Controller Bug in new ImGui

[accuracy-maker]

Hi Community,

I recently upgrade my version to v25.12 and switch gui from qglviewer to imgui. However, the controller works well in the qglviewer but doesn't respond in the new gui. I wonder if there's anything changed I don't know. my code is

`from math import cos
from math import sin
from splib3.numerics import Vec3, Quat
from splib3.animation import animate, AnimationManager
import Sofa.Core

import os
path = os.path.dirname(os.path.abspath(file))+'/mesh/'
dirPath = os.path.dirname(os.path.abspath(file))+'/'

class TrunkController(Sofa.Core.Controller):
"""
Controller for the trunk robot.

Keyboard controls:
- Keys 1-4: Select long cable L0-L3 (front, left, back, right)
- Keys 5-8: Select short cable S0-S3 (front, left, back, right)
- +/=: Increase displacement of selected cable
- -/_: Decrease displacement of selected cable
- 0: Reset selected cable to 0
- R: Reset all cables to 0
- A: Activate all cables equally (symmetric extension)
- Q: Quit info mode / deselect
"""

def __init__(self, *args, **kwargs):
    Sofa.Core.Controller.__init__(self, *args, **kwargs)
    self.trunk = args[0]
    self.name = "TrunkController"
    self.selectedCable = None
    self.selectedCableName = None
    self.step = 1.0  # displacement step in mm
    
    print("\n" + "="*60)
    print("TRUNK CONTROLLER INITIALIZED")
    print("="*60)
    print("Cable Selection:")
    print("  1-4: Select long cables L0-L3 (Front, Left, Back, Right)")
    print("  5-8: Select short cables S0-S3 (Front, Left, Back, Right)")
    print("\nCable Control:")
    print("  +/=: Increase displacement (+1mm)")
    print("  -/_: Decrease displacement (-1mm)")
    print("  0:   Reset selected cable to 0")
    print("  R:   Reset ALL cables to 0")
    print("\nSpecial Controls:")
    print("  A:   Activate all cables equally")
    print("  Q:   Deselect cable")
    print("="*60 + "\n")

def onKeypressedEvent(self, event):
    key = event['key']
    
    # Cable selection - Long cables (1-4)
    if key == '1':
        self.selectCable('cableL0', 'Long Cable 0 (Front)')
    elif key == '2':
        self.selectCable('cableL1', 'Long Cable 1 (Left)')
    elif key == '3':
        self.selectCable('cableL2', 'Long Cable 2 (Back)')
    elif key == '4':
        self.selectCable('cableL3', 'Long Cable 3 (Right)')
    
    # Cable selection - Short cables (5-8)
    elif key == '5':
        self.selectCable('cableS0', 'Short Cable 0 (Front)')
    elif key == '6':
        self.selectCable('cableS1', 'Short Cable 1 (Left)')
    elif key == '7':
        self.selectCable('cableS2', 'Short Cable 2 (Back)')
    elif key == '8':
        self.selectCable('cableS3', 'Short Cable 3 (Right)')
    
    # Control selected cable
    elif key == '+' or key == '=':
        self.increaseDisplacement()
    elif key == '-' or key == '_':
        self.decreaseDisplacement()
    elif key == '0':
        self.resetSelectedCable()
    
    # Global controls
    elif key == 'R' or key == 'r':
        self.resetAllCables()
    elif key == 'A' or key == 'a':
        self.activateAllCables()
    elif key == 'Q' or key == 'q':
        self.deselectCable()

def selectCable(self, cableName, displayName):
    """Select a cable for control"""
    try:
        self.selectedCable = self.trunk.node.getChild(cableName)
        self.selectedCableName = displayName
        displacement = self.selectedCable.cable.value[0]
        print(f"[SELECTED] {displayName} | Current displacement: {displacement:.1f} mm")
    except:
        print(f"[ERROR] Could not find cable: {cableName}")
        self.selectedCable = None
        self.selectedCableName = None

def increaseDisplacement(self):
    """Increase displacement of selected cable"""
    if self.selectedCable is None:
        print("[WARNING] No cable selected! Press 1-8 to select a cable first.")
        return
    
    displacement = self.selectedCable.cable.value[0]
    maxDisp = self.selectedCable.cable.maxPositiveDisp.value
    
    displacement += self.step
    if displacement > maxDisp:
        displacement = maxDisp
        print(f"[MAX REACHED] {self.selectedCableName} at maximum: {displacement:.1f} mm")
    else:
        print(f"[+] {self.selectedCableName}: {displacement:.1f} mm")
    
    self.selectedCable.cable.value = [displacement]

def decreaseDisplacement(self):
    """Decrease displacement of selected cable"""
    if self.selectedCable is None:
        print("[WARNING] No cable selected! Press 1-8 to select a cable first.")
        return
    
    displacement = self.selectedCable.cable.value[0]
    displacement -= self.step
    
    if displacement < 0:
        displacement = 0
        print(f"[MIN REACHED] {self.selectedCableName} at minimum: 0.0 mm")
    else:
        print(f"[-] {self.selectedCableName}: {displacement:.1f} mm")
    
    self.selectedCable.cable.value = [displacement]

def resetSelectedCable(self):
    """Reset selected cable to 0"""
    if self.selectedCable is None:
        print("[WARNING] No cable selected! Press 1-8 to select a cable first.")
        return
    
    self.selectedCable.cable.value = [0.0]
    print(f"[RESET] {self.selectedCableName}: 0.0 mm")

def resetAllCables(self):
    """Reset all cables to 0"""
    for i in range(4):
        try:
            cableL = self.trunk.node.getChild(f'cableL{i}')
            cableL.cable.value = [0.0]
            cableS = self.trunk.node.getChild(f'cableS{i}')
            cableS.cable.value = [0.0]
        except:
            pass
    print("[RESET ALL] All cables reset to 0.0 mm")

def activateAllCables(self):
    """Activate all cables equally (for symmetric extension)"""
    displacement = 10.0  # Default activation value
    for i in range(4):
        try:
            cableL = self.trunk.node.getChild(f'cableL{i}')
            cableL.cable.value = [displacement]
            cableS = self.trunk.node.getChild(f'cableS{i}')
            cableS.cable.value = [displacement * 0.5]  # Short cables less displacement
        except:
            pass
    print(f"[ACTIVATE ALL] All cables activated (L:{displacement:.1f}mm, S:{displacement*0.5:.1f}mm)")

def deselectCable(self):
    """Deselect current cable"""
    if self.selectedCable:
        print(f"[DESELECTED] {self.selectedCableName}")
    self.selectedCable = None
    self.selectedCableName = None

def effectorTarget(parentNode, position=[0., 0., 200]):
target = parentNode.addChild('Target')
target.addObject('EulerImplicitSolver', firstOrder=True)
target.addObject('CGLinearSolver')
target.addObject('MechanicalObject', name='dofs', position=position, showObject=True, showObjectScale=8, drawMode=2, showColor=[1., 1., 1., 1.])
target.addObject('UncoupledConstraintCorrection', defaultCompliance=1e-5)
return target

class Trunk:
""" This prefab is implementing a soft robot inspired by the elephant's trunk.
The robot is entirely soft and actuated with 8 cables.

    The prefab is composed of:
    - a visual model
    - a collision model
    - a mechanical model for the deformable structure

    The prefab has the following parameters:
    - youngModulus
    - poissonRatio
    - totalMass

    Example of use in a Sofa scene:

    def createScene(root):
        ...
        trunk = Trunk(root)

        ## Direct access to the components
        trunk.displacements = [0., 0., 0., 0., 5., 0., 0., 0.]
"""

def __init__(self, parentNode, youngModulus=450, poissonRatio=0.45, totalMass=0.042, inverseMode=False):

    self.inverseMode = inverseMode
    self.node = parentNode.addChild('Trunk')

    self.node.addObject('MeshVTKLoader', name='loader', filename=path+'trunk.vtk')
    self.node.addObject('MeshTopology', src='@loader', name='container')

    self.node.addObject('MechanicalObject', name='dofs', template='Vec3')
    self.node.addObject('UniformMass', totalMass=totalMass)
    self.node.addObject('TetrahedronFEMForceField', template='Vec3', name='FEM', method='large', poissonRatio=poissonRatio,  youngModulus=youngModulus)

    self.__addCables()

def __addCables(self):
    length1 = 10.
    length2 = 2.
    lengthTrunk = 195.

    pullPoint = [[0., length1, 0.], [-length1, 0., 0.], [0., -length1, 0.], [length1, 0., 0.]]
    direction = Vec3(0., length2-length1, lengthTrunk)
    direction.normalize()

    nbCables = 4
    for i in range(0, nbCables):
        theta = 1.57*i
        q = Quat(0., 0., sin(theta/2.), cos(theta/2.))

        position = [[0., 0., 0.]]*20
        for k in range(0, 20, 2):
            v = Vec3(direction[0], direction[1]*17.5*(k/2)+length1, direction[2]*17.5*(k/2)+21)
            position[k] = v.rotateFromQuat(q)
            v = Vec3(direction[0], direction[1]*17.5*(k/2)+length1, direction[2]*17.5*(k/2)+27)
            position[k+1] = v.rotateFromQuat(q)

        cableL = self.node.addChild('cableL'+str(i))
        cableL.addObject('MechanicalObject', name='dofs',
                            position=pullPoint[i]+[pos.toList() for pos in position],
                            showObject=True,      # ADD THIS
                            showObjectScale=2,    # ADD THIS
                            showColor=[1, 0, 0, 1])  # ADD THIS (red color)
        cableL.addObject('CableConstraint' if not self.inverseMode else 'CableActuator', template='Vec3', name='cable',
                            hasPullPoint='0',
                            indices=list(range(0, 21)),
                            maxPositiveDisp='70',
                            maxDispVariation='1',
                            minForce=0)
        cableL.addObject('BarycentricMapping', name='mapping',  mapForces=False, mapMasses=False)

    for i in range(0, nbCables):
        theta = 1.57*i
        q = Quat(0., 0., sin(theta/2.), cos(theta/2.))

        position = [[0., 0., 0.]]*10
        for k in range(0, 9, 2):
            v = Vec3(direction[0], direction[1]*17.5*(k/2)+length1, direction[2]*17.5*(k/2)+21)
            position[k] = v.rotateFromQuat(q)
            v = Vec3(direction[0], direction[1]*17.5*(k/2)+length1, direction[2]*17.5*(k/2)+27)
            position[k+1] = v.rotateFromQuat(q)

        cableS = self.node.addChild('cableS'+str(i))
        cableS.addObject('MechanicalObject', name='dofs',
                            position=pullPoint[i]+[pos.toList() for pos in position],
                            showObject=True,      # ADD THIS
                            showObjectScale=2,    # ADD THIS  
                            showColor=[0, 1, 0, 1])  # ADD THIS (green color for short cables)
        cableS.addObject('CableConstraint' if not self.inverseMode else 'CableActuator', template='Vec3', name='cable',
                            hasPullPoint='0',
                            indices=list(range(0, 10)),
                            maxPositiveDisp='40',
                            maxDispVariation='1',
                            minForce=0)
        cableS.addObject('BarycentricMapping', name='mapping',  mapForces=False, mapMasses=False)

def addVisualModel(self, color=[1., 1., 1., 1.]):
    trunkVisu = self.node.addChild('VisualModel')
    trunkVisu.addObject('MeshSTLLoader', filename=path+'trunk.stl')
    trunkVisu.addObject('OglModel', color=color)
    trunkVisu.addObject('BarycentricMapping')

def addCollisionModel(self, selfCollision=False):
    trunkColli = self.node.addChild('CollisionModel')
    for i in range(2):
        part = trunkColli.addChild('Part'+str(i+1))
        part.addObject('MeshSTLLoader', name='loader', filename=path+'trunk_colli'+str(i+1)+'.stl')
        part.addObject('MeshTopology', src='@loader')
        part.addObject('MechanicalObject')
        part.addObject('TriangleCollisionModel', group=1 if not selfCollision else i)
        part.addObject('LineCollisionModel', group=1 if not selfCollision else i)
        part.addObject('PointCollisionModel', group=1 if not selfCollision else i)
        part.addObject('BarycentricMapping')

def fixExtremity(self):
    self.node.addObject('BoxROI', name='boxROI', box=[[-20, -20, 0], [20, 20, 20]], drawBoxes=False)
    self.node.addObject('PartialFixedProjectiveConstraint', fixedDirections=[1, 1, 1], indices='@boxROI.indices')

def addEffectors(self, target, position=[0., 0., 195.]):
    effectors = self.node.addChild('Effectors')
    effectors.addObject('MechanicalObject', position=position)
    effectors.addObject('PositionEffector', indices=list(range(len(position))), effectorGoal=target)
    effectors.addObject('BarycentricMapping', mapForces=False, mapMasses=False)

def createScene(rootNode):

# Choose your resolution mode
# 1- inverseMode=True, solve the inverse problem and control the end effectors
# 2- inverseMode=False, solve the direct problem and set the cable displacements by hand
inverseMode = False

rootNode.addObject('RequiredPlugin', name='SoftRobots')
rootNode.addObject('RequiredPlugin', name='SofaPython3')
rootNode.addObject('RequiredPlugin', name='SofaGLFW')
rootNode.addObject('RequiredPlugin', pluginName=[
                        "Sofa.Component.AnimationLoop",  # Needed to use components FreeMotionAnimationLoop
                        "Sofa.Component.Constraint.Lagrangian.Correction",  # Needed to use components GenericConstraintCorrection
                        "Sofa.Component.Constraint.Lagrangian.Solver",  # Needed to use components BlockGaussSeidelConstraintSolver
                        "Sofa.Component.Constraint.Projective",  # Needed to use components PartialFixedProjectiveConstraint
                        "Sofa.Component.Engine.Select",  # Needed to use components BoxROI
                        "Sofa.Component.IO.Mesh",  # Needed to use components MeshSTLLoader, MeshVTKLoader
                        "Sofa.Component.LinearSolver.Direct",  # Needed to use components SparseLDLSolver
                        "Sofa.Component.LinearSolver.Iterative",  # Needed to use components ShewchukPCGLinearSolver
                        "Sofa.Component.Mass",  # Needed to use components UniformMass
                        "Sofa.Component.ODESolver.Backward",  # Needed to use components EulerImplicitSolver
                        "Sofa.Component.SolidMechanics.FEM.Elastic",  # Needed to use components TetrahedronFEMForceField
                        "Sofa.Component.Topology.Container.Constant",  # Needed to use components MeshTopology
                        "Sofa.Component.Visual",  # Needed to use components VisualStyle
                        "Sofa.GL.Component.Rendering3D",  # Needed to use components OglModel
                    ])
AnimationManager(rootNode)
rootNode.addObject('DefaultVisualManagerLoop')
rootNode.addObject('VisualStyle', displayFlags='showBehavior')
rootNode.gravity = [0., -9810., 0.]

rootNode.addObject('FreeMotionAnimationLoop')
if inverseMode:
    # For inverse resolution, i.e control of effectors position
    rootNode.addObject('RequiredPlugin', name='SoftRobots.Inverse')
    rootNode.addObject('QPInverseProblemSolver', epsilon=1e-1)
else:
    # For direct resolution, i.e direct control of the cable displacement
    rootNode.addObject('BlockGaussSeidelConstraintSolver', maxIterations=100, tolerance=1e-5)

simulation = rootNode.addChild('Simulation')

simulation.addObject('EulerImplicitSolver', name='odesolver', firstOrder=False, rayleighMass=0.1, rayleighStiffness=0.1)
simulation.addObject('SparseLDLSolver', name='precond')
simulation.addObject('GenericConstraintCorrection')

trunk = Trunk(simulation, inverseMode=inverseMode)
trunk.addVisualModel(color=[1., 1., 1., 0.8])
trunk.fixExtremity()

# Add the controller!
rootNode.addObject(TrunkController(trunk))

if inverseMode:
    # For inverse resolution, set a constraint for the effector and a target
    target = effectorTarget(rootNode)
    trunk.addEffectors(target=target.dofs.getData('position').getLinkPath(), position=[[0., 0., 195]])`

I can control the trunk by pressing ctrl + key in the old gui.

Thanks for your time and help.

cheers,

[accuracy-maker]

In qglviewer, we press ctrl + key. In imgui or glfw, we press ctrl + shift + key.

[hugtalbot]

Exactly 👍