Update example and add BaseData support for drawLines

Author: damienmarchal

bindings/Sofa/src/SofaPython3/Sofa/Core/Binding_DrawTool.cpp

@@ -57,7 +57,7 @@ sofa::type::vector<sofa::type::Vec3> getPoints(const py::array_t<double>& array)
     std::vector<sofa::type::Vec3d> points;
     points.resize(rows);
     for (size_t i = 0; i < rows; ++i)
-           for (size_t j = 0; j < cols; ++j)
+           for (size_t j = 0; j < 3; ++j)
                points[i][j] = ptr[i * cols + j];
 
     return points;
@@ -89,11 +89,11 @@ void moduleAddDrawTool(py::module &m)
 {
     py::class_<DrawTool> dt(m, "DrawTool", sofapython3::doc::drawtool::baseDrawToolClass);
 
+    // Draw points
     dt.def("drawPoints", [](DrawTool *self, py::array_t<double> points, float size, sofa::type::RGBAColor& color)
     {
         self->drawPoints(getPoints(points), size, color);
     });
-
     dt.def("drawPoints", [](DrawTool *self, BaseData* dpositions, float size, sofa::type::RGBAColor& color){
         auto positions = dynamic_cast<Data<sofa::type::vector<sofa::type::Vec3>>*>(dpositions);
         if(!positions)
@@ -102,10 +102,20 @@ void moduleAddDrawTool(py::module &m)
         self->drawPoints(positions->getValue(), size, color);
     });
 
+    /// Draw lines
     dt.def("drawLines", [](DrawTool *self,  const py::array_t<double>& positions, const float size, sofa::type::RGBAColor& color){
         self->drawLines(getPoints(positions), size, color);
     });
+    dt.def("drawLines", [](DrawTool *self, BaseData* dpositions, const float size, sofa::type::RGBAColor& color){
+        auto positions = dynamic_cast<Data<sofa::type::vector<sofa::type::Vec3>>*>(dpositions);
+        if(!positions)
+            throw std::runtime_error("Invalid argument, expecting a vector<Rigid3> or vector<Vec3>, got "+dpositions->getValueTypeString());
+
+        self->drawLines(positions->getValue(), size, color);
+    });
 
+
+    // Draw frames
     dt.def("drawFrames", [](DrawTool* self,
            const py::array_t<double>& points,
            const py::array_t<double>& orientations,
@@ -118,7 +128,6 @@ void moduleAddDrawTool(py::module &m)
             self->drawFrame(cpoints[i], corientations[i], csize);
         }
     });
-
     dt.def("drawFrames", [](DrawTool* self, BaseData* dpositions, std::array<double, 3>& size ){
         using sofa::defaulttype::Rigid3Types;
         using Coord = sofa::defaulttype::Rigid3Types::Coord;
@@ -134,6 +143,7 @@ void moduleAddDrawTool(py::module &m)
         }
     });
 
+    // Draw text
     dt.def("drawText", [](DrawTool* self,
                           const std::array<double,3>& point,
                           const float size,
@@ -143,6 +153,7 @@ void moduleAddDrawTool(py::module &m)
         self->draw3DText(point, size, color, text.c_str());
     });
 
+    // Draw overlay text
     dt.def("drawOverlayText", [](DrawTool* self, const std::array<double,2>& point,
                                  int fontSize, char* text, sofa::type::RGBAColor& color){
         self->writeOverlayText(point[0],point[1], fontSize, color, text);

examples/example-drawing-controller.py

@@ -1,7 +1,10 @@
 import Sofa
 import SofaTypes 
+import numpy
+from numpy import array
 from Sofa.Types import RGBAColor 
 
+
 class DrawingExamples(Sofa.Core.Controller):
     def __init__(self, *args, **kwargs):
         # These are needed (and the normal way to override from a python class)
@@ -12,7 +15,7 @@ def __init__(self, *args, **kwargs):
 
     def draw(self, visual_context):
         dt = visual_context.getDrawTool()
-        dt.drawPoints([[-1.5,0,-1]], 5.0, RGBAColor("red"))
+        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])