Add binding for Controller::draw() and drawTools()

[damienmarchal]

So it become possible to draw from python.

I think we should discuss the API of this. Do we mimick the C++ one or do we make one that avoid data conversion.

A small example:

classDrawingExamples(Sofa.Core.Controller):
def__init__(self, *args, **kwargs):
# These are needed (and the normal way to override from a python class)Sofa.Core.Controller.__init__(self, *args, **kwargs)
self.target=kwargs.get("target", None)
self.mo=kwargs.get("mo", None)
defdraw(self, visual_context):
dt=visual_context.getDrawTool()
dt.drawPoints(array([[-1.5,-1.0,0.0]]), 5.0, RGBAColor("red"))
dt.drawPoints([[-1.3,0,-1], [1.3,0,-1]], 10.0, RGBAColor("green"))
dt.drawLines([[-1.3,0,-1], [1.3,0,-1]], 1.0, RGBAColor("green"))
dt.drawFrames([[-1.5,0.1,-1]], [[0.0,0,0,1.0]], [0.1,0.1,0.1])
ifself.targetisnotNone:
dt.drawPoints(self.target.position, 2.0, RGBAColor("blue"))
dt.drawText([-2.0,0.0,0.0], 0.5, "This is not a raptor", RGBAColor("white"))
dt.drawOverlayText([10, 10], 12, "Overlay text", RGBAColor("pink"))
dt.drawFrames(self.mo.position, [0.1,0.1,0.1])

With the corresponding picture:

[damienmarchal]

THE EXAMPLE IN THIS COMMENT IS DEPRECATED
I added other method in DrawTool::drawRGBAImage (this will be moved in PR #533)
It is also possible to directly pass BaseData (eg: mechanicalobject.position in drawPoints or drawFrames) to do a zero copy.

importSofaimportSofaTypesclassDrawingExamples(Sofa.Core.Controller):
def__init__(self, *args, **kwargs):
# These are needed (and the normal way to override from a python class)Sofa.Core.Controller.__init__(self, *args, **kwargs)
self.target=kwargs.get("target", None)
self.mo=kwargs.get("mo", None)
defdraw(self, visual_context):
dt=visual_context.getDrawTool()
dt.drawPoints([SofaTypes.Vec3d(-1.5,0,-1)], 5.0)
dt.drawPoints([SofaTypes.Vec3d(-1.3,0,-1), SofaTypes.Vec3d(1.3,0,-1)], 5.0)
dt.drawLines([SofaTypes.Vec3d(-1.3,0,-1), SofaTypes.Vec3d(1.3,0,-1)], 1.0)
dt.drawFrames([SofaTypes.Vec3d(-1.5,0.1,-1)], [SofaTypes.Quat(0.0,0,0,1.0)], SofaTypes.Vec3d(0.1,0.1,0.1))
ifself.targetisnotNone:
dt.drawPoints(self.target.position, 2.0)
dt.draw3DText(SofaTypes.Vec3d(-2.0,0.0,0.0), 0.5, "This is not a raptor")
dt.drawFrames(self.mo.position, SofaTypes.Vec3d(0.1,0.1,0.1))
defcreateScene(root):
root.dt=0.01root.bbox= [[-1,-1,-1],[1,1,1]]
root.addObject('DefaultVisualManagerLoop')
root.addObject('DefaultAnimationLoop')
root.addObject("MeshOBJLoader", name="loader", filename="mesh/raptor_35kp.obj")
root.addObject("MechanicalObject", name="mo", template="Rigid3", position=[[float(i)/10.0, 0.0,0.0, 0.0, 0.0, 0.0, 1.0] foriinrange(0,10)])
# Add our python controller in the sceneroot.addObject( DrawingExamples(name="DrawingController2", target=root.loader,
mo=root.mo) )

[damienmarchal]

Hi @hugtalbot, @bakpaul

I have added the support for numpy, removed the support for Vec3 and added support for RGBAColor, drawCircle, drawSpheres, drawTriangles, drawQuads.

I would dream of having more implicit conversion (eg: to avoid the need for RGBAColor)... but I didn't manage so far using the custom pybind11::type_caster mechanism. I will not investigate further this aspect for the moment, in addition improving the drawing API by removing the RGBA is something that can be done in the future without breaking things.

[damienmarchal]

Happy to see it is ready...
Thanks for the review & feedbacks.