
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Separate DrawTool from VisualParam
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7 files changed

+205
-55
lines changed

7 files changed

+205
-55
lines changed

‎bindings/Sofa/src/SofaPython3/Sofa/Core/Binding_DrawTool.cpp‎

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/******************************************************************************
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* SOFA, Simulation Open-Framework Architecture *
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* (c) 2021 INRIA, USTL, UJF, CNRS, MGH *
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* *
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* This program is free software; you can redistribute it and/or modify it *
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* under the terms of the GNU Lesser General Public License as published by *
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* the Free Software Foundation; either version 2.1 of the License, or (at *
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* your option) any later version. *
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* *
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* This program is distributed in the hope that it will be useful, but WITHOUT *
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* ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or *
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* FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License *
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* for more details. *
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* *
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* You should have received a copy of the GNU Lesser General Public License *
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* along with this program. If not, see <http://www.gnu.org/licenses/>. *
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*******************************************************************************
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* Contact information: [email protected] *
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******************************************************************************/
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#include <sofa/type/Quat.h>
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#include <pybind11/pybind11.h>
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#include <pybind11/pytypes.h>
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#include <pybind11/stl.h>
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#include <SofaPython3/Sofa/Core/Binding_Base.h>
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#include <sofa/core/visual/VisualParams.h>
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#include <SofaPython3/Sofa/Core/Binding_DrawTool.h>
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#include <SofaPython3/Sofa/Core/Binding_DrawTool_doc.h>
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#include <SofaPython3/PythonFactory.h>
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#include <sofa/core/objectmodel/Data.h>
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#include <sofa/type/RGBAColor.h>
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namespace py { using namespace pybind11; }
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using sofa::core::objectmodel::BaseData;
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using sofa::core::objectmodel::Data;
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using sofa::core::objectmodel::BaseObject;
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using sofa::core::visual::VisualParams;
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using sofa::core::visual::DrawTool;
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namespace sofapython3 {
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sofa::type::vector<sofa::type::Vec3> getPoints(const py::array_t<double>& array)
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{
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py::buffer_info buf = array.request();
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if (buf.ndim != 2)
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throw std::runtime_error("Invalid argument, expecting an array with ndim=2");
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size_t rows = buf.shape[0];
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size_t cols = buf.shape[1];
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double* ptr = static_cast<double*>(buf.ptr);
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std::vector<sofa::type::Vec3d> points;
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points.resize(rows);
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for (size_t i = 0; i < rows; ++i)
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for (size_t j = 0; j < cols; ++j)
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points[i][j] = ptr[i * cols + j];
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return points;
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}
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void moduleAddDrawTool(py::module &m)
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{
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py::class_<DrawTool> dt(m, "DrawTool", sofapython3::doc::drawtool::baseDrawToolClass);
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// Draw points from vectors...
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dt.def("drawPoints", [](DrawTool *self, py::array_t<double> points, float size, sofa::type::RGBAColor& color)
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{
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self->drawPoints(getPoints(points), size, color);
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});
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// Draw points from a base data that can be casted to a vector of Vec3
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dt.def("drawPoints", [](DrawTool *self, BaseData* dpositions, float size ){
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auto positions = dynamic_cast<Data<sofa::type::vector<sofa::type::Vec3>>*>(dpositions);
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if(!positions)
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throw std::runtime_error("Invalid argument, a base data of type vector<Vec3> was expected, got "+dpositions->getValueTypeString());
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self->drawPoints(positions->getValue(), size, sofa::type::RGBAColor::white());
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});
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dt.def("drawLines", [](DrawTool *self, const std::vector<sofa::type::Vec3> &points, float size ){
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self->drawLines(points, size, sofa::type::RGBAColor::white());
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});
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dt.def("drawFrames", [](DrawTool* self,
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const std::vector<sofa::type::Vec3d>& points,
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const std::vector<sofa::type::Quatd>& orientations,
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const sofa::type::Vec3& size ){
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for(unsigned int i=0;i<points.size();i++)
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{
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self->drawFrame(points[i], orientations[i], size);
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}
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});
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dt.def("drawFrames", [](DrawTool* self, BaseData* dpositions, const sofa::type::Vec3& size ){
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using sofa::defaulttype::Rigid3Types;
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using Coord = sofa::defaulttype::Rigid3Types::Coord;
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auto positions = dynamic_cast<Data<sofa::type::vector<Coord>>*>(dpositions);
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if(!positions)
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throw std::runtime_error("Invalid argument");
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for(auto& position : positions->getValue())
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{
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self->drawFrame(Rigid3Types::getCPos(position),
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Rigid3Types::getCRot(position), size);
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}
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});
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dt.def("drawText", [](DrawTool* self,
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const sofa::type::Vec3d& point,
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const float size,
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const std::string& text)
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{
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self->draw3DText(point, size, sofa::type::RGBAColor::white(), text.c_str());
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});
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dt.def("drawOverlayText", [](DrawTool* self, int x, int y, int fontSize, char* text){
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self->writeOverlayText(x,y, fontSize, sofa::type::RGBAColor::white(), text);
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});
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}
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} /// namespace sofapython3

‎bindings/Sofa/src/SofaPython3/Sofa/Core/Binding_DrawTool.h‎

Lines changed: 29 additions & 0 deletions
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/******************************************************************************
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* SOFA, Simulation Open-Framework Architecture *
3+
* (c) 2021 INRIA, USTL, UJF, CNRS, MGH *
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* *
5+
* This program is free software; you can redistribute it and/or modify it *
6+
* under the terms of the GNU Lesser General Public License as published by *
7+
* the Free Software Foundation; either version 2.1 of the License, or (at *
8+
* your option) any later version. *
9+
* *
10+
* This program is distributed in the hope that it will be useful, but WITHOUT *
11+
* ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or *
12+
* FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License *
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* for more details. *
14+
* *
15+
* You should have received a copy of the GNU Lesser General Public License *
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* along with this program. If not, see <http://www.gnu.org/licenses/>. *
17+
*******************************************************************************
18+
* Contact information: [email protected] *
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******************************************************************************/
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#pragma once
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#include <pybind11/pybind11.h>
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24+
namespace sofapython3 {
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void moduleAddDrawTool(pybind11::module &m);
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} /// namespace sofapython3
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‎bindings/Sofa/src/SofaPython3/Sofa/Core/Binding_DrawTool_doc.h‎

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/******************************************************************************
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* SOFA, Simulation Open-Framework Architecture *
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* (c) 2021 INRIA, USTL, UJF, CNRS, MGH *
4+
* *
5+
* This program is free software; you can redistribute it and/or modify it *
6+
* under the terms of the GNU Lesser General Public License as published by *
7+
* the Free Software Foundation; either version 2.1 of the License, or (at *
8+
* your option) any later version. *
9+
* *
10+
* This program is distributed in the hope that it will be useful, but WITHOUT *
11+
* ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or *
12+
* FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License *
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* for more details. *
14+
* *
15+
* You should have received a copy of the GNU Lesser General Public License *
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* along with this program. If not, see <http://www.gnu.org/licenses/>. *
17+
*******************************************************************************
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* Contact information: [email protected] *
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******************************************************************************/
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21+
#pragma once
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namespace sofapython3::doc::drawtool {
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static auto baseDrawToolClass =
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R"(DrawTool is a wrapper for low-level rendering draw calls.
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It provides higher-level drawing functions like drawing lines, points, spheres, arrows, etc., without
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needing to write raw OpenGL each time.)";
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} // namespace sofapython3::doc::drawtool

‎bindings/Sofa/src/SofaPython3/Sofa/Core/Binding_VisualParams.cpp‎

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@@ -34,67 +34,16 @@
3434
#include <sofa/type/RGBAColor.h>
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namespace py { using namespace pybind11; }
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using sofa::core::objectmodel::BaseData;
38-
using sofa::core::objectmodel::Data;
39-
using sofa::core::objectmodel::BaseObject;
4037
using sofa::core::visual::VisualParams;
41-
using sofa::core::visual::DrawTool;
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4339
namespace sofapython3 {
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4541
void moduleAddVisualParams(py::module &m)
4642
{
47-
py::class_<VisualParams> vp(m, "VisualParams", sofapython3::doc::visualParams::baseVisualParamsClass);
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py::class_<VisualParams> vp(m, "VisualParams", sofapython3::doc::visualparams::baseVisualParamsClass);
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4845
vp.def("getDrawTool", [](VisualParams *self){ return self->drawTool(); },
4946
pybind11::return_value_policy::reference);
50-
51-
py::class_<DrawTool> dt(m, "DrawTool", sofapython3::doc::visualParams::baseVisualParamsClass);
52-
dt.def("drawPoints", [](DrawTool *self, const std::vector<sofa::type::Vec3> &points, float size ){
53-
self->drawPoints(points, size, sofa::type::RGBAColor::white());
54-
});
55-
dt.def("drawPoints", [](DrawTool *self, BaseData* dpositions, float size ){
56-
auto positions = dynamic_cast<Data<sofa::type::vector<sofa::type::Vec3>>*>(dpositions);
57-
if(!positions)
58-
throw std::runtime_error("Invalid argument");
59-
60-
self->drawPoints(positions->getValue(), size, sofa::type::RGBAColor::white());
61-
});
62-
dt.def("drawLines", [](DrawTool *self, const std::vector<sofa::type::Vec3> &points, float size ){
63-
self->drawLines(points, size, sofa::type::RGBAColor::white());
64-
});
65-
dt.def("drawFrames", [](DrawTool* self,
66-
const std::vector<sofa::type::Vec3d>& points,
67-
const std::vector<sofa::type::Quatd>& orientations,
68-
const sofa::type::Vec3& size ){
69-
for(unsigned int i=0;i<points.size();i++)
70-
{
71-
self->drawFrame(points[i], orientations[i], size);
72-
}
73-
});
74-
dt.def("drawFrames", [](DrawTool* self, BaseData* dpositions, const sofa::type::Vec3& size ){
75-
using sofa::defaulttype::Rigid3Types;
76-
using Coord = sofa::defaulttype::Rigid3Types::Coord;
77-
auto positions = dynamic_cast<Data<sofa::type::vector<Coord>>*>(dpositions);
78-
if(!positions)
79-
throw std::runtime_error("Invalid argument");
80-
81-
for(auto& position : positions->getValue())
82-
{
83-
self->drawFrame(Rigid3Types::getCPos(position),
84-
Rigid3Types::getCRot(position), size);
85-
}
86-
});
87-
dt.def("draw3DText", [](DrawTool* self,
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const sofa::type::Vec3d& point,
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const float size,
90-
const std::string& text)
91-
{
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self->draw3DText(point, size, sofa::type::RGBAColor::white(), text.c_str());
93-
});
94-
95-
dt.def("drawText", [](DrawTool* self, int x, int y, int fontSize, char* text){
96-
self->writeOverlayText(x,y, fontSize, sofa::type::RGBAColor::white(), text);
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});
9847
}
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10049
} /// namespace sofapython3

‎bindings/Sofa/src/SofaPython3/Sofa/Core/Binding_VisualParams_doc.h‎

Lines changed: 13 additions & 2 deletions
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@@ -20,11 +20,22 @@
2020

2121
#pragma once
2222

23-
namespace sofapython3::doc::visualParams {
23+
namespace sofapython3::doc::visualparams {
2424

2525
static auto baseVisualParamsClass =
2626
R"(
27-
TBD
27+
VisualParams is a component that manages and provides rendering-related parameters for the simulation's objected.
28+
It determine draw distance, access the camera position or viewing frustum and handle display flags
29+
like wireframe, texture, lighting as well as provide a drawTool object that can be used to render things.
30+
31+
Example:
32+
class MyController(Sofa.Core.Controller):
33+
def __init__(self, *args, *kwargs):
34+
Sofa.Core.Controller.__init__(self, *args, **kwargs)
35+
36+
def draw(self, visual_params):
37+
dt = visual_param.getDrawTool()
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dt.drawPoint([0,0,0])
2839
)";
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3041
} // namespace sofapython3::doc::visualParams

‎bindings/Sofa/src/SofaPython3/Sofa/Core/CMakeLists.txt‎

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@@ -19,6 +19,8 @@ set(HEADER_FILES
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${CMAKE_CURRENT_SOURCE_DIR}/Binding_Controller_doc.h
2020
${CMAKE_CURRENT_SOURCE_DIR}/Binding_DataEngine.h
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${CMAKE_CURRENT_SOURCE_DIR}/Binding_DataEngine_doc.h
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${CMAKE_CURRENT_SOURCE_DIR}/Binding_DrawTool.h
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${CMAKE_CURRENT_SOURCE_DIR}/Binding_DrawTool_doc.h
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${CMAKE_CURRENT_SOURCE_DIR}/Binding_ForceField.h
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${CMAKE_CURRENT_SOURCE_DIR}/Binding_ForceField_doc.h
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${CMAKE_CURRENT_SOURCE_DIR}/Binding_LinkPath.h
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${CMAKE_CURRENT_SOURCE_DIR}/Binding_BaseClass.cpp
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${CMAKE_CURRENT_SOURCE_DIR}/Binding_BaseData.cpp
6264
${CMAKE_CURRENT_SOURCE_DIR}/Binding_DataDict.cpp
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${CMAKE_CURRENT_SOURCE_DIR}/Binding_DrawTool.cpp
6366
${CMAKE_CURRENT_SOURCE_DIR}/Binding_BaseObject.cpp
6467
${CMAKE_CURRENT_SOURCE_DIR}/Binding_BaseCamera.cpp
6568
${CMAKE_CURRENT_SOURCE_DIR}/Binding_BaseContext.cpp

‎bindings/Sofa/src/SofaPython3/Sofa/Core/Submodule_Core.cpp‎

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@@ -27,6 +27,7 @@ using sofa::helper::logging::Message;
2727
#include <SofaPython3/Sofa/Core/Binding_BaseContext.h>
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#include <SofaPython3/Sofa/Core/Binding_BaseObject.h>
2929
#include <SofaPython3/Sofa/Core/Binding_DataDict.h>
30+
#include <SofaPython3/Sofa/Core/Binding_DrawTool.h>
3031
#include <SofaPython3/Sofa/Core/Binding_BaseData.h>
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#include <SofaPython3/Sofa/Core/Binding_BaseCamera.h>
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#include <SofaPython3/Sofa/Core/Binding_ForceField.h>
@@ -136,6 +137,7 @@ PYBIND11_MODULE(Core, core)
136137
moduleAddDataString(core);
137138
moduleAddDataLink(core);
138139
moduleAddDataVectorString(core);
140+
moduleAddDrawTool(core);
139141
moduleAddBaseObject(core);
140142
moduleAddBaseCamera(core);
141143
moduleAddContactListener(core);

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