[Sofa.GUI.Common] Handle object selection in BaseViewer (#5636)

* Add a way to handle object selection in viewer.

It is usefull to be able to handle the currently selected object in the viewer to
implement visual feedbacks. This is done by adding a vector of selected node/object
as well as a drawSelection method to do the rendering.

* Replace std::vector with std::set

* FIXUP

* Add configuration parameters to control the selectionDrawing

* Update BaseViewer.cpp

Remove commented code.

* Update BaseViewer.cpp

Integrate comments

* Update Sofa/GUI/Common/src/sofa/gui/common/BaseViewer.cpp

Co-authored-by: Hugo <[email protected]>

* Update Sofa/GUI/Common/src/sofa/gui/common/BaseViewer.cpp

---------

Co-authored-by: Hugo <[email protected]>

Author: damienmarchal

Sofa/GUI/Common/src/sofa/gui/common/BaseViewer.cpp

@@ -277,4 +277,129 @@ void BaseViewer::fitObjectBBox(sofa::core::objectmodel::BaseObject * object)
     redraw();
 }
 
+void BaseViewer::drawSelection(sofa::core::visual::VisualParams* vparams)
+{
+    assert(vparams && "call of drawSelection without a valid visual param is not allowed");
+
+    auto drawTool = vparams->drawTool();
+
+    if(currentSelection.empty())
+        return;
+
+    drawTool->setPolygonMode(0, false);
+    float screenHeight = vparams->viewport()[4];
+
+    for(auto current : currentSelection)
+    {
+        using sofa::type::Vec3;
+        using sofa::type::RGBAColor;
+        using sofa::defaulttype::RigidCoord;
+        using sofa::defaulttype::Rigid3Types;
+
+        ////////////////////// Render when the selection is a Node ///////////////////////////////
+        auto node = castTo<sofa::simulation::Node*>(current.get());
+        if(node && m_showSelectedNodeBoundingBox)
+        {
+            auto box = node->f_bbox.getValue();
+            drawTool->drawBoundingBox(box.minBBox(), box.maxBBox(), 2.0);
+
+            // If it is a node... it is not a BaseObject, so we can continue.
+            continue;
+        }
+
+        ////////////////////// Render when the selection is a BaseObject //////////////////////////
+        auto object = castTo<sofa::core::objectmodel::BaseObject*>(current.get());
+        if(object)
+        {
+            sofa::type::BoundingBox box;
+            auto ownerNode = dynamic_cast<sofa::simulation::Node*>(object->getContext());
+            if(ownerNode)
+            {
+                box = ownerNode->f_bbox.getValue();
+            }
+
+            if(m_showSelectedObjectBoundingBox)
+            {
+                drawTool->drawBoundingBox(box.minBBox(), box.maxBBox(), 2.0);
+            }
+
+            std::vector<Vec3> positions;
+            auto position = object->findData("position");
+            if(position)
+            {
+                auto positionsData = dynamic_cast<Data<sofa::type::vector<Vec3>>*>(position);
+                if(positionsData)
+                {
+                    positions = positionsData->getValue();
+                    if(m_showSelectedObjectBoundingBox){
+                        drawTool->drawPoints(positions, 2.0, RGBAColor::yellow());
+                    }
+                }
+                else
+                {
+                    auto rigidPositions = dynamic_cast<Data<sofa::type::vector<RigidCoord<3, SReal>>>*>(position);
+                    if(rigidPositions)
+                    {
+                        for(auto frame : rigidPositions->getValue())
+                        {
+                            float targetScreenSize = 50.0;
+                            float distance = (currentCamera->getPosition() - Rigid3Types::getCPos(frame)).norm();
+                            SReal scale = distance * tan(currentCamera->getFieldOfView() / 2.0f) * targetScreenSize / screenHeight;
+                            drawTool->drawFrame(Rigid3Types::getCPos(frame), Rigid3Types::getCRot(frame), {scale, scale,scale});
+                            positions.push_back(Rigid3Types::getCPos(frame));
+                        }
+                    }
+                }
+            }
+
+            if(m_showSelectedObjectSurfaces && !positions.empty())
+            {
+                auto triangles = object->findData("triangles");
+                if(triangles)
+                {
+                    auto d_triangles = dynamic_cast<Data<sofa::type::vector<core::topology::Topology::Triangle>>*>(triangles);
+                    if(d_triangles)
+                    {
+                        std::vector<Vec3> tripoints;
+                        for(auto indices : d_triangles->getValue())
+                        {
+                            if(indices[0] < positions.size() &&
+                               indices[1] < positions.size() &&
+                               indices[2] < positions.size())
+                            {
+                                tripoints.push_back(positions[indices[0]]);
+                                tripoints.push_back(positions[indices[1]]);
+                                tripoints.push_back(positions[indices[1]]);
+                                tripoints.push_back(positions[indices[2]]);
+                                tripoints.push_back(positions[indices[2]]);
+                                tripoints.push_back(positions[indices[0]]);
+                            }
+                        }
+                        drawTool->drawLines(tripoints, 1.5, RGBAColor::fromFloat(1.0,1.0,1.0,0.7));
+                    }
+                }
+            }
+
+            if(!positions.empty() && m_showSelectedObjectIndices)
+            {
+                const float scale = (box.maxBBox() - box.minBBox()).norm() * m_visualScaling;
+                drawTool->draw3DText_Indices(positions, scale, RGBAColor::white());
+            }
+
+            continue;
+        }
+        msg_error("BaseViewer") << "Only node and object can be selected, if you see this line please report to sofa-developement team";
+    }
+}
+
+void BaseViewer::setCurrentSelection(const std::set<sofa::core::objectmodel::Base::SPtr>& selection)
+{
+    currentSelection = selection;
+}
+
+const std::set<core::objectmodel::Base::SPtr> &BaseViewer::getCurrentSelection() const
+{
+    return currentSelection;
+}
+
 } // namespace sofa::gui::common

Sofa/GUI/Common/src/sofa/gui/common/BaseViewer.h

@@ -121,7 +121,23 @@ class SOFA_GUI_COMMON_API BaseViewer
     /// the rendering pass is done here (have to be called in a loop)
     virtual void drawScene(void) = 0;
 
+    void drawSelection(sofa::core::visual::VisualParams* vparams);
+
+    void setCurrentSelection(const std::set<core::objectmodel::Base::SPtr> &selection);
+    const std::set<sofa::core::objectmodel::Base::SPtr>& getCurrentSelection() const;
+
+public:
+    bool m_showSelectedNodeBoundingBox {true};
+    bool m_showSelectedObjectBoundingBox {true};
+    bool m_showSelectedObjectPositions {true};
+    bool m_showSelectedObjectSurfaces {true};
+    bool m_showSelectedObjectVolumes {true};
+    bool m_showSelectedObjectIndices {true};
+    float m_visualScaling {0.2};
+
 protected:
+    void drawIndices(const sofa::type::BoundingBox& bbox, const std::vector<sofa::type::Vec3>& positions);
+
     /// internally called while the actual viewer needs a redraw (ie the camera changed)
     virtual void redraw() = 0;
 
@@ -135,6 +151,7 @@ class SOFA_GUI_COMMON_API BaseViewer
     bool _video;
     bool m_isVideoButtonPressed;
     bool m_bShowAxis;
+
     bool _fullScreen;
     int _background;
     bool initTexturesDone;
@@ -153,6 +170,8 @@ class SOFA_GUI_COMMON_API BaseViewer
     int _mouseInteractorSavedPosY;
 
     std::string _screenshotDirectory;
+
+    std::set<sofa::core::objectmodel::Base::SPtr> currentSelection;
 };
 
 } // namespace sofa::gui::common