Minimal support of RigidMass widget (sofa-framework#223)

Author: alxbilger

SofaImGui/CMakeLists.txt

@@ -106,6 +106,7 @@ set(HEADER_FILES
     ${SOFAIMGUI_SOURCE_DIR}/widgets/DisplayFlagsWidget.h
     ${SOFAIMGUI_SOURCE_DIR}/widgets/LinearSpringWidget.h
     ${SOFAIMGUI_SOURCE_DIR}/widgets/MaterialWidget.h
+    ${SOFAIMGUI_SOURCE_DIR}/widgets/RigidMass.h
     ${SOFAIMGUI_SOURCE_DIR}/widgets/ScalarWidget.h
     ${SOFAIMGUI_SOURCE_DIR}/windows/Performances.h
     ${SOFAIMGUI_SOURCE_DIR}/windows/Log.h

SofaImGui/src/SofaImGui/ImGuiDataWidget.cpp

@@ -30,6 +30,7 @@
 #include <SofaImGui/widgets/DisplayFlagsWidget.h>
 #include <SofaImGui/widgets/LinearSpringWidget.h>
 #include <SofaImGui/widgets/MaterialWidget.h>
+#include <SofaImGui/widgets/RigidMass.h>
 
 namespace sofaimgui
 {
@@ -722,6 +723,36 @@ void DataWidget<sofa::type::vector<sofa::type::Material>>::showWidget(MyData& da
     showMaterialListWidget(data);
 }
 
+/***********************************************************************************************************************
+ * RigidMass
+ **********************************************************************************************************************/
+
+template<>
+void DataWidget<sofa::defaulttype::Rigid3Mass>::showWidget(MyData& data)
+{
+    const auto& rigidMass = data.getValue();
+    showRigidMass(rigidMass);
+}
+
+template<>
+void DataWidget<sofa::defaulttype::Rigid2Mass>::showWidget(MyData& data)
+{
+    const auto& rigidMass = data.getValue();
+    showRigidMass(rigidMass);
+}
+
+template<>
+void DataWidget<sofa::type::vector<sofa::defaulttype::Rigid3Mass>>::showWidget(MyData& data)
+{
+    showRigidMasses(data);
+}
+
+template<>
+void DataWidget<sofa::type::vector<sofa::defaulttype::Rigid2Mass>>::showWidget(MyData& data)
+{
+    showRigidMasses(data);
+}
+
 /***********************************************************************************************************************
  * Factory
  **********************************************************************************************************************/
@@ -808,4 +839,9 @@ const bool dw_springvecf = DataWidgetFactory::Add<sofa::type::vector<sofa::compo
 
 const bool dw_material = DataWidgetFactory::Add<sofa::type::Material>();
 const bool dw_vector_material = DataWidgetFactory::Add<sofa::type::vector<sofa::type::Material>>();
+
+const bool dw_rigid2mass = DataWidgetFactory::Add<sofa::defaulttype::Rigid2Mass>();
+const bool dw_vector_rigid2mass = DataWidgetFactory::Add<sofa::type::vector<sofa::defaulttype::Rigid2Mass>>();
+const bool dw_rigid3mass = DataWidgetFactory::Add<sofa::defaulttype::Rigid3Mass>();
+const bool dw_vector_rigid3mass = DataWidgetFactory::Add<sofa::type::vector<sofa::defaulttype::Rigid3Mass>>();
 }

SofaImGui/src/SofaImGui/widgets/RigidMass.h

@@ -0,0 +1,74 @@
+/******************************************************************************
+*                 SOFA, Simulation Open-Framework Architecture                *
+*                    (c) 2006 INRIA, USTL, UJF, CNRS, MGH                     *
+*                                                                             *
+* This program is free software; you can redistribute it and/or modify it     *
+* under the terms of the GNU General Public License as published by the Free  *
+* Software Foundation; either version 2 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 General Public License for    *
+* more details.                                                               *
+*                                                                             *
+* You should have received a copy of the GNU General Public License along     *
+* with this program. If not, see <http://www.gnu.org/licenses/>.              *
+*******************************************************************************
+* Authors: The SOFA Team and external contributors (see Authors.txt)          *
+*                                                                             *
+* Contact information: contact@sofa-framework.org                             *
+******************************************************************************/
+#pragma once
+#include <sofa/core/objectmodel/Data.h>
+#include <imgui.h>
+
+namespace sofaimgui
+{
+
+template<sofa::Size N, typename real>
+inline void showRigidMass(const sofa::defaulttype::RigidMass<N,real>& rigidMass)
+{
+    ImGui::Text("Mass: %f", rigidMass.mass);
+    ImGui::Text("Volume: %f", rigidMass.volume);
+
+    std::stringstream ss;
+    ss << rigidMass.inertiaMatrix;
+    ImGui::Text("Inertia Matrix: %s", ss.str().c_str());
+}
+
+template<sofa::Size N, typename real>
+inline void showRigidMasses(const sofa::Data<sofa::type::vector<sofa::defaulttype::RigidMass<N, real>>>& data)
+{
+    static ImGuiTableFlags flags = ImGuiTableFlags_SizingFixedFit | ImGuiTableFlags_Resizable | ImGuiTableFlags_BordersOuter | ImGuiTableFlags_BordersV | ImGuiTableFlags_ContextMenuInBody | ImGuiTableFlags_NoHostExtendX;
+    ImGui::Text("%d elements", data.getValue().size());
+    if (ImGui::BeginTable((data.getName() + data.getOwner()->getPathName()).c_str(), 4, flags))
+    {
+        ImGui::TableSetupColumn("");
+        ImGui::TableSetupColumn("Mass");
+        ImGui::TableSetupColumn("Volume");
+        ImGui::TableSetupColumn("Inertia Matrix");
+
+        ImGui::TableHeadersRow();
+
+        unsigned int counter {};
+        for (const auto& rigidMass : *sofa::helper::getReadAccessor(data))
+        {
+            ImGui::TableNextRow();
+            ImGui::TableNextColumn();
+            ImGui::Text("%d", counter++);
+            ImGui::TableNextColumn();
+            ImGui::Text("%f", rigidMass.mass);
+            ImGui::TableNextColumn();
+            ImGui::Text("%f", rigidMass.volume);
+
+            ImGui::TableNextColumn();
+            std::stringstream ss;
+            ss << rigidMass.inertiaMatrix;
+            ImGui::Text("Inertia Matrix: %s", ss.str().c_str());
+        }
+        ImGui::EndTable();
+    }
+}
+
+}