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[StateContainer] Deprecated visualization Data #5591

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285eeb1
Deprecated visualization Data
alxbilger Jul 3, 2025
0fe0345
fix test
alxbilger Jul 31, 2025
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67 changes: 0 additions & 67 deletions Sofa/Component/StateContainer/src/sofa/component/statecontainer/MechanicalObject.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -179,71 +179,4 @@ void MechanicalObject<defaulttype::Rigid3Types>::addFromBaseVectorSameSize(core:

}


template<>
void MechanicalObject<defaulttype::Rigid3Types>::draw(const core::visual::VisualParams* vparams)
{
const auto stateLifeCycle = vparams->drawTool()->makeStateLifeCycle();
vparams->drawTool()->setLightingEnabled(false);

if (showIndices.getValue())
{
drawIndices(vparams);
}

if (showVectors.getValue())
{
drawVectors(vparams);
}

if (showObject.getValue())
{
const float scale = showObjectScale.getValue();
const helper::ReadAccessor<Data<VecCoord> > x = *this->read(core::vec_id::write_access::position);
const size_t vsize = d_size.getValue();
for (size_t i = 0; i < vsize; ++i)
{
vparams->drawTool()->pushMatrix();
float glTransform[16];
///TODO: check if the drawtool use OpenGL-shaped matrix
x[i].writeOpenGlMatrix ( glTransform );
vparams->drawTool()->multMatrix( glTransform );
vparams->drawTool()->scale ( scale );

constexpr type::Vec3f sizes ( 1.f,1.f,1.f );

if (getContext()->isSleeping())
{
vparams->drawTool()->drawFrame ( type::Vec3(), type::Quat<SReal>(), sizes, sofa::type::RGBAColor::gray());
}
else switch( drawMode.getValue() )
{
case 1:
vparams->drawTool()->drawFrame ( type::Vec3(), type::Quat<SReal>(), sizes, sofa::type::RGBAColor::green());
break;
case 2:
vparams->drawTool()->drawFrame ( type::Vec3(), type::Quat<SReal>(), sizes, sofa::type::RGBAColor::red());
break;
case 3:
vparams->drawTool()->drawFrame ( type::Vec3(), type::Quat<SReal>(), sizes, sofa::type::RGBAColor::blue());
break;
case 4:
vparams->drawTool()->drawFrame ( type::Vec3(), type::Quat<SReal>(), sizes, sofa::type::RGBAColor::yellow());
break;
case 5:
vparams->drawTool()->drawFrame ( type::Vec3(), type::Quat<SReal>(), sizes, sofa::type::RGBAColor::magenta());
break;
case 6:
vparams->drawTool()->drawFrame ( type::Vec3(), type::Quat<SReal>(), sizes, sofa::type::RGBAColor::cyan());
break;
default:
vparams->drawTool()->drawFrame ( type::Vec3(), type::Quat<SReal>(), sizes );
}

vparams->drawTool()->popMatrix();
}
}

}

} // namespace sofa::component::statecontainer
40 changes: 14 additions & 26 deletions Sofa/Component/StateContainer/src/sofa/component/statecontainer/MechanicalObject.h
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Expand Up @@ -101,14 +101,20 @@ class MechanicalObject : public sofa::core::behavior::MechanicalState<DataTypes>

Data< bool > d_useTopology; ///< Shall this object rely on any active topology to initialize its size and positions

Data< bool > showObject; ///< Show objects. (default=false)
Data< float > showObjectScale; ///< Scale for object display. (default=0.1)
Data< bool > showIndices; ///< Show indices. (default=false)
Data< float > showIndicesScale; ///< Scale for indices display. (default=0.02)
Data< bool > showVectors; ///< Show velocity. (default=false)
Data< float > showVectorsScale; ///< Scale for vectors display. (default=0.0001)
Data< int > drawMode; ///< The way vectors will be drawn: - 0: Line - 1:Cylinder - 2: Arrow. The DOFS will be drawn: - 0: point - >1: sphere. (default=0)
Data< type::RGBAColor > d_color; ///< Color for object display. (default=[1 1 1 1])
struct DeprecatedVisualizationData : core::objectmodel::lifecycle::DeprecatedData
{
DeprecatedVisualizationData(core::Base* b, std::string name)
: core::objectmodel::lifecycle::DeprecatedData(b, "v25.12", "v26.06", name, "The visualization features are now available in dedicated components VisualPointCloud and VisualVectorField") {}
};

DeprecatedVisualizationData showObject;
DeprecatedVisualizationData showObjectScale;
DeprecatedVisualizationData showIndices;
DeprecatedVisualizationData showIndicesScale;
DeprecatedVisualizationData showVectors;
DeprecatedVisualizationData showVectorsScale;
DeprecatedVisualizationData drawMode;
DeprecatedVisualizationData d_color;

void init() override;
void reinit() override;
Expand Down Expand Up @@ -327,8 +333,6 @@ class MechanicalObject : public sofa::core::behavior::MechanicalState<DataTypes>
void printDOF(core::ConstVecId, std::ostream& =std::cerr, int firstIndex=0, int range=-1 ) const override;
unsigned printDOFWithElapsedTime(core::ConstVecId, unsigned =0, unsigned =0, std::ostream& =std::cerr ) override;

void draw(const core::visual::VisualParams* vparams) override;

/// @}

// handle state changes
Expand Down Expand Up @@ -430,16 +434,6 @@ protected :
helper::ReadAccessor<core::objectmodel::Data<core::StateVecType_t<DataTypes, vtype> > >
getReadAccessor(core::ConstVecId v);

/**
* @brief Internal function : Draw indices in 3d coordinates.
*/
void drawIndices(const core::visual::VisualParams* vparams);

/**
* @brief Internal function : Draw vectors
*/
void drawVectors(const core::visual::VisualParams* vparams);

/// Given the number of a constraint Equation, find the index in the MatrixDeriv C, where the constraint is actually stored
// unsigned int getIdxConstraintFromId(unsigned int id) const;

Expand All @@ -466,12 +460,6 @@ template<> SOFA_COMPONENT_STATECONTAINER_API
void MechanicalObject<defaulttype::Rigid3Types>::addFromBaseVectorDifferentSize(core::VecId dest, const linearalgebra::BaseVector* src, unsigned int &offset );


template<> SOFA_COMPONENT_STATECONTAINER_API
void MechanicalObject<defaulttype::Rigid3Types>::draw(const core::visual::VisualParams* vparams);




#if !defined(SOFA_COMPONENT_CONTAINER_MECHANICALOBJECT_CPP)
extern template class SOFA_COMPONENT_STATECONTAINER_API MechanicalObject<defaulttype::Vec3Types>;
extern template class SOFA_COMPONENT_STATECONTAINER_API MechanicalObject<defaulttype::Vec2Types>;
Expand Down
122 changes: 9 additions & 113 deletions Sofa/Component/StateContainer/src/sofa/component/statecontainer/MechanicalObject.inl
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Original file line number Diff line number Diff line change
Expand Up @@ -148,14 +148,14 @@ MechanicalObject<DataTypes>::MechanicalObject()
, reset_velocity(initData(&reset_velocity, "reset_velocity", "reset velocity coordinates of the degrees of freedom"))
, restScale(initData(&restScale, 1.0_sreal, "restScale", "optional scaling of rest position coordinates (to simulated pre-existing internal tension).(default = 1.0)"))
, d_useTopology(initData(&d_useTopology, true, "useTopology", "Shall this object rely on any active topology to initialize its size and positions"))
, showObject(initData(&showObject, (bool) false, "showObject", "Show objects. (default=false)"))
, showObjectScale(initData(&showObjectScale, 0.1f, "showObjectScale", "Scale for object display. (default=0.1)"))
, showIndices(initData(&showIndices, (bool) false, "showIndices", "Show indices. (default=false)"))
, showIndicesScale(initData(&showIndicesScale, 0.02f, "showIndicesScale", "Scale for indices display. (default=0.02)"))
, showVectors(initData(&showVectors, (bool) false, "showVectors", "Show velocity. (default=false)"))
, showVectorsScale(initData(&showVectorsScale, 0.0001f, "showVectorsScale", "Scale for vectors display. (default=0.0001)"))
, drawMode(initData(&drawMode,0,"drawMode","The way vectors will be drawn:\n- 0: Line\n- 1:Cylinder\n- 2: Arrow.\n\nThe DOFS will be drawn:\n- 0: point\n- >1: sphere. (default=0)"))
, d_color(initData(&d_color, type::RGBAColor::white(), "showColor", "Color for object display. (default=[1 1 1 1])"))
, showObject(this, "showObject")
, showObjectScale(this, "showObjectScale")
, showIndices(this, "showIndices")
, showIndicesScale(this, "showIndicesScale")
, showVectors(this, "showVectors")
, showVectorsScale(this, "showVectorsScale")
, drawMode(this, "drawMode")
, d_color(this, "showColor")
, translation(initData(&translation, type::Vec3(), "translation", "Translation of the DOFs"))
, rotation(initData(&rotation, type::Vec3(), "rotation", "Rotation of the DOFs"))
, scale(initData(&scale, type::Vec3(1_sreal, 1_sreal, 1_sreal), "scale3d", "Scale of the DOFs in 3 dimensions"))
Expand Down Expand Up @@ -2627,107 +2627,6 @@ SReal MechanicalObject<DataTypes>::getConstraintJacobianTimesVecDeriv(unsigned i
return result;
}

template <class DataTypes>
inline void MechanicalObject<DataTypes>::drawIndices(const core::visual::VisualParams* vparams)
{
const float scale = (float)((vparams->sceneBBox().maxBBox() - vparams->sceneBBox().minBBox()).norm() * showIndicesScale.getValue());

std::vector<type::Vec3> positions;
positions.reserve(d_size.getValue());
for (int i = 0; i <d_size.getValue(); ++i)
positions.push_back(type::Vec3(getPX(i), getPY(i), getPZ(i)));

vparams->drawTool()->draw3DText_Indices(positions, scale, d_color.getValue());
}

template <class DataTypes>
inline void MechanicalObject<DataTypes>::drawVectors(const core::visual::VisualParams* vparams)
{
float scale = showVectorsScale.getValue();
sofa::helper::ReadAccessor< Data<VecDeriv> > v_rA = *this->read(core::vec_id::read_access::velocity);
type::vector<type::Vec3> points;
points.resize(2);
for(Size i=0; i<v_rA.size(); ++i )
{
Real vx=0.0,vy=0.0,vz=0.0;
DataTypes::get(vx,vy,vz,v_rA[i]);
type::Vec3 p1 = type::Vec3(getPX(i), getPY(i), getPZ(i));
type::Vec3 p2 = type::Vec3(getPX(i)+scale*vx, getPY(i)+scale*vy, getPZ(i)+scale*vz);

const float rad = (float)( (p1-p2).norm()/20.0 );
switch (drawMode.getValue())
{
case 0:
points[0] = p1;
points[1] = p2;
vparams->drawTool()->drawLines(points, 1, sofa::type::RGBAColor::white());
break;
case 1:
vparams->drawTool()->drawCylinder(p1, p2, rad, sofa::type::RGBAColor::white());
break;
case 2:
vparams->drawTool()->drawArrow(p1, p2, rad, sofa::type::RGBAColor::white());
break;
default:
msg_error() << "No proper drawing mode found!";
break;
}
}
}

template <class DataTypes>
inline void MechanicalObject<DataTypes>::draw(const core::visual::VisualParams* vparams)
{
const auto stateLifeCycle = vparams->drawTool()->makeStateLifeCycle();
vparams->drawTool()->setLightingEnabled(false);

if (showIndices.getValue())
{
drawIndices(vparams);
}

if (showVectors.getValue())
{
drawVectors(vparams);
}

if (showObject.getValue())
{
const float& scale = showObjectScale.getValue();
type::vector<type::Vec3> positions(d_size.getValue());
for (sofa::Index i = 0; i < Size(d_size.getValue()); ++i)
positions[i] = type::Vec3(getPX(i), getPY(i), getPZ(i));

switch (drawMode.getValue())
{
case 0:
vparams->drawTool()->drawPoints(positions,scale, d_color.getValue());
break;
case 1:
vparams->drawTool()->setLightingEnabled(true);
vparams->drawTool()->drawSpheres(positions,scale, d_color.getValue());
break;
case 2:
vparams->drawTool()->setLightingEnabled(true);
vparams->drawTool()->drawSpheres(positions,scale, sofa::type::RGBAColor::red());
break;
case 3:
vparams->drawTool()->setLightingEnabled(true);
vparams->drawTool()->drawSpheres(positions,scale, sofa::type::RGBAColor::green());
break;
case 4:
vparams->drawTool()->setLightingEnabled(true);
vparams->drawTool()->drawSpheres(positions,scale, sofa::type::RGBAColor::blue());
break;
default:
msg_error() << "No proper drawing mode found!";
break;
}
}

}


/// Find mechanical particles hit by the given ray.
/// A mechanical particle is defined as a 2D or 3D, position or rigid DOF
/// Returns false if this object does not support picking
Expand Down Expand Up @@ -2771,9 +2670,6 @@ bool MechanicalObject<DataTypes>::pickParticles(const core::ExecParams* /* param
template <class DataTypes>
bool MechanicalObject<DataTypes>::addBBox(SReal* minBBox, SReal* maxBBox)
{
// participating to bbox only if it is drawn
if( !showObject.getValue() ) return false;

static const unsigned spatial_dimensions = std::min( (unsigned)DataTypes::spatial_dimensions, 3u );

const VecCoord& x = read(core::vec_id::read_access::position)->getValue();
Expand All @@ -2796,7 +2692,7 @@ template <class DataTypes>
void MechanicalObject<DataTypes>::computeBBox(const core::ExecParams* params, bool onlyVisible)
{
// participating to bbox only if it is drawn
if( onlyVisible && !showObject.getValue() ) return;
if( onlyVisible) return;
Inherited::computeBBox( params );
}

Expand Down
1 change: 0 additions & 1 deletion Sofa/framework/Simulation/Graph/test/Simulation_test.cpp
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Expand Up @@ -90,7 +90,6 @@ struct Scene_test: public NumericTest<SReal>
x[2] = type::Vec3(0,1,0);
x[3] = type::Vec3(0,0,1);
type::Vec3 expectedMin(0,0,0), expectedMax(1,1,1);
DOF->showObject.setValue(true); // bbox is updated only for drawn MO

// end create scene
//*********
Expand Down