[Visual] Introduce generic visualization of mesh

Sofa/Component/SolidMechanics/FEM/Elastic/src/sofa/component/solidmechanics/fem/elastic/FastTetrahedralCorotationalForceField.h

@@ -25,11 +25,12 @@
 #include <sofa/component/solidmechanics/fem/elastic/config.h>
 #include <sofa/core/behavior/ForceField.h>
 #include <sofa/core/topology/TopologyData.h>
-#include <sofa/type/fixed_array.h>
-#include <sofa/type/vector.h>
-#include <sofa/type/Vec.h>
+#include <sofa/core/visual/DrawMesh.h>
 #include <sofa/type/Mat.h>
+#include <sofa/type/Vec.h>
+#include <sofa/type/fixed_array.h>
 #include <sofa/type/trait/Rebind.h>
+#include <sofa/type/vector.h>
 
 namespace sofa::component::solidmechanics::fem::elastic
 {
@@ -177,6 +178,8 @@ protected :
 
     typedef FastTetrahedralCorotationalForceFieldData<DataTypes> ExtraData;
     ExtraData m_data;
+
+    core::visual::DrawElementMesh<sofa::geometry::Tetrahedron> m_drawMesh;
 };
 
 #if !defined(SOFA_COMPONENT_INTERACTIONFORCEFIELD_FASTTETRAHEDRALCOROTATIONALFORCEFIELD_CPP)

Sofa/Component/SolidMechanics/FEM/Elastic/src/sofa/component/solidmechanics/fem/elastic/FastTetrahedralCorotationalForceField.inl

@@ -672,50 +672,7 @@ void FastTetrahedralCorotationalForceField<DataTypes>::draw(const core::visual::
     if (vparams->displayFlags().getShowWireFrame())
         vparams->drawTool()->setPolygonMode(0, true);
 
-
-    std::vector< type::Vec3 > points[4];
-    for (size_t i = 0; i<this->l_topology->getNbTetrahedra(); ++i)
-    {
-        const core::topology::BaseMeshTopology::Tetrahedron t = this->l_topology->getTetrahedron(i);
-
-        const auto& [a, b, c, d] = t.array();
-        Coord center = (x[a] + x[b] + x[c] + x[d])*0.125;
-        Coord pa = (x[a] + center)*(Real)0.666667;
-        Coord pb = (x[b] + center)*(Real)0.666667;
-        Coord pc = (x[c] + center)*(Real)0.666667;
-        Coord pd = (x[d] + center)*(Real)0.666667;
-
-        // 		glColor4f(0,0,1,1);
-        points[0].push_back(pa);
-        points[0].push_back(pb);
-        points[0].push_back(pc);
-
-        // 		glColor4f(0,0.5,1,1);
-        points[1].push_back(pb);
-        points[1].push_back(pc);
-        points[1].push_back(pd);
-
-        // 		glColor4f(0,1,1,1);
-        points[2].push_back(pc);
-        points[2].push_back(pd);
-        points[2].push_back(pa);
-
-        // 		glColor4f(0.5,1,1,1);
-        points[3].push_back(pd);
-        points[3].push_back(pa);
-        points[3].push_back(pb);
-    }
-
-    vparams->drawTool()->drawTriangles(points[0], d_drawColor1.getValue());
-    vparams->drawTool()->drawTriangles(points[1], d_drawColor2.getValue());
-    vparams->drawTool()->drawTriangles(points[2], d_drawColor3.getValue());
-    vparams->drawTool()->drawTriangles(points[3], d_drawColor4.getValue());
-
-    if (vparams->displayFlags().getShowWireFrame())
-        vparams->drawTool()->setPolygonMode(0, false);
-
-
-
+    m_drawMesh.drawAllElements(vparams->drawTool(), x, this->l_topology.get());
 }
 
 } // namespace sofa::component::solidmechanics::fem::elastic

Sofa/Component/SolidMechanics/FEM/Elastic/src/sofa/component/solidmechanics/fem/elastic/HexahedralFEMForceField.h

@@ -20,15 +20,13 @@
 * Contact information: [email protected]                             *
 ******************************************************************************/
 #pragma once
-#include <sofa/component/solidmechanics/fem/elastic/config.h>
-
 #include <sofa/component/solidmechanics/fem/elastic/BaseLinearElasticityFEMForceField.h>
-
-#include <sofa/type/vector.h>
-#include <sofa/type/Vec.h>
-#include <sofa/type/Mat.h>
-
+#include <sofa/component/solidmechanics/fem/elastic/config.h>
 #include <sofa/core/topology/TopologyData.h>
+#include <sofa/core/visual/DrawMesh.h>
+#include <sofa/type/Mat.h>
+#include <sofa/type/Vec.h>
+#include <sofa/type/vector.h>
 
 namespace sofa::component::solidmechanics::fem::elastic
 {
@@ -198,6 +196,8 @@ class HexahedralFEMForceField : virtual public BaseLinearElasticityFEMForceField
 protected:
 
     type::Mat<8,3,int> _coef; ///< coef of each vertices to compute the strain stress matrix
+
+    core::visual::DrawElementMesh<sofa::geometry::Hexahedron> m_drawMesh;
 };
 
 #if !defined(SOFA_COMPONENT_FORCEFIELD_HEXAHEDRALFEMFORCEFIELD_CPP)

Sofa/Component/SolidMechanics/FEM/Elastic/src/sofa/component/solidmechanics/fem/elastic/HexahedralFEMForceField.inl

@@ -659,9 +659,6 @@ void HexahedralFEMForceField<DataTypes>::draw(const core::visual::VisualParams*
     if (!this->mstate) return;
 
     const auto stateLifeCycle = vparams->drawTool()->makeStateLifeCycle();
-    vparams->drawTool()->disableLighting();
-    std::vector<sofa::type::RGBAColor> colorVector;
-    std::vector<sofa::type::Vec3> vertices;
 
     const VecCoord& x = this->mstate->read(core::vec_id::read_access::position)->getValue();
 
@@ -670,92 +667,7 @@ void HexahedralFEMForceField<DataTypes>::draw(const core::visual::VisualParams*
         vparams->drawTool()->setPolygonMode(0, true);
     }
 
-    for(size_t i = 0 ; i<this->l_topology->getNbHexahedra(); ++i)
-    {
-        const core::topology::BaseMeshTopology::Hexahedron &t=this->l_topology->getHexahedron(i);
-
-        Index a = t[0];
-        Index b = t[1];
-        Index d = t[2];
-        Index c = t[3];
-        Index e = t[4];
-        Index f = t[5];
-        Index h = t[6];
-        Index g = t[7];
-
-        Coord center = (x[a]+x[b]+x[c]+x[d]+x[e]+x[g]+x[f]+x[h])*0.125;
-        Real percentage = (Real) 0.15;
-        Coord p0 = x[a]-(x[a]-center)*percentage;
-        Coord p1 = x[b]-(x[b]-center)*percentage;
-        Coord p2 = x[c]-(x[c]-center)*percentage;
-        Coord p3 = x[d]-(x[d]-center)*percentage;
-        Coord p4 = x[e]-(x[e]-center)*percentage;
-        Coord p5 = x[f]-(x[f]-center)*percentage;
-        Coord p6 = x[g]-(x[g]-center)*percentage;
-        Coord p7 = x[h]-(x[h]-center)*percentage;
-
-        constexpr sofa::type::RGBAColor color1(0.7f, 0.7f, 0.1f, 1.0f);
-        colorVector.push_back(color1);
-        colorVector.push_back(color1);
-        colorVector.push_back(color1);
-        colorVector.push_back(color1);
-        vertices.push_back(DataTypes::getCPos(p5));
-        vertices.push_back(DataTypes::getCPos(p1));
-        vertices.push_back(DataTypes::getCPos(p3));
-        vertices.push_back(DataTypes::getCPos(p7));
-
-        constexpr sofa::type::RGBAColor color2(0.7f, 0.0f, 0.0f, 1.0f);
-        colorVector.push_back(color2);
-        colorVector.push_back(color2);
-        colorVector.push_back(color2);
-        colorVector.push_back(color2);
-        vertices.push_back(DataTypes::getCPos(p1));
-        vertices.push_back(DataTypes::getCPos(p0));
-        vertices.push_back(DataTypes::getCPos(p2));
-        vertices.push_back(DataTypes::getCPos(p3));
-
-        constexpr sofa::type::RGBAColor color3(0.0f, 0.7f, 0.0f, 1.0f);
-        colorVector.push_back(color3);
-        colorVector.push_back(color3);
-        colorVector.push_back(color3);
-        colorVector.push_back(color3);
-        vertices.push_back(DataTypes::getCPos(p0));
-        vertices.push_back(DataTypes::getCPos(p4));
-        vertices.push_back(DataTypes::getCPos(p6));
-        vertices.push_back(DataTypes::getCPos(p2));
-
-        constexpr sofa::type::RGBAColor color4(0.0f, 0.0f, 0.7f, 1.0f);
-        colorVector.push_back(color4);
-        colorVector.push_back(color4);
-        colorVector.push_back(color4);
-        colorVector.push_back(color4);
-        vertices.push_back(DataTypes::getCPos(p4));
-        vertices.push_back(DataTypes::getCPos(p5));
-        vertices.push_back(DataTypes::getCPos(p7));
-        vertices.push_back(DataTypes::getCPos(p6));
-
-        constexpr sofa::type::RGBAColor color5(0.1f, 0.7f, 0.7f, 1.0f);
-        colorVector.push_back(color5);
-        colorVector.push_back(color5);
-        colorVector.push_back(color5);
-        colorVector.push_back(color5);
-        vertices.push_back(DataTypes::getCPos(p7));
-        vertices.push_back(DataTypes::getCPos(p3));
-        vertices.push_back(DataTypes::getCPos(p2));
-        vertices.push_back(DataTypes::getCPos(p6));
-
-        constexpr sofa::type::RGBAColor color6(0.1f, 0.7f, 0.7f, 1.0f);
-        colorVector.push_back(color6);
-        colorVector.push_back(color6);
-        colorVector.push_back(color6);
-        colorVector.push_back(color6);
-        vertices.push_back(DataTypes::getCPos(p1));
-        vertices.push_back(DataTypes::getCPos(p5));
-        vertices.push_back(DataTypes::getCPos(p4));
-        vertices.push_back(DataTypes::getCPos(p0));
-    }
-    vparams->drawTool()->drawQuads(vertices,colorVector);
-
+    m_drawMesh.drawAllElements(vparams->drawTool(), x, this->l_topology.get());
 }
 
 } // namespace sofa::component::solidmechanics::fem::elastic

Sofa/Component/SolidMechanics/FEM/Elastic/src/sofa/component/solidmechanics/fem/elastic/HexahedronFEMForceField.h

@@ -20,17 +20,17 @@
 * Contact information: [email protected]                             *
 ******************************************************************************/
 #pragma once
-#include <sofa/component/solidmechanics/fem/elastic/fwd.h>
-
 #include <sofa/component/solidmechanics/fem/elastic/BaseLinearElasticityFEMForceField.h>
-#include <sofa/core/topology/BaseMeshTopology.h>
+#include <sofa/component/solidmechanics/fem/elastic/fwd.h>
 #include <sofa/component/topology/container/grid/SparseGridTopology.h>
-#include <sofa/type/vector.h>
-#include <sofa/defaulttype/VecTypes.h>
-#include <sofa/type/Mat.h>
 #include <sofa/core/behavior/BaseRotationFinder.h>
-#include <sofa/helper/decompose.h>
+#include <sofa/core/topology/BaseMeshTopology.h>
+#include <sofa/core/visual/DrawMesh.h>
+#include <sofa/defaulttype/VecTypes.h>
 #include <sofa/helper/OptionsGroup.h>
+#include <sofa/helper/decompose.h>
+#include <sofa/type/Mat.h>
+#include <sofa/type/vector.h>
 
 namespace sofa::component::solidmechanics::fem::elastic
 {
@@ -222,6 +222,8 @@ class HexahedronFEMForceField :
     virtual void accumulateForceSmall( WDataRefVecDeriv &f, RDataRefVecCoord &p, sofa::Index i, const Element&elem  );
 
     bool _alreadyInit;
+
+    core::visual::DrawElementMesh<sofa::geometry::Hexahedron> m_drawMesh;
 };
 
 #if !defined(SOFA_COMPONENT_FORCEFIELD_HEXAHEDRONFEMFORCEFIELD_CPP)

Sofa/Component/SolidMechanics/FEM/Elastic/src/sofa/component/solidmechanics/fem/elastic/HexahedronFEMForceField.inl

@@ -1212,8 +1212,6 @@ void HexahedronFEMForceField<DataTypes>::draw(const core::visual::VisualParams*
 
     const VecCoord& x = this->mstate->read(core::vec_id::read_access::position)->getValue();
 
-    vparams->drawTool()->setLightingEnabled(false);
-
     if(_sparseGrid )
     {
         vparams->drawTool()->enableBlending();
@@ -1222,104 +1220,8 @@ void HexahedronFEMForceField<DataTypes>::draw(const core::visual::VisualParams*
     if (vparams->displayFlags().getShowWireFrame())
         vparams->drawTool()->setPolygonMode(0,true);
 
-    const Real percentage = d_drawPercentageOffset.getValue();
-    const Real oneMinusPercentage = static_cast<Real>(1) - percentage;
-
-    const auto* indexedElements = this->getIndexedElements();
-
-    sofa::type::fixed_array<std::vector<sofa::type::Vec3>, 6 > quads; //one list of quads per hexahedron face
-    sofa::type::fixed_array<std::vector<RGBAColor>, 6> colors; //one list of quads per hexahedron face
-
-    for (auto& q : quads)
-    {
-        q.reserve(indexedElements->size() * 4);
-    }
-    for (auto& c : colors)
-    {
-        c.reserve(indexedElements->size() * 4);
-    }
-
-    sofa::Index i {};
-    for (const auto& element : *indexedElements)
-    {
-        const Coord& a = x[element[0]];
-        const Coord& b = x[element[1]];
-        const Coord& c = x[element[2]];
-        const Coord& d = x[element[3]];
-        const Coord& e = x[element[4]];
-        const Coord& f = x[element[5]];
-        const Coord& g = x[element[6]];
-        const Coord& h = x[element[7]];
-
-        const Coord center = (a + b + c + d + e + f + g + h ) * static_cast<Real>(0.125);
-        const Coord centerPercent = center * percentage;
-
-        const Coord pa = a * oneMinusPercentage + centerPercent;
-        const Coord pb = b * oneMinusPercentage + centerPercent;
-        const Coord pc = c * oneMinusPercentage + centerPercent;
-        const Coord pd = d * oneMinusPercentage + centerPercent;
-        const Coord pe = e * oneMinusPercentage + centerPercent;
-        const Coord pf = f * oneMinusPercentage + centerPercent;
-        const Coord pg = g * oneMinusPercentage + centerPercent;
-        const Coord ph = h * oneMinusPercentage + centerPercent;
-
-        quads[0].emplace_back(pa);
-        quads[0].emplace_back(pb);
-        quads[0].emplace_back(pc);
-        quads[0].emplace_back(pd);
-
-        quads[1].emplace_back(pe);
-        quads[1].emplace_back(pf);
-        quads[1].emplace_back(pg);
-        quads[1].emplace_back(ph);
-
-        quads[2].emplace_back(pc);
-        quads[2].emplace_back(pd);
-        quads[2].emplace_back(ph);
-        quads[2].emplace_back(pg);
-
-        quads[3].emplace_back(pa);
-        quads[3].emplace_back(pb);
-        quads[3].emplace_back(pf);
-        quads[3].emplace_back(pe);
-
-        quads[4].emplace_back(pa);
-        quads[4].emplace_back(pd);
-        quads[4].emplace_back(ph);
-        quads[4].emplace_back(pe);
-
-        quads[5].emplace_back(pb);
-        quads[5].emplace_back(pc);
-        quads[5].emplace_back(pg);
-        quads[5].emplace_back(pf);
-
-        const float stiffnessCoef = _sparseGrid ? _sparseGrid->getStiffnessCoef(i) : 1.0f;
-        sofa::type::fixed_array<sofa::type::RGBAColor, 6> quadColors {
-            sofa::type::RGBAColor(0.7f,0.7f,0.1f,stiffnessCoef),
-            sofa::type::RGBAColor(0.7f,0.0f,0.0f,stiffnessCoef),
-            sofa::type::RGBAColor(0.0f,0.7f,0.0f,stiffnessCoef),
-            sofa::type::RGBAColor(0.0f,0.0f,0.7f,stiffnessCoef),
-            sofa::type::RGBAColor(0.1f,0.7f,0.7f,stiffnessCoef),
-            sofa::type::RGBAColor(0.7f,0.1f,0.7f,stiffnessCoef)
-        };
-
-        for (unsigned int j = 0; j < 6; ++j)
-        {
-            auto& faceColors = colors[j];
-            const auto& color = quadColors[j];
-            for (unsigned int k = 0; k < 4; ++k)
-            {
-                faceColors.emplace_back(color);
-            }
-        }
-
-        ++i;
-    }
-
-    for (unsigned int j = 0; j < 6; ++j)
-    {
-        vparams->drawTool()->drawQuads(quads[j], colors[j]);
-    }
+    m_drawMesh.elementSpace = d_drawPercentageOffset.getValue();
+    m_drawMesh.drawAllElements(vparams->drawTool(), x, this->l_topology.get());
 }
 
 

Sofa/Component/SolidMechanics/FEM/Elastic/src/sofa/component/solidmechanics/fem/elastic/TetrahedralCorotationalFEMForceField.h

@@ -22,14 +22,14 @@
 #pragma once
 #include <sofa/component/solidmechanics/fem/elastic/BaseLinearElasticityFEMForceField.h>
 #include <sofa/component/solidmechanics/fem/elastic/config.h>
-
 #include <sofa/core/behavior/ForceField.h>
 #include <sofa/core/topology/TopologyData.h>
-#include <sofa/type/vector.h>
-#include <sofa/type/Vec.h>
-#include <sofa/type/Mat.h>
-#include <sofa/helper/map.h>
+#include <sofa/core/visual/DrawMesh.h>
 #include <sofa/helper/ColorMap.h>
+#include <sofa/helper/map.h>
+#include <sofa/type/Mat.h>
+#include <sofa/type/Vec.h>
+#include <sofa/type/vector.h>
 
 // corotational tetrahedron from
 // @InProceedings{NPF05,
@@ -250,6 +250,8 @@ class TetrahedralCorotationalFEMForceField : public BaseLinearElasticityFEMForce
 
     void printStiffnessMatrix(int idTetra);
 
+    core::visual::DrawElementMesh<sofa::geometry::Tetrahedron> m_drawMesh;
+
 };
 
 #if !defined(SOFA_COMPONENT_FORCEFIELD_TETRAHEDRALCOROTATIONALFEMFORCEFIELD_CPP)