Add drawtool extensions

CMakeLists.txt

@@ -84,8 +84,8 @@ set(CMAKE_CXX_EXTENSIONS OFF)
 # Enable use of folder for IDE like VS
 set_property(GLOBAL PROPERTY USE_FOLDERS ON)
 
-# Set the minimum python version to 3.7
-set(PYBIND11_PYTHON_VERSION 3.7)
+# Set the minimum python version to 3.13
+set(PYBIND11_PYTHON_VERSION 3.13)
 
 # Find Python3
 find_package(Python ${PYBIND11_PYTHON_VERSION} COMPONENTS Interpreter Development REQUIRED)

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

@@ -29,6 +29,7 @@
 // Imports for getCategories
 #include <sofa/core/objectmodel/ContextObject.h>
 #include <sofa/core/visual/VisualModel.h>
+#include <sofa/core/visual/VisualParams.h>
 #include <sofa/core/BaseMapping.h>
 #include <sofa/core/BehaviorModel.h>
 #include <sofa/core/CollisionModel.h>

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

@@ -45,6 +45,11 @@ static auto Class =
             root.obj.position.value # Access the position of the object
 
         )";
+static auto draw =
+        R"(
+        Implement this function to draw an object in the 3D view.
+        )";
+
 static auto init =
         R"(
         Initialization method called at graph creation and modification, during top-down traversal.Initialize data.

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

@@ -20,7 +20,7 @@
 
 #include <pybind11/pybind11.h>
 #include <pybind11/cast.h>
-
+#include <sofa/core/visual/VisualParams.h>
 #include <SofaPython3/Sofa/Core/Binding_Base.h>
 #include <SofaPython3/Sofa/Core/Binding_Controller.h>
 #include <SofaPython3/Sofa/Core/Binding_Controller_doc.h>
@@ -45,6 +45,13 @@ std::string Controller_Trampoline::getClassName() const
     return py::str(py::cast(this).get_type().attr("__name__"));
 }
 
+void Controller_Trampoline::draw(const sofa::core::visual::VisualParams* params)
+{
+    PythonEnvironment::executePython(this, [this, params](){
+        PYBIND11_OVERLOAD(void, Controller, draw, params);
+    });
+}
+
 void Controller_Trampoline::init()
 {
     PythonEnvironment::executePython(this, [this](){
@@ -131,6 +138,9 @@ void moduleAddController(py::module &m) {
 
     f.def("init", &Controller::init);
     f.def("reinit", &Controller::reinit);
+    f.def("draw", [](Controller& self, sofa::core::visual::VisualParams* params){
+        self.draw(params);
+    }, pybind11::return_value_policy::reference);
 }
 
 

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

@@ -43,6 +43,8 @@ class Controller_Trampoline : public Controller
 
     void init() override;
     void reinit() override;
+    void draw(const sofa::core::visual::VisualParams* params) override;
+
     void handleEvent(sofa::core::objectmodel::Event* event) override;
 
     std::string getClassName() const override;

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

@@ -0,0 +1,108 @@
+/******************************************************************************
+*                 SOFA, Simulation Open-Framework Architecture                *
+*                    (c) 2021 INRIA, USTL, UJF, CNRS, MGH                     *
+*                                                                             *
+* This program is free software; you can redistribute it and/or modify it     *
+* under the terms of the GNU Lesser General Public License as published by    *
+* the Free Software Foundation; either version 2.1 of the License, or (at     *
+* your option) any later version.                                             *
+*                                                                             *
+* This program is distributed in the hope that it will be useful, but WITHOUT *
+* ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or       *
+* FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License *
+* for more details.                                                           *
+*                                                                             *
+* You should have received a copy of the GNU Lesser General Public License    *
+* along with this program. If not, see <http://www.gnu.org/licenses/>.        *
+*******************************************************************************
+* Contact information: [email protected]                             *
+******************************************************************************/
+
+#include <sofa/type/Quat.h>
+#include <pybind11/pybind11.h>
+#include <pybind11/pytypes.h>
+#include <pybind11/stl.h>
+
+#include <SofaPython3/Sofa/Core/Binding_Base.h>
+#include <sofa/core/visual/VisualParams.h>
+
+#include <SofaPython3/Sofa/Core/Binding_VisualParams.h>
+#include <SofaPython3/Sofa/Core/Binding_VisualParams_doc.h>
+
+#include <SofaPython3/PythonFactory.h>
+#include <sofa/core/objectmodel/Data.h>
+#include <sofa/type/RGBAColor.h>
+
+namespace py { using namespace pybind11; }
+using sofa::core::objectmodel::BaseData;
+using sofa::core::objectmodel::Data;
+using sofa::core::objectmodel::BaseObject;
+using sofa::core::visual::VisualParams;
+using sofa::core::visual::DrawTool;
+
+namespace sofapython3 {
+
+void moduleAddVisualParams(py::module &m)
+{
+    py::class_<VisualParams> vp(m, "VisualParams", sofapython3::doc::visualParams::baseVisualParamsClass);
+    vp.def("getDrawTool", [](VisualParams *self){ return self->drawTool(); },
+           pybind11::return_value_policy::reference);
+
+    py::class_<DrawTool> dt(m, "DrawTool", sofapython3::doc::visualParams::baseVisualParamsClass);
+    dt.def("drawPoints", [](DrawTool *self, const std::vector<sofa::type::Vec3> &points, float size ){
+        self->drawPoints(points, size, sofa::type::RGBAColor::white());
+    });
+    dt.def("drawPoints", [](DrawTool *self, BaseData* dpositions, float size ){
+        auto positions = dynamic_cast<Data<sofa::type::vector<sofa::type::Vec3>>*>(dpositions);
+        if(!positions)
+            throw std::runtime_error("Invalid argument");
+
+        self->drawPoints(positions->getValue(), size, sofa::type::RGBAColor::white());
+    });
+    dt.def("drawLines", [](DrawTool *self, const std::vector<sofa::type::Vec3> &points, float size ){
+        self->drawLines(points, size, sofa::type::RGBAColor::white());
+    });
+    dt.def("drawFrames", [](DrawTool* self,
+           const std::vector<sofa::type::Vec3d>& points,
+           const std::vector<sofa::type::Quatd>& orientations,
+           const sofa::type::Vec3& size ){
+        for(unsigned int i=0;i<points.size();i++)
+        {
+            self->drawFrame(points[i], orientations[i], size);
+        }
+    });
+    dt.def("drawFrames", [](DrawTool* self, BaseData* dpositions, const sofa::type::Vec3& size ){
+        using sofa::defaulttype::Rigid3Types;
+        using Coord = sofa::defaulttype::Rigid3Types::Coord;
+        auto positions = dynamic_cast<Data<sofa::type::vector<Coord>>*>(dpositions);
+        if(!positions)
+            throw std::runtime_error("Invalid argument");
+
+        for(auto& position : positions->getValue())
+        {
+            self->drawFrame(Rigid3Types::getCPos(position),
+                            Rigid3Types::getCRot(position), size);
+        }
+    });
+    dt.def("draw3DText", [](DrawTool* self,
+                            const sofa::type::Vec3d& point,
+                            const float size,
+                            const std::string& text)
+    {
+        self->draw3DText(point, size, sofa::type::RGBAColor::white(), text.c_str());
+    });
+
+    dt.def("drawText", [](DrawTool* self, int x, int y, int fontSize, char* text){
+        self->writeOverlayText(x,y, fontSize, sofa::type::RGBAColor::white(), text);
+    });
+    dt.def("drawRGBAImage", [](DrawTool* self, const std::string& id, const int revision, const sofa::type::Vec3& pos, const double scale, const int w, const int h, const int mode, py::array_t<char, py::array::c_style | py::array::forcecast> data){
+        char* buffer = static_cast<char*>(data.request().ptr);
+        self->drawRGBAImage(id, revision, pos, scale, w, h, mode, buffer);
+    });
+    dt.def("drawRGBAImage", [](DrawTool* self, const std::string& id, const int revision, const sofa::type::Vec3& pos, const double scale, const std::string& filename){
+        self->drawRGBAImage(id, revision, pos, scale, filename);
+    });
+
+}
+
+} /// namespace sofapython3

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

@@ -0,0 +1,30 @@
+/******************************************************************************
+*                 SOFA, Simulation Open-Framework Architecture                *
+*                    (c) 2021 INRIA, USTL, UJF, CNRS, MGH                     *
+*                                                                             *
+* This program is free software; you can redistribute it and/or modify it     *
+* under the terms of the GNU Lesser General Public License as published by    *
+* the Free Software Foundation; either version 2.1 of the License, or (at     *
+* your option) any later version.                                             *
+*                                                                             *
+* This program is distributed in the hope that it will be useful, but WITHOUT *
+* ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or       *
+* FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License *
+* for more details.                                                           *
+*                                                                             *
+* You should have received a copy of the GNU Lesser General Public License    *
+* along with this program. If not, see <http://www.gnu.org/licenses/>.        *
+*******************************************************************************
+* Contact information: [email protected]                             *
+******************************************************************************/
+
+#pragma once
+
+#include <pybind11/pybind11.h>
+
+namespace sofapython3 {
+
+void moduleAddVisualParams(pybind11::module &m);
+
+} /// namespace sofapython3
+

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

@@ -0,0 +1,30 @@
+/******************************************************************************
+*                 SOFA, Simulation Open-Framework Architecture                *
+*                    (c) 2021 INRIA, USTL, UJF, CNRS, MGH                     *
+*                                                                             *
+* This program is free software; you can redistribute it and/or modify it     *
+* under the terms of the GNU Lesser General Public License as published by    *
+* the Free Software Foundation; either version 2.1 of the License, or (at     *
+* your option) any later version.                                             *
+*                                                                             *
+* This program is distributed in the hope that it will be useful, but WITHOUT *
+* ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or       *
+* FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License *
+* for more details.                                                           *
+*                                                                             *
+* You should have received a copy of the GNU Lesser General Public License    *
+* along with this program. If not, see <http://www.gnu.org/licenses/>.        *
+*******************************************************************************
+* Contact information: [email protected]                             *
+******************************************************************************/
+
+#pragma once
+
+namespace sofapython3::doc::visualParams {
+
+static auto baseVisualParamsClass =
+        R"(
+        TBD
+        )";
+
+} // namespace sofapython3::doc::visualParams

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

@@ -51,6 +51,8 @@ set(HEADER_FILES
     ${CMAKE_CURRENT_SOURCE_DIR}/Binding_BaseMeshTopology.h
     ${CMAKE_CURRENT_SOURCE_DIR}/Binding_TaskScheduler.h
     ${CMAKE_CURRENT_SOURCE_DIR}/Binding_TaskScheduler_doc.h
+    ${CMAKE_CURRENT_SOURCE_DIR}/Binding_VisualParams.h
+    ${CMAKE_CURRENT_SOURCE_DIR}/Binding_VisualParams_doc.h
 )
 
 set(SOURCE_FILES
@@ -83,6 +85,7 @@ set(SOURCE_FILES
     ${CMAKE_CURRENT_SOURCE_DIR}/Binding_Topology.cpp
     ${CMAKE_CURRENT_SOURCE_DIR}/Binding_BaseMeshTopology.cpp
     ${CMAKE_CURRENT_SOURCE_DIR}/Binding_TaskScheduler.cpp
+    ${CMAKE_CURRENT_SOURCE_DIR}/Binding_VisualParams.cpp
     ${CMAKE_CURRENT_SOURCE_DIR}/Submodule_Core.cpp
 )
 

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

@@ -48,12 +48,14 @@ using sofa::helper::logging::Message;
 #include <SofaPython3/Sofa/Core/Binding_BaseMeshTopology.h>
 #include <SofaPython3/Sofa/Core/Binding_Topology.h>
 #include <SofaPython3/Sofa/Core/Binding_TaskScheduler.h>
+#include <SofaPython3/Sofa/Core/Binding_VisualParams.h>
 
 #include <SofaPython3/Sofa/Core/Data/Binding_DataString.h>
 #include <SofaPython3/Sofa/Core/Data/Binding_DataLink.h>
 #include <SofaPython3/Sofa/Core/Data/Binding_DataVectorString.h>
 #include <SofaPython3/Sofa/Core/Data/Binding_DataContainer.h>
 
+
 #include <sofa/core/init.h>
 
 namespace sofapython3
@@ -153,6 +155,7 @@ PYBIND11_MODULE(Core, core)
     moduleAddBaseMeshTopology(core);
     moduleAddPointSetTopologyModifier(core);
     moduleAddTaskScheduler(core);
+    moduleAddVisualParams(core);
 
     // called when the module is unloaded
     auto atexit = py::module_::import("atexit");

examples/example-drawing-controller.py

@@ -0,0 +1,52 @@
+import Sofa
+import SofaTypes 
+
+from PIL import Image
+
+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)
+        self.img = Image.open("oip.jpeg").convert("RGBA")
+
+    def draw(self, visual_context):
+        dt = visual_context.getDrawTool()
+        dt.drawPoints([SofaTypes.Vec3d(-1.5,0,-1)], 5.0)
+        dt.drawPoints([SofaTypes.Vec3d(-1.3,0,-1), SofaTypes.Vec3d(1.3,0,-1)], 5.0)
+        dt.drawLines([SofaTypes.Vec3d(-1.3,0,-1), SofaTypes.Vec3d(1.3,0,-1)], 1.0)
+        dt.drawFrames([SofaTypes.Vec3d(-1.5,0.1,-1)], [SofaTypes.Quat(0.0,0,0,1.0)], SofaTypes.Vec3d(0.1,0.1,0.1))
+
+        if self.target is not None:
+            dt.drawPoints(self.target.position, 2.0)
+
+        dt.draw3DText(SofaTypes.Vec3d(-2.0,0.0,0.0), 0.5, "This is not a raptor")
+        dt.drawText(10,10, 12, "Overlay text")
+
+        dt.drawFrames(self.mo.position, SofaTypes.Vec3d(0.1,0.1,0.1))
+        w,h = self.img.size 
+        dt.drawRGBAImage("memory", SofaTypes.Vec3d(0.0,0.0,0.0), w ,h, 32, self.img.tobytes())
+        #dt.drawRGBAImage("image", SofaTypes.Vec3d(0.0,0.0,0.0), "oip.jpeg")
+
+def createScene(root):
+    root.dt = 0.01
+    root.bbox = [[-1,-1,-1],[1,1,1]]
+    root.addObject('RequiredPlugin', name="Sofa.GL.Component.Shader")
+    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) )
+
+