sofa-framework · olivier-roussel · Dec 22, 2025 · Dec 22, 2025 · Dec 22, 2025 · Dec 22, 2025
diff --git a/SofaImGui/CMakeLists.txt b/SofaImGui/CMakeLists.txt
@@ -20,6 +20,7 @@ sofa_fetch_dependency(imgui
         DONT_BUILD
 )
 
+# nfd (nativefiledialog-extended)
 find_package(nfd CONFIG QUIET)
 
 if(TARGET nfd::nfd)
@@ -42,43 +43,34 @@ elseif( (DEFINED SOFA_ALLOW_FETCH_DEPENDENCIES AND SOFA_ALLOW_FETCH_DEPENDENCIES
     add_library(nfd::nfd ALIAS nfd) # introduced in nfd >= v1.2.1
 endif()
 
-
+# ImPlot
 sofa_fetch_dependency(ImPlot
         GIT_REPOSITORY https://github.com/epezent/implot
         GIT_TAG        18c72431f8265e2b0b5378a3a73d8a883b2175ff # v0.16
         DONT_BUILD
 )
 
+# IconFontCppHeaders
 sofa_fetch_dependency(IconFontCppHeaders
         GIT_REPOSITORY https://github.com/juliettef/IconFontCppHeaders
         GIT_TAG        bf610efb2e5d4361df799d0dfb5ae3977d7bba2e
         DONT_BUILD
 )
 
-sofa_fetch_dependency(simpleini
-        GIT_REPOSITORY https://github.com/brofield/simpleini
-        GIT_TAG        09c21bda1dc1b578fa55f4a005d79b0afd481296 # v4.22
+# SimpleIni
+find_package(SimpleIni QUIET)
 
-)
+if(NOT TARGET SimpleIni::SimpleIni AND ((DEFINED SOFA_ALLOW_FETCH_DEPENDENCIES AND SOFA_ALLOW_FETCH_DEPENDENCIES) OR (NOT DEFINED SOFA_ALLOW_FETCH_DEPENDENCIES)))
+    message("${PROJECT_NAME}: SimpleIni not found and SOFA_ALLOW_FETCH_DEPENDENCIES is ON, fetching source code...")
+
+    sofa_fetch_dependency(simpleini
+            GIT_REPOSITORY https://github.com/brofield/simpleini
+            GIT_TAG        09c21bda1dc1b578fa55f4a005d79b0afd481296 # v4.22
+    )
+elseif(NOT TARGET SimpleIni::SimpleIni)
+    message(FATAL_ERROR "{PROJECT_NAME}: SimpleIni not found and SOFA_ALLOW_FETCH_DEPENDENCIES is OFF and thus cannot be fetched. Install SimpleIni, or enable SOFA_ALLOW_FETCH_DEPENDENCIES to fix this issue.")
+endif()
 
-set(IMGUI_HEADER_FILES
-    ${imgui_SOURCE_DIR}/backends/imgui_impl_glfw.h
-    ${imgui_SOURCE_DIR}/backends/imgui_impl_opengl3.h
-    ${imgui_SOURCE_DIR}/backends/imgui_impl_opengl2.h
-    ${imgui_SOURCE_DIR}/imconfig.h
-    ${imgui_SOURCE_DIR}/imgui.h
-    ${imgui_SOURCE_DIR}/imgui_internal.h
-    ${imgui_SOURCE_DIR}/misc/cpp/imgui_stdlib.h
-    ${ImPlot_SOURCE_DIR}/implot.h
-    ${ImPlot_SOURCE_DIR}/implot_internal.h
-    ${IconFontCppHeaders_SOURCE_DIR}/IconsFontAwesome4.h
-    ${IconFontCppHeaders_SOURCE_DIR}/IconsFontAwesome6.h
-    ${simpleini_SOURCE_DIR}/SimpleIni.h
-    resources/fa-regular-400.h
-    resources/fa-solid-900.h
-    resources/Roboto-Medium.h
-    resources/Style.h
-)
 set(IMGUI_SOURCE_FILES
     ${imgui_SOURCE_DIR}/backends/imgui_impl_glfw.cpp
     ${imgui_SOURCE_DIR}/backends/imgui_impl_opengl3.cpp
@@ -102,7 +94,6 @@ set(HEADER_FILES
     ${SOFAIMGUI_SOURCE_DIR}/ImGuiDataWidget.h
     ${SOFAIMGUI_SOURCE_DIR}/ImGuiGUI.h
     ${SOFAIMGUI_SOURCE_DIR}/ImGuiGUIEngine.h
-    ${SOFAIMGUI_SOURCE_DIR}/ObjectColor.h
     ${SOFAIMGUI_SOURCE_DIR}/UIStrings.h
     ${SOFAIMGUI_SOURCE_DIR}/widgets/DisplayFlagsWidget.h
     ${SOFAIMGUI_SOURCE_DIR}/widgets/LinearSpringWidget.h
@@ -133,6 +124,8 @@ set(SOURCE_FILES
     ${SOFAIMGUI_SOURCE_DIR}/initSofaImGui.cpp
     ${SOFAIMGUI_SOURCE_DIR}/widgets/DisplayFlagsWidget.cpp
     ${SOFAIMGUI_SOURCE_DIR}/widgets/MaterialWidget.cpp
+    ${SOFAIMGUI_SOURCE_DIR}/widgets/RigidMass.cpp
+    ${SOFAIMGUI_SOURCE_DIR}/widgets/ScalarWidget.cpp
     ${SOFAIMGUI_SOURCE_DIR}/windows/Performances.cpp
     ${SOFAIMGUI_SOURCE_DIR}/windows/Log.cpp
     ${SOFAIMGUI_SOURCE_DIR}/windows/MouseManager.cpp
@@ -153,10 +146,11 @@ set(SOURCE_FILES
 
 set(IMGUI_SOURCE_DIR ${CMAKE_CURRENT_SOURCE_DIR}/resources ${imgui_SOURCE_DIR} ${ImPlot_SOURCE_DIR} ${IconFontCppHeaders_SOURCE_DIR} ${simpleini_SOURCE_DIR})
 
-add_library(${PROJECT_NAME} SHARED ${HEADER_FILES} ${SOURCE_FILES} ${IMGUI_HEADER_FILES} ${IMGUI_SOURCE_FILES})
+add_library(${PROJECT_NAME} SHARED ${HEADER_FILES} ${SOURCE_FILES} ${IMGUI_SOURCE_FILES})
 target_include_directories(${PROJECT_NAME} PUBLIC "$<BUILD_INTERFACE:${IMGUI_SOURCE_DIR}>")
 target_link_libraries(${PROJECT_NAME} PUBLIC SofaGLFW Sofa.GL.Component.Rendering3D ${CMAKE_DL_LIBS})
 target_link_libraries(${PROJECT_NAME} PRIVATE nfd)
+target_link_libraries(${PROJECT_NAME} PUBLIC SimpleIni::SimpleIni)
 
 # setup the same API exports for imgui
 target_compile_definitions(${PROJECT_NAME} PUBLIC IMGUI_API=SOFAIMGUI_API)

diff --git a/SofaImGui/SofaImGuiConfig.cmake.in b/SofaImGui/SofaImGuiConfig.cmake.in
@@ -6,6 +6,10 @@
 find_package(SofaGLFW REQUIRED)
 find_package(Sofa.GL.Component.Rendering3D REQUIRED)
 
+if(NOT TARGET SimpleIni::SimpleIni)
+    sofa_find_package(SimpleIni QUIET REQUIRED)
+endif()
+
 if(NOT TARGET @PROJECT_NAME@)
     include("${CMAKE_CURRENT_LIST_DIR}/@[email protected]")
 endif()

diff --git a/SofaImGui/src/SofaImGui/ImGuiGUIEngine.cpp b/SofaImGui/src/SofaImGui/ImGuiGUIEngine.cpp
@@ -24,6 +24,7 @@
 #include <iomanip>
 #include <ostream>
 #include <unordered_set>
+#include <type_traits>
 #include <SofaGLFW/SofaGLFWBaseGUI.h>
 
 #include <sofa/core/CategoryLibrary.h>
@@ -781,8 +782,9 @@ void ImGuiGUIEngine::endFrame()
     std::setlocale(LC_NUMERIC, m_localeBackup.c_str());
 }
 
-void ImGuiGUIEngine::resetView(ImGuiID dockspace_id, const char* windowNameSceneGraph, const char* winNameSelectionDescription, const char *windowNameLog, const char *windowNameViewport)
+void ImGuiGUIEngine::resetView(_ImGuiID dockspace_id, const char* windowNameSceneGraph, const char* winNameSelectionDescription, const char *windowNameLog, const char *windowNameViewport)
 {
+    static_assert(std::is_same<_ImGuiID, ImGuiID>::value, "_ImGuiID and ImGuiID types must be identical. _ImGuiID must be adjusted.");
     ImGuiViewport* viewport = ImGui::GetMainViewport();
 
     ImGui::DockBuilderRemoveNode(dockspace_id); // clear any previous layout

diff --git a/SofaImGui/src/SofaImGui/ImGuiGUIEngine.h b/SofaImGui/src/SofaImGui/ImGuiGUIEngine.h
@@ -29,7 +29,6 @@
 #include "guis/AdditionalGUIRegistry.h"
 #include "windows/WindowState.h"
 #include <SimpleIni.h>
-#include <imgui.h>
 
 using windows::WindowState;
 
@@ -84,7 +83,9 @@ class ImGuiGUIEngine : public sofaglfw::BaseGUIEngine
     std::pair<float, float> m_viewportWindowSize;
     bool isMouseOnViewport { false };
     CSimpleIniA ini;
-    void resetView(ImGuiID dockspace_id, const char *windowNameSceneGraph, const char *winNameSelectionDescription, const char *windowNameLog, const char *windowNameViewport) ;
+
+    using _ImGuiID = unsigned int;
+    void resetView(_ImGuiID dockspace_id, const char *windowNameSceneGraph, const char *winNameSelectionDescription, const char *windowNameLog, const char *windowNameViewport) ;
 
     // WindowState members
     windows::WindowState winManagerProfiler;

diff --git a/SofaImGui/src/SofaImGui/widgets/RigidMass.cpp b/SofaImGui/src/SofaImGui/widgets/RigidMass.cpp
@@ -0,0 +1,83 @@
+/******************************************************************************
+*                 SOFA, Simulation Open-Framework Architecture                *
+*                    (c) 2006 INRIA, USTL, UJF, CNRS, MGH                     *
+*                                                                             *
+* This program is free software; you can redistribute it and/or modify it     *
+* under the terms of the GNU General Public License as published by the Free  *
+* Software Foundation; either version 2 of the License, or (at your option)   *
+* any later version.                                                          *
+*                                                                             *
+* This program is distributed in the hope that it will be useful, but WITHOUT *
+* ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or       *
+* FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for    *
+* more details.                                                               *
+*                                                                             *
+* You should have received a copy of the GNU General Public License along     *
+* with this program. If not, see <http://www.gnu.org/licenses/>.              *
+*******************************************************************************
+* Authors: The SOFA Team and external contributors (see Authors.txt)          *
+*                                                                             *
+* Contact information: [email protected]                             *
+******************************************************************************/
+#pragma once
+
+#include <SofaImGui/widgets/RigidMass.h>
+
+#include <imgui.h>
+#include <sofa/core/objectmodel/Base.h>
+
+namespace sofaimgui
+{
+
+template<sofa::Size N, typename real>
+inline void showRigidMass(const sofa::defaulttype::RigidMass<N,real>& rigidMass)
+{
+    ImGui::Text("Mass: %f", rigidMass.mass);
+    ImGui::Text("Volume: %f", rigidMass.volume);
+
+    std::stringstream ss;
+    ss << rigidMass.inertiaMatrix;
+    ImGui::Text("Inertia Matrix: %s", ss.str().c_str());
+}
+
+template<sofa::Size N, typename real>
+inline void showRigidMasses(const sofa::Data<sofa::type::vector<sofa::defaulttype::RigidMass<N, real>>>& data)
+{
+    static ImGuiTableFlags flags = ImGuiTableFlags_SizingFixedFit | ImGuiTableFlags_Resizable | ImGuiTableFlags_BordersOuter | ImGuiTableFlags_BordersV | ImGuiTableFlags_ContextMenuInBody | ImGuiTableFlags_NoHostExtendX;
+    ImGui::Text("%d elements", data.getValue().size());
+    if (ImGui::BeginTable((data.getName() + data.getOwner()->getPathName()).c_str(), 4, flags))
+    {
+        ImGui::TableSetupColumn("");
+        ImGui::TableSetupColumn("Mass");
+        ImGui::TableSetupColumn("Volume");
+        ImGui::TableSetupColumn("Inertia Matrix");
+
+        ImGui::TableHeadersRow();
+
+        unsigned int counter {};
+        for (const auto& rigidMass : *sofa::helper::getReadAccessor(data))
+        {
+            ImGui::TableNextRow();
+            ImGui::TableNextColumn();
+            ImGui::Text("%d", counter++);
+            ImGui::TableNextColumn();
+            ImGui::Text("%f", rigidMass.mass);
+            ImGui::TableNextColumn();
+            ImGui::Text("%f", rigidMass.volume);
+
+            ImGui::TableNextColumn();
+            std::stringstream ss;
+            ss << rigidMass.inertiaMatrix;
+            ImGui::Text("Inertia Matrix: %s", ss.str().c_str());
+        }
+        ImGui::EndTable();
+    }
+}
+
+template void SOFAIMGUI_API showRigidMass<2, SReal>(const sofa::defaulttype::RigidMass<2, SReal>&);
+template void SOFAIMGUI_API showRigidMass<3, SReal>(const sofa::defaulttype::RigidMass<3, SReal>&);
+
+template void SOFAIMGUI_API showRigidMasses<2, SReal>(const sofa::Data<sofa::type::vector<sofa::defaulttype::RigidMass<2, SReal>>>&);
+template void SOFAIMGUI_API showRigidMasses<3, SReal>(const sofa::Data<sofa::type::vector<sofa::defaulttype::RigidMass<3, SReal>>>&);
+
+}
diff --git a/SofaImGui/src/SofaImGui/widgets/RigidMass.h b/SofaImGui/src/SofaImGui/widgets/RigidMass.h
@@ -20,55 +20,23 @@
 * Contact information: [email protected]                             *
 ******************************************************************************/
 #pragma once
+
+#include <SofaImGui/config.h>
+
 #include <sofa/core/objectmodel/Data.h>
-#include <imgui.h>
 
 namespace sofaimgui
 {
 
 template<sofa::Size N, typename real>
-inline void showRigidMass(const sofa::defaulttype::RigidMass<N,real>& rigidMass)
-{
-    ImGui::Text("Mass: %f", rigidMass.mass);
-    ImGui::Text("Volume: %f", rigidMass.volume);
-
-    std::stringstream ss;
-    ss << rigidMass.inertiaMatrix;
-    ImGui::Text("Inertia Matrix: %s", ss.str().c_str());
-}
+inline void showRigidMass(const sofa::defaulttype::RigidMass<N,real>& rigidMass);
 
 template<sofa::Size N, typename real>
-inline void showRigidMasses(const sofa::Data<sofa::type::vector<sofa::defaulttype::RigidMass<N, real>>>& data)
-{
-    static ImGuiTableFlags flags = ImGuiTableFlags_SizingFixedFit | ImGuiTableFlags_Resizable | ImGuiTableFlags_BordersOuter | ImGuiTableFlags_BordersV | ImGuiTableFlags_ContextMenuInBody | ImGuiTableFlags_NoHostExtendX;
-    ImGui::Text("%d elements", data.getValue().size());
-    if (ImGui::BeginTable((data.getName() + data.getOwner()->getPathName()).c_str(), 4, flags))
-    {
-        ImGui::TableSetupColumn("");
-        ImGui::TableSetupColumn("Mass");
-        ImGui::TableSetupColumn("Volume");
-        ImGui::TableSetupColumn("Inertia Matrix");
-
-        ImGui::TableHeadersRow();
+inline void showRigidMasses(const sofa::Data<sofa::type::vector<sofa::defaulttype::RigidMass<N, real>>>& data);
 
-        unsigned int counter {};
-        for (const auto& rigidMass : *sofa::helper::getReadAccessor(data))
-        {
-            ImGui::TableNextRow();
-            ImGui::TableNextColumn();
-            ImGui::Text("%d", counter++);
-            ImGui::TableNextColumn();
-            ImGui::Text("%f", rigidMass.mass);
-            ImGui::TableNextColumn();
-            ImGui::Text("%f", rigidMass.volume);
-
-            ImGui::TableNextColumn();
-            std::stringstream ss;
-            ss << rigidMass.inertiaMatrix;
-            ImGui::Text("Inertia Matrix: %s", ss.str().c_str());
-        }
-        ImGui::EndTable();
-    }
-}
+extern template void SOFAIMGUI_API showRigidMass<2, SReal>(const sofa::defaulttype::RigidMass<2, SReal>&);
+extern template void SOFAIMGUI_API showRigidMass<3, SReal>(const sofa::defaulttype::RigidMass<3, SReal>&);
 
+extern template void SOFAIMGUI_API showRigidMasses<2, SReal>(const sofa::Data<sofa::type::vector<sofa::defaulttype::RigidMass<2, SReal>>>&);
+extern template void SOFAIMGUI_API showRigidMasses<3, SReal>(const sofa::Data<sofa::type::vector<sofa::defaulttype::RigidMass<3, SReal>>>&);
 }
diff --git a/SofaImGui/src/SofaImGui/widgets/ScalarWidget.cpp b/SofaImGui/src/SofaImGui/widgets/ScalarWidget.cpp
@@ -0,0 +1,39 @@
+/******************************************************************************
+*                 SOFA, Simulation Open-Framework Architecture                *
+*                    (c) 2006 INRIA, USTL, UJF, CNRS, MGH                     *
+*                                                                             *
+* This program is free software; you can redistribute it and/or modify it     *
+* under the terms of the GNU General Public License as published by the Free  *
+* Software Foundation; either version 2 of the License, or (at your option)   *
+* any later version.                                                          *
+*                                                                             *
+* This program is distributed in the hope that it will be useful, but WITHOUT *
+* ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or       *
+* FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for    *
+* more details.                                                               *
+*                                                                             *
+* You should have received a copy of the GNU General Public License along     *
+* with this program. If not, see <http://www.gnu.org/licenses/>.              *
+*******************************************************************************
+* Authors: The SOFA Team and external contributors (see Authors.txt)          *
+*                                                                             *
+* Contact information: [email protected]                             *
+******************************************************************************/
+#pragma once
+#include <sofa/core/objectmodel/Data.h>
+#include <imgui.h>
+
+namespace sofaimgui
+{
+
+bool showScalarWidget(const std::string& label, const std::string& id, float& value)
+{
+    return ImGui::InputFloat((label + "##" + id).c_str(), &value, 0.0f, 0.0f, "%.8f", ImGuiInputTextFlags_None);
+}
+
+bool showScalarWidget(const std::string& label, const std::string& id, double& value)
+{
+    return ImGui::InputDouble((label + "##" + id).c_str(), &value, 0.0f, 0.0f, "%.8f", ImGuiInputTextFlags_None);
+}
+
+}
diff --git a/SofaImGui/src/SofaImGui/widgets/ScalarWidget.h b/SofaImGui/src/SofaImGui/widgets/ScalarWidget.h
@@ -21,20 +21,13 @@
 ******************************************************************************/
 #pragma once
 #include <sofa/core/objectmodel/Data.h>
-#include <imgui.h>
 
 namespace sofaimgui
 {
 
-inline bool showScalarWidget(const std::string& label, const std::string& id, float& value)
-{
-    return ImGui::InputFloat((label + "##" + id).c_str(), &value, 0.0f, 0.0f, "%.8f", ImGuiInputTextFlags_None);
-}
+inline bool showScalarWidget(const std::string& label, const std::string& id, float& value);
 
-inline bool showScalarWidget(const std::string& label, const std::string& id, double& value)
-{
-    return ImGui::InputDouble((label + "##" + id).c_str(), &value, 0.0f, 0.0f, "%.8f", ImGuiInputTextFlags_None);
-}
+inline bool showScalarWidget(const std::string& label, const std::string& id, double& value);
 
 template<typename Scalar>
 void showScalarWidget(sofa::Data<Scalar>& data)

diff --git a/SofaImGui/src/SofaImGui/windows/Log.h b/SofaImGui/src/SofaImGui/windows/Log.h
@@ -27,9 +27,7 @@
 #include <memory>
 #include <SofaGLFW/BaseGUIEngine.h>
 
-#include <imgui.h>
 #include <sofa/simulation/Node.h>
-#include <SimpleIni.h>
 #include "WindowState.h"
 
 

diff --git a/SofaImGui/src/SofaImGui/windows/Performances.h b/SofaImGui/src/SofaImGui/windows/Performances.h
@@ -30,7 +30,6 @@
 
 #include <imgui.h>
 #include <sofa/simulation/Node.h>
-#include <SimpleIni.h>
 #include "WindowState.h"
 
 

diff --git a/SofaImGui/src/SofaImGui/windows/Profiler.h b/SofaImGui/src/SofaImGui/windows/Profiler.h
@@ -28,9 +28,7 @@
 #include <SofaGLFW/BaseGUIEngine.h>
 #include <sofa/gl/FrameBufferObject.h>
 
-#include <imgui.h>
 #include <sofa/simulation/Node.h>
-#include <SimpleIni.h>
 #include "WindowState.h"
 
 

diff --git a/SofaImGui/src/SofaImGui/windows/Settings.h b/SofaImGui/src/SofaImGui/windows/Settings.h
@@ -23,6 +23,7 @@
 
 #include <sofa/simulation/Node.h>
 #include "WindowState.h"
+#include <SimpleIni.h>
 
 namespace sofaimgui
 {