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[SofaGL] Start a Sofa.SofaGL Module (#109)
* [Sofa.GL] Create SofaGL Module * Set up bindings structure for SofaGL * Added just basic draw() and initGlew() functions * [examples] Added example viewers using pygame and pyqt * [examples] Added example viewers using pygame and pyqt * cleaned commit issue * [cmake] added QUIET to Sofa.GL find * [cmake] Sofa.gl -> Sofa.GL * [SofaGL] added function descriptions * [examples] cleaned examples a bit Co-authored-by: ac133451 <[email protected]>
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‎bindings/Modules/CMakeLists.txt‎

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@@ -2,6 +2,14 @@ project(Bindings.Modules)
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set(MODULEBINDINGS_MODULE_LIST SofaBaseTopology SofaDeformable)
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find_package(Sofa.GL QUIET)
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if(Sofa.GL_FOUND)
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list(APPEND MODULEBINDINGS_MODULE_LIST SofaGL)
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else()
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message("Sofa.GL not detected. Python3 Bindings for Sofa.SofaGL will not be compiled.")
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endif()
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foreach(modulebindings_module ${MODULEBINDINGS_MODULE_LIST})
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add_subdirectory(src/SofaPython3/${modulebindings_module})
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endforeach()
@@ -19,4 +27,4 @@ install(TARGETS ${PROJECT_NAME} EXPORT BindingsTargets)
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if(SP3_BUILD_TEST)
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add_subdirectory(tests)
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endif()
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endif()

‎bindings/Modules/src/SofaPython3/SofaGL/Binding_DrawToolGL.cpp‎

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/******************************************************************************
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* SofaPython3 plugin *
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* (c) 2021 CNRS, University of Lille, INRIA *
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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 <pybind11/pybind11.h>
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#include <sofa/simulation/Node.h>
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using sofa::simulation::Node;
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#include <sofa/core/visual/VisualParams.h>
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#include <sofa/simulation/Simulation.h>
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#include <sofa/gl/DrawToolGL.h>
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#include <SofaPython3/SofaGL/Binding_DrawToolGL.h>
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#include <SofaPython3/SofaGL/Binding_DrawToolGL_doc.h>
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namespace sofapython3 {
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using DrawToolGL = sofa::gl::DrawToolGL;
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namespace py { using namespace pybind11; }
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void moduleAddDrawToolGL(pybind11::module& m) {
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m.def("draw", [](Node* node){
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auto* vparam = sofa::core::visual::VisualParams::defaultInstance();
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vparam->drawTool() = new sofa::gl::DrawToolGL();
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vparam->setSupported(sofa::core::visual::API_OpenGL);
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sofa::simulation::getSimulation()->draw(vparam, node);
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}, doc::SofaGL::draw);
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m.def("glewInit", [](){
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glewInit();
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}, doc::SofaGL::glewInit);
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}
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} // namespace sofapython3

‎bindings/Modules/src/SofaPython3/SofaGL/Binding_DrawToolGL.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 *
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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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#pragma once
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#include <pybind11/pybind11.h>
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namespace sofapython3 {
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void moduleAddDrawToolGL(pybind11::module& m);
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} // namespace sofapython3

‎bindings/Modules/src/SofaPython3/SofaGL/Binding_DrawToolGL_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 *
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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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#pragma once
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namespace sofapython3::doc::SofaGL {
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static auto draw =
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R"(
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Draw the openGL visual loop from the provided Node.
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:param node: Node to start visualize from
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:type node: Sofa::Simulation::Node
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)";
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static auto glewInit =
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R"(
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Initialize GLEW. This should be called once before drawing.
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)";
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} // sofapython3::doc::SofaGL

‎bindings/Modules/src/SofaPython3/SofaGL/CMakeLists.txt‎

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project(Bindings.Modules.SofaGL)
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set(SOURCE_FILES
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${CMAKE_CURRENT_SOURCE_DIR}/Module_SofaGL.cpp
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${CMAKE_CURRENT_SOURCE_DIR}/Binding_DrawToolGL.cpp
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)
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set(HEADER_FILES
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${CMAKE_CURRENT_SOURCE_DIR}/Binding_DrawToolGL.h
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${CMAKE_CURRENT_SOURCE_DIR}/Binding_DrawToolGL_doc.h
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)
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if (NOT TARGET SofaPython3::Plugin)
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find_package(SofaPython3 REQUIRED)
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endif()
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find_package(Sofa.GL REQUIRED)
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SP3_add_python_module(
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TARGET ${PROJECT_NAME}
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PACKAGE Bindings
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MODULE SofaGL
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DESTINATION Sofa
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SOURCES ${SOURCE_FILES}
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HEADERS ${HEADER_FILES}
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DEPENDS Sofa.GL SofaPython3::Plugin SofaPython3::Bindings.Sofa.Core
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)

‎bindings/Modules/src/SofaPython3/SofaGL/Module_SofaGL.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 <pybind11/pybind11.h>
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#include <SofaPython3/SofaGL/Binding_DrawToolGL.h>
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namespace py { using namespace pybind11; }
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namespace sofapython3
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{
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PYBIND11_MODULE(SofaGL, m)
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{
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moduleAddDrawToolGL(m);
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}
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} // namespace sofapython3

‎examples/additional-examples/pygame_example.py‎

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import Sofa
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import Sofa.SofaGL
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import SofaRuntime
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import Sofa.Simulation as sim
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import os
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import time
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sofa_directory = os.environ['SOFA_ROOT']
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import pygame
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from OpenGL.GL import *
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from OpenGL.GLU import *
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pygame.display.init()
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display_size = (800, 600)
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pygame.display.set_mode(display_size, pygame.DOUBLEBUF | pygame.OPENGL)
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glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT)
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glEnable(GL_LIGHTING)
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glEnable(GL_DEPTH_TEST)
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Sofa.SofaGL.glewInit()
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glMatrixMode(GL_PROJECTION)
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glLoadIdentity()
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gluPerspective(45, (display_size[0] / display_size[1]), 0.1, 50.0)
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glMatrixMode(GL_MODELVIEW)
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glLoadIdentity()
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def simple_render(rootNode):
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"""
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Get the OpenGL Context to render an image (snapshot) of the simulation state
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"""
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glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT)
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glEnable(GL_LIGHTING)
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glEnable(GL_DEPTH_TEST)
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glMatrixMode(GL_PROJECTION)
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glLoadIdentity()
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gluPerspective(45, (display_size[0] / display_size[1]), 0.1, 50.0)
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glMatrixMode(GL_MODELVIEW)
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glLoadIdentity()
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cameraMVM = rootNode.visuals.camera.getOpenGLModelViewMatrix()
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glMultMatrixd(cameraMVM)
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Sofa.SofaGL.draw(rootNode.visuals)
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pygame.display.get_surface().fill((0,0,0))
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pygame.display.flip()
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class scene_interface:
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"""Scene_interface provides step and reset methods"""
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def __init__(self, max_steps=1000):
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# max_steps, how long the simulator should run. Total length: dt*max_steps
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self.max_steps = max_steps
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# the current step in the simulation
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self.current_step = 0
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# Register all the common component in the factory.
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SofaRuntime.PluginRepository.addFirstPath(os.path.join(sofa_directory, 'plugins'))
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SofaRuntime.importPlugin('SofaOpenglVisual')
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SofaRuntime.importPlugin("SofaComponentAll")
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SofaRuntime.importPlugin("SofaGeneralLoader")
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SofaRuntime.importPlugin("SofaImplicitOdeSolver")
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SofaRuntime.importPlugin("SofaLoader")
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SofaRuntime.importPlugin("SofaSimpleFem")
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SofaRuntime.importPlugin("SofaBoundaryCondition")
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SofaRuntime.importPlugin("SofaMiscForceField")
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self.root = Sofa.Core.Node("myroot")
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### create some objects to observe
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self.place_objects_in_scene(self.root)
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# place light and a camera
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self.visuals = self.root.addChild('visuals')
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self.visuals.addObject("LightManager")
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self.visuals.addObject("SpotLight", position=[0,10,0], direction=[0,-1,0])
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self.visuals.addObject("InteractiveCamera", name="camera", position=[0,10, 0],
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lookAt=[0,0,0], distance=37,
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fieldOfView=45, zNear=0.63, zFar=55.69)
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# start the simulator
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Sofa.Simulation.init(self.root)
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def place_objects_in_scene(self, root):
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### these are just some things that stay still and move around
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# so you know the animation is actually happening
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root.gravity = [0, -1., 0]
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root.addObject("VisualStyle", displayFlags="showBehaviorModels showAll")
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root.addObject("MeshGmshLoader", name="meshLoaderCoarse",
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filename="mesh/liver.msh")
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root.addObject("MeshObjLoader", name="meshLoaderFine",
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filename="mesh/liver-smooth.obj")
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root.addObject("EulerImplicitSolver")
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root.addObject("CGLinearSolver", iterations="200",
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tolerance="1e-09", threshold="1e-09")
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liver = root.addChild("liver")
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liver.addObject("TetrahedronSetTopologyContainer",
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name="topo", src="@../meshLoaderCoarse" )
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liver.addObject("TetrahedronSetGeometryAlgorithms",
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template="Vec3d", name="GeomAlgo")
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liver.addObject("MechanicalObject",
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template="Vec3d",
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name="MechanicalModel", showObject="1", showObjectScale="3")
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liver.addObject("TetrahedronFEMForceField", name="fem", youngModulus="1000",
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poissonRatio="0.4", method="large")
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liver.addObject("MeshMatrixMass", massDensity="1")
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liver.addObject("FixedConstraint", indices="2 3 50")
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def step(self):
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# this steps the simulation
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Sofa.Simulation.animate(self.root, self.root.getDt())
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self.visuals.camera.position = self.visuals.camera.position + [-0.002, 0, 0]
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simple_render(self.root)
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# just to keep track of where we are
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self.current_step += 1
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# return true if done
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return self.current_step >= self.max_steps
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if __name__ == '__main__':
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a = scene_interface()
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done = False
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while not done:
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factor = a.current_step
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done = a.step()
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time.sleep(a.root.getDt())

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