[SofaGL] Start a Sofa.SofaGL Module

bindings/Modules/CMakeLists.txt

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

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

@@ -0,0 +1,55 @@
+/******************************************************************************
+*                              SofaPython3 plugin                             *
+*                  (c) 2021 CNRS, University of Lille, INRIA                  *
+*                                                                             *
+* 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 <pybind11/pybind11.h>
+
+#include <sofa/simulation/Node.h>
+using sofa::simulation::Node;
+
+#include <sofa/core/visual/VisualParams.h>
+
+#include <sofa/simulation/Simulation.h>
+#include <sofa/gl/DrawToolGL.h>
+
+#include <SofaPython3/SofaGL/Binding_DrawToolGL.h>
+#include <SofaPython3/SofaGL/Binding_DrawToolGL_doc.h>
+
+
+namespace sofapython3 {
+
+using DrawToolGL = sofa::gl::DrawToolGL;
+
+
+namespace py { using namespace pybind11; }
+
+void moduleAddDrawToolGL(pybind11::module& m) {
+    m.def("draw", [](Node* node){
+      auto* vparam = sofa::core::visual::VisualParams::defaultInstance();
+      vparam->drawTool() = new sofa::gl::DrawToolGL();
+      vparam->setSupported(sofa::core::visual::API_OpenGL);
+      sofa::simulation::getSimulation()->draw(vparam, node);
+    }, doc::SofaGL::draw);
+
+    m.def("glewInit", [](){
+      glewInit();
+    }, doc::SofaGL::glewInit);
+}
+
+} // namespace sofapython3

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

@@ -0,0 +1,29 @@
+/******************************************************************************
+*                 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 moduleAddDrawToolGL(pybind11::module& m);
+
+} // namespace sofapython3

bindings/Modules/src/SofaPython3/SofaGL/Binding_DrawToolGL_doc.h

@@ -0,0 +1,36 @@
+/******************************************************************************
+*                 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::SofaGL {
+static auto draw =
+R"(
+Draw the openGL visual loop from the provided Node.
+:param node: Node to start visualize from
+:type node: Sofa::Simulation::Node
+)";
+
+static auto glewInit =
+R"(
+Initialize GLEW. This should be called once before drawing.
+)";
+
+} // sofapython3::doc::SofaGL

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

@@ -0,0 +1,28 @@
+project(Bindings.Modules.SofaGL)
+
+set(SOURCE_FILES
+    ${CMAKE_CURRENT_SOURCE_DIR}/Module_SofaGL.cpp
+    ${CMAKE_CURRENT_SOURCE_DIR}/Binding_DrawToolGL.cpp
+)
+
+set(HEADER_FILES
+    ${CMAKE_CURRENT_SOURCE_DIR}/Binding_DrawToolGL.h
+    ${CMAKE_CURRENT_SOURCE_DIR}/Binding_DrawToolGL_doc.h
+)
+
+if (NOT TARGET SofaPython3::Plugin)
+    find_package(SofaPython3 REQUIRED)
+endif()
+
+find_package(Sofa.GL REQUIRED)
+
+SP3_add_python_module(
+    TARGET       ${PROJECT_NAME}
+    PACKAGE      Bindings
+    MODULE       SofaGL
+    DESTINATION  Sofa
+    SOURCES      ${SOURCE_FILES}
+    HEADERS      ${HEADER_FILES}
+    DEPENDS      Sofa.GL SofaPython3::Plugin SofaPython3::Bindings.Sofa.Core
+
+)

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

@@ -0,0 +1,35 @@
+/******************************************************************************
+*                 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 <pybind11/pybind11.h>
+#include <SofaPython3/SofaGL/Binding_DrawToolGL.h>
+
+
+namespace py { using namespace pybind11; }
+
+namespace sofapython3
+{
+
+PYBIND11_MODULE(SofaGL, m)
+{
+    moduleAddDrawToolGL(m);
+}
+
+} // namespace sofapython3

examples/additional-examples/pygame_example.py

@@ -0,0 +1,135 @@
+import Sofa
+import Sofa.SofaGL
+import SofaRuntime
+import Sofa.Simulation as sim
+import os
+import time
+sofa_directory = os.environ['SOFA_ROOT']
+import pygame
+from OpenGL.GL import *
+from OpenGL.GLU import *
+
+
+pygame.display.init()
+display_size = (800, 600)
+pygame.display.set_mode(display_size, pygame.DOUBLEBUF | pygame.OPENGL)
+
+glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT)
+glEnable(GL_LIGHTING)
+glEnable(GL_DEPTH_TEST)
+Sofa.SofaGL.glewInit()
+glMatrixMode(GL_PROJECTION)
+glLoadIdentity()
+gluPerspective(45, (display_size[0] / display_size[1]), 0.1, 50.0)
+
+glMatrixMode(GL_MODELVIEW)
+glLoadIdentity()
+
+def simple_render(rootNode):
+    """
+     Get the OpenGL Context to render an image (snapshot) of the simulation state
+     """
+    glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT)
+    glEnable(GL_LIGHTING)
+    glEnable(GL_DEPTH_TEST)
+    glMatrixMode(GL_PROJECTION)
+    glLoadIdentity()
+    gluPerspective(45, (display_size[0] / display_size[1]), 0.1, 50.0)
+    glMatrixMode(GL_MODELVIEW)
+    glLoadIdentity()
+
+    cameraMVM = rootNode.visuals.camera.getOpenGLModelViewMatrix()
+    glMultMatrixd(cameraMVM)
+
+    Sofa.SofaGL.draw(rootNode.visuals)
+
+    pygame.display.get_surface().fill((0,0,0))
+    pygame.display.flip()
+
+
+class scene_interface:
+    """Scene_interface provides step and reset methods"""
+
+    def __init__(self, max_steps=1000):
+        # max_steps, how long the simulator should run. Total length: dt*max_steps
+        self.max_steps = max_steps
+
+        # the current step in the simulation
+        self.current_step = 0
+        # Register all the common component in the factory.
+        SofaRuntime.PluginRepository.addFirstPath(os.path.join(sofa_directory, 'plugins'))
+        SofaRuntime.importPlugin('SofaOpenglVisual')
+        SofaRuntime.importPlugin("SofaComponentAll")
+        SofaRuntime.importPlugin("SofaGeneralLoader")
+        SofaRuntime.importPlugin("SofaImplicitOdeSolver")
+        SofaRuntime.importPlugin("SofaLoader")
+        SofaRuntime.importPlugin("SofaSimpleFem")
+        SofaRuntime.importPlugin("SofaBoundaryCondition")
+        SofaRuntime.importPlugin("SofaMiscForceField")
+
+        self.root = Sofa.Core.Node("myroot")
+
+        ### create some objects to observe
+        self.place_objects_in_scene(self.root)
+
+        # place light and a camera
+        self.visuals = self.root.addChild('visuals')
+        self.visuals.addObject("LightManager")
+        self.visuals.addObject("SpotLight", position=[0,10,0], direction=[0,-1,0])
+        self.visuals.addObject("InteractiveCamera", name="camera", position=[0,10, 0],
+                            lookAt=[0,0,0], distance=37,
+                            fieldOfView=45, zNear=0.63, zFar=55.69)
+
+        # start the simulator
+        Sofa.Simulation.init(self.root)
+
+    def place_objects_in_scene(self, root):
+        ### these are just some things that stay still and move around
+        # so you know the animation is actually happening
+        root.gravity = [0, -1., 0]
+        root.addObject("VisualStyle", displayFlags="showBehaviorModels showAll")
+        root.addObject("MeshGmshLoader", name="meshLoaderCoarse",
+                       filename="mesh/liver.msh")
+        root.addObject("MeshObjLoader", name="meshLoaderFine",
+                       filename="mesh/liver-smooth.obj")
+
+        root.addObject("EulerImplicitSolver")
+        root.addObject("CGLinearSolver", iterations="200",
+                        tolerance="1e-09", threshold="1e-09")
+
+        liver = root.addChild("liver")
+
+        liver.addObject("TetrahedronSetTopologyContainer",
+                        name="topo", src="@../meshLoaderCoarse" )
+        liver.addObject("TetrahedronSetGeometryAlgorithms",
+                        template="Vec3d", name="GeomAlgo")
+        liver.addObject("MechanicalObject",
+                        template="Vec3d",
+                        name="MechanicalModel", showObject="1", showObjectScale="3")
+
+        liver.addObject("TetrahedronFEMForceField", name="fem", youngModulus="1000",
+                        poissonRatio="0.4", method="large")
+
+        liver.addObject("MeshMatrixMass", massDensity="1")
+        liver.addObject("FixedConstraint", indices="2 3 50")
+
+    def step(self):
+        # this steps the simulation
+        Sofa.Simulation.animate(self.root, self.root.getDt())
+        self.visuals.camera.position = self.visuals.camera.position + [-0.002, 0, 0]
+        simple_render(self.root)
+
+        # just to keep track of where we are
+        self.current_step += 1
+
+        # return true if done
+        return self.current_step >= self.max_steps
+
+
+if __name__ == '__main__':
+    a = scene_interface()
+    done = False
+    while not done:
+        factor = a.current_step
+        done = a.step()
+        time.sleep(a.root.getDt())