[examples] Improve scenes

examples/BaseCamera.py

@@ -78,7 +78,7 @@ def Sphere(rootNode, name, position, color):
     #### Visualization of the sphere
     sphereVisu = sphere.addChild("VisualModel")
     sphereVisu.loader = sphereVisu.addObject('MeshObjLoader', name="loader", 
-        filename="mesh/ball.obj", scale=0.5)
+                                              filename="mesh/ball.obj", scale=0.5)
     sphereVisu.addObject('OglModel', name="model", src="@loader", color=color)
     sphereVisu.addObject('RigidMapping')
     return sphere

examples/CMakeLists.txt

@@ -1,25 +1,24 @@
 project(Examples)
 
 set(EXAMPLES_FILES
-    ${CMAKE_CURRENT_SOURCE_DIR}/BaseCamera.py
     ${CMAKE_CURRENT_SOURCE_DIR}/CMakeLists.txt
-    ${CMAKE_CURRENT_SOURCE_DIR}/ControllerScene.py
-    ${CMAKE_CURRENT_SOURCE_DIR}/easingSceneMatplotlib.py
-    ${CMAKE_CURRENT_SOURCE_DIR}/easingScene.py
+    ${CMAKE_CURRENT_SOURCE_DIR}/basic.py
+    ${CMAKE_CURRENT_SOURCE_DIR}/basic-addGUI.py
     ${CMAKE_CURRENT_SOURCE_DIR}/emptyController.py
     ${CMAKE_CURRENT_SOURCE_DIR}/emptyDataEngine.py
     ${CMAKE_CURRENT_SOURCE_DIR}/emptyForceField.py
     ${CMAKE_CURRENT_SOURCE_DIR}/example-forcefield2.py
     ${CMAKE_CURRENT_SOURCE_DIR}/example-forcefield.py
-    ${CMAKE_CURRENT_SOURCE_DIR}/example.pyscn
     ${CMAKE_CURRENT_SOURCE_DIR}/example-scriptcontroller.py
+    ${CMAKE_CURRENT_SOURCE_DIR}/BaseCamera.py
+    ${CMAKE_CURRENT_SOURCE_DIR}/easingSceneMatplotlib.py
+    ${CMAKE_CURRENT_SOURCE_DIR}/easingScene.py    
     ${CMAKE_CURRENT_SOURCE_DIR}/keyEvents.py
+    ${CMAKE_CURRENT_SOURCE_DIR}/realTimeClockScene.py
+    ${CMAKE_CURRENT_SOURCE_DIR}/ReadTheDocs_Example.py
     ${CMAKE_CURRENT_SOURCE_DIR}/pygame_renderingloop/backend_pygame.py
     ${CMAKE_CURRENT_SOURCE_DIR}/pygame_renderingloop/pygame_test.py
-    ${CMAKE_CURRENT_SOURCE_DIR}/ReadTheDocs_Example.py
-    ${CMAKE_CURRENT_SOURCE_DIR}/realTimeClockScene.py
-    ${CMAKE_CURRENT_SOURCE_DIR}/SofaGui.py
-    ${CMAKE_CURRENT_SOURCE_DIR}/test.scn
+    ${CMAKE_CURRENT_SOURCE_DIR}/additional-examples/ControllerScene.py    
 )
 
 add_custom_target(${PROJECT_NAME} SOURCES ${EXAMPLES_FILES})

examples/ControllerScene.py → examples/additional-examples/ControllerScene.py

@@ -81,6 +81,7 @@ def onKeypressedEvent(self, c):
             print("You just switch to rotation control ")
             self.move = 1
 
+
 def createScene(root):
 
     # rpath =os.environ["SOFA_ROOT"]+"../src/share/mesh/"
@@ -91,35 +92,41 @@ def createScene(root):
 
     loader = root.addObject('MeshObjLoader', name='loader',
                             filename="mesh/liver.obj")
-    te = root.addObject(
-        "TransformEngine", name="te", input_position=loader.position.getLinkPath(), rotation=[0,0,0])
+    te = root.addObject("TransformEngine", name="te",
+                        input_position=loader.position.getLinkPath(), rotation=[0,0,0])
     mo = root.addObject("MechanicalObject", name="mo",
                         position=te.output_position.getLinkPath())
 
     visu = root.addChild("Visu")
     visu.addObject('OglModel', name="visu", src=loader.getLinkPath())
     visu.addObject('IdentityMapping', name="BM", src=mo.getLinkPath())
 
+    # If script is loaded by SOFA (runSofa), this script must be added as a controller
     if not _runAsPythonScript:
         root.addObject(RotationController(name="MyController", engine=root.te))
 
 
 def main():
-    # can be executed from terminal directly:
-
-    # Register all the common component in the factory.
+    # Load the required plugins
     SofaRuntime.importPlugin("SofaOpenglVisual")
+    SofaRuntime.importPlugin("SofaGeneralEngine")
+
+    # Check and save if the script is called from python environment
     global _runAsPythonScript
     _runAsPythonScript = True
-    root = Sofa.Core.Node()
 
+    # Create and initialize the scene
+    root = Sofa.Core.Node()
     createScene(root)
     Sofa.Simulation.init(root)
+
+    # Run simulation
     for i in range(0, 360):
         Sofa.Simulation.animate(root, root.dt.value)
         root.te.rotation[0] += 1
-        #print("For i = "+ str(i)+", we have : "+str(root.te.rotation.value[0]))
+
     print("Last value is : "+ str(root.te.rotation.value[0]))
 
+
 if __name__ == '__main__':
     main()

examples/basic-addGUI.py

@@ -0,0 +1,62 @@
+# Required import for python
+import Sofa
+import SofaRuntime
+import Sofa.Gui
+
+
+# Choose in your script to activate or not the GUI
+USE_GUI = True
+
+
+def main():
+    # Make sure to load all SOFA libraries
+    SofaRuntime.importPlugin("SofaOpenglVisual")
+
+    #Create the root node
+    root = Sofa.Core.Node("root")
+    # Call the below 'createScene' function to create the scene graph
+    createScene(root)
+    Sofa.Simulation.init(root)
+
+    if not USE_GUI:
+        for iteration in range(10):
+            Sofa.Simulation.animate(root, root.dt.value)
+    else:
+        # Find out the supported GUIs
+        print ("Supported GUIs are: " + Sofa.Gui.GUIManager.ListSupportedGUI(","))
+        # Launch the GUI (qt or qglviewer)
+        Sofa.Gui.GUIManager.Init("myscene", "qglviewer")
+        Sofa.Gui.GUIManager.createGUI(root, __file__)
+        Sofa.Gui.GUIManager.SetDimension(1080, 1080)
+        # Initialization of the scene will be done here
+        Sofa.Gui.GUIManager.MainLoop(root)
+        Sofa.Gui.GUIManager.closeGUI()
+        print("GUI was closed")
+
+    print("Simulation is done.")
+
+
+# Function called when the scene graph is being created
+def createScene(root):
+    # Scene must now include a VisualLoop
+    root.addObject('DefaultVisualManagerLoop')
+
+    # Scene must now include a AnimationLoop
+    root.addObject('DefaultAnimationLoop')
+
+    # Add new nodes and objects in the scene
+    node1 = root.addChild("Node1")
+    node2 = root.addChild("Node2")
+
+    node1.addObject("MechanicalObject")
+    node1.addObject("OglModel")
+
+    node2.addObject("MechanicalObject")
+    node2.addObject("OglModel")
+
+    return root
+
+
+# Function used only if this script is called from a python environment
+if __name__ == '__main__':
+    main()

examples/basic.py

@@ -0,0 +1,43 @@
+# Required import for python
+import Sofa
+import SofaRuntime
+
+
+def main():
+	# Make sure to load all SOFA libraries
+	SofaRuntime.importPlugin("SofaOpenglVisual")
+
+	# Call the above function to create the scene graph
+	root = Sofa.Core.Node("root")
+	createScene(root)
+
+	# Once defined, initialization of the scene graph
+	Sofa.Simulation.init(root)
+
+	# Run the simulation for 10 steps
+	for iteration in range(10):
+		print(f'Iteration #{iteration}')
+		Sofa.Simulation.animate(root, root.dt.value)
+
+	print("Simulation made 10 time steps. Done")
+
+
+# Function called when the scene graph is being created
+def createScene(root):
+
+	# Add new nodes and objects in the scene
+	node1 = root.addChild("Node1")
+	node2 = root.addChild("Node2")
+
+	node1.addObject("MechanicalObject", position="0 0 0")
+	node1.addObject("OglModel")
+
+	node2.addObject("MechanicalObject", position="1 1 1")
+	node2.addObject("OglModel")
+
+	return root
+
+
+# Function used only if this script is called from a python environment
+if __name__ == '__main__':
+    main()

examples/emptyController.py

@@ -1,44 +1,110 @@
-import Sofa.Core
+import Sofa
+import Sofa.Gui
 
+
+# This python script shows the functions to be implemented
+# in order to create your Controller in python
 class EmptyController(Sofa.Core.Controller):
-    """ custom %EmptyController% component for SOFA """
 
     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)
+
+    # Default BaseObject functions********************************
+    def init(self):
         pass
 
-    def init():
+    def bwdInit():
         pass
 
     def reinit():
         pass
 
-    # DEFAULT EVENTS:
-    def onAnimateBeginEvent(self, event):
-        """ called at the beginning of each time step """
+    # Default Events *********************************************
+    def onAnimateBeginEvent(self, event): # called at each begin of animation step
         pass
 
-    def onAnimateEndEvent(self, event):
-        """ called at the end of each time step """
+    def onAnimateEndEvent(self, event): # called at each end of animation step
         pass
 
     def onKeypressedEvent(self, event):
-        """ called when a key release event is triggered from the UI """
-        pass
+        key = event['key']
+        if ord(key) == 19:  # up
+            print("You pressed the Up key")
+
+        if ord(key) == 21:  # down
+            print("You pressed the Down key")
+
+        if ord(key) == 18:  # left
+            print("You pressed the Left key")
+
+        if ord(key) == 20:  # right
+            print("You pressed the Right key")
 
     def onKeyreleasedEvent(self, event):
-        """ called when a key release event is triggered from the UI """
-        pass
+        key = event['key']
+        if ord(key) == 19:  # up
+            print("You released the Up key")
+
+        if ord(key) == 21:  # down
+            print("You released the Down key")
+
+        if ord(key) == 18:  # left
+            print("You released the Left key")
+
+        if ord(key) == 20:  # right
+            print("You released the Right key")
 
     def onMouseEvent(self, event):
-        """ called when a mouse event is triggered from the UI """
-        pass
+        if (event['State']== 0): # mouse moving
+            print("Mouse is moving (x,y) = "+str(event['mouseX'])+" , "+str(event['mouseY']))
+
+        if (event['State']==1): # left mouse clicked
+            print("Left mouse clicked")
+
+        if (event['State']==2): # left mouse released
+            print("Left mouse released")
+
+        if (event['State']==3): # right mouse released
+            print("Right mouse clicked")
+
+        if (event['State']==4): # right mouse released
+            print("Right mouse released")
+
+        if (event['State']==5): # wheel clicked
+            print("Mouse wheel clicked")
+
+        if (event['State']==6): # wheel released
+            print("Mouse wheel released")
 
     def onScriptEvent(self, event):
-        """ catches events sent from other python scripts """
         pass
 
     def onEvent(self, event):
-        """ generic method called when no script method exists for the sent event """
         pass
 
+
+def createScene(root):
+    root.dt = 0.01
+    root.addObject('DefaultVisualManagerLoop')
+    root.addObject('DefaultAnimationLoop')
+
+    # Add our python controller in the scene
+    root.addObject( EmptyController(name="MyEmptyController") )
+
+
+def main():
+    root=Sofa.Core.Node("root")
+    createScene(root)
+
+    Sofa.Gui.GUIManager.Init("myscene", "qglviewer")
+    Sofa.Gui.GUIManager.createGUI(root, __file__)
+    Sofa.Gui.GUIManager.SetDimension(1080, 1080)
+    Sofa.Gui.GUIManager.MainLoop(root)
+    Sofa.Gui.GUIManager.closeGUI()
+
+    print("End of simulation.")
+
+
+if __name__ == '__main__':
+    main()