Add drawFrames, drawLines, drawPoints and an example

Author: damienmarchal

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

@@ -140,7 +140,7 @@ void moduleAddController(py::module &m) {
     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_VisualParams.cpp

@@ -30,10 +30,12 @@
 #include <SofaPython3/Sofa/Core/Binding_VisualParams_doc.h>
 
 #include <SofaPython3/PythonFactory.h>
-
-#include <sofa/type/RGBAColor.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;
@@ -43,12 +45,37 @@ 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() ;});
+    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)
+            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("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());
+    });
 }
 
 } /// namespace sofapython3

examples/example-drawing-controller.py

@@ -0,0 +1,34 @@
+import Sofa
+import SofaTypes 
+
+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)
+
+    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")
+
+def createScene(root):
+    root.dt = 0.01
+    root.bbox = [[-1,-1,-1],[1,1,1]]
+    root.addObject('DefaultVisualManagerLoop')
+    root.addObject('DefaultAnimationLoop')
+
+    root.addObject("MeshOBJLoader", name="loader", filename="mesh/raptor_35kp.obj")
+
+    # Add our python controller in the scene
+    root.addObject( DrawingExamples(name="DrawingController2", target=root.loader) )
+
+