SofaPython3/examples/example-drawing-controller.py at b34d70193c6f36284376df8ebab9a24807dc1d40 · sofa-framework/SofaPython3 · GitHub

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import Sofa
import SofaTypes

from PIL import Image

class DrawingExamples(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)
        self.img = Image.open("oip.jpeg").convert("RGBA")

    def draw(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))

        if self.target is not None:
            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.drawText(10,10, 12, "Overlay text")

        dt.drawFrames(self.mo.position, SofaTypes.Vec3d(0.1,0.1,0.1))
        w,h = self.img.size
        dt.drawRGBAImage("memory", SofaTypes.Vec3d(0.0,0.0,0.0), w ,h, 32, self.img.tobytes())
        #dt.drawRGBAImage("image", SofaTypes.Vec3d(0.0,0.0,0.0), "oip.jpeg")

def createScene(root):
    root.dt = 0.01
    root.bbox = [[-1,-1,-1],[1,1,1]]
    root.addObject('RequiredPlugin', name="Sofa.GL.Component.Shader")
    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] for i in range(0,10)])

    # Add our python controller in the scene
    root.addObject( DrawingExamples(name="DrawingController2",
                                    target=root.loader,
                                    mo=root.mo) )