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[ImGui] Enable inspection of node #238

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Merged
fredroy merged 10 commits into from
Oct 16, 2025
Merged

[ImGui] Enable inspection of node #238

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edd0405
Change behavior when object is clicked, now selection is displayed on…
bakpaul Oct 9, 2025
723d180
Remove panel at open and fix layout
bakpaul Oct 9, 2025
2d52e23
Deselect when close
bakpaul Oct 9, 2025
f5e50fc
MAke it work for slaves
bakpaul Oct 10, 2025
4b89787
Enable single click on node label for inspection
bakpaul Oct 10, 2025
8fea96c
Refacto drawing method to factorize selectable item in tree to get sa…
bakpaul Oct 10, 2025
657fb1a
Fix icon coloring for expandable objects
bakpaul Oct 10, 2025
8e2ac8e
Fix compilation
bakpaul Oct 10, 2025
c9dc530
Merge branch 'master' into 25_10_enable_click_on_node
bakpaul Oct 14, 2025
1af2768
What are those changes ?
bakpaul Oct 15, 2025
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2 changes: 1 addition & 1 deletion SofaImGui/src/SofaImGui/ImGuiGUIEngine.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -695,7 +695,7 @@ void ImGuiGUIEngine::startFrame(sofaglfw::SofaGLFWBaseGUI* baseGUI)
/***************************************
* Scene graph window
**************************************/
static std::set<core::objectmodel::BaseObject*> openedComponents;
static std::set<core::objectmodel::Base*> openedComponents;
static std::set<core::objectmodel::BaseObject*> focusedComponents;
static std::set<core::objectmodel::Base*> currentSelection;
windows::showSceneGraph(groot, windowNameSceneGraph, openedComponents,
Expand Down
2 changes: 1 addition & 1 deletion SofaImGui/src/SofaImGui/ObjectColor.cpp
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Expand Up @@ -27,7 +27,7 @@

namespace sofaimgui
{
ImVec4 getObjectColor(sofa::core::objectmodel::BaseObject* object)
ImVec4 getObjectColor(sofa::core::objectmodel::Base* object)
{
unsigned int objectType=sofa::simulation::Colors::OBJECT;
if(object->toContextObject())
Expand Down
4 changes: 2 additions & 2 deletions SofaImGui/src/SofaImGui/ObjectColor.h
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Original file line number Diff line number Diff line change
Expand Up @@ -25,12 +25,12 @@

namespace sofa::core::objectmodel
{
class BaseObject;
class Base;
}

namespace sofaimgui
{

ImVec4 getObjectColor(sofa::core::objectmodel::BaseObject* object);
ImVec4 getObjectColor(sofa::core::objectmodel::Base* object);

} //namespace sofaimgui
270 changes: 146 additions & 124 deletions SofaImGui/src/SofaImGui/windows/SceneGraph.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -42,14 +42,119 @@
namespace windows
{

bool drawExpandableObject(sofa::core::objectmodel::Base * obj, bool isNodeHighlighted, const char* icon, const ImVec4 objectColor, std::set<sofa::core::objectmodel::Base*>& componentToOpen, const std::set<sofa::core::objectmodel::Base*>& currentSelection, sofa::core::objectmodel::Base* &clickedObject)
{
const auto& objName = obj->getName();

ImGui::PushStyleColor(ImGuiCol_Text, objectColor);

//Tree expand drawing (tick + icon)
ImGui::PushID(obj);
const bool open = ImGui::TreeNode((std::string(icon) + std::string(" ")) .c_str());
ImGui::PopID();

//Name drawing to be able to select the node for inspection
ImGui::PushID(&objName);
ImGui::SameLine();
auto XPos = ImGui::GetCursorPosX();
//We don't write anything to just get the "clickable" space, the name is writent after we know if it is clicked or not
ImGui::TreeNodeEx("",ImGuiTreeNodeFlags_SpanAvailWidth | ImGuiTreeNodeFlags_NoTreePushOnOpen | ImGuiTreeNodeFlags_Leaf);
if (ImGui::IsItemClicked())
{
if (ImGui::IsMouseDoubleClicked(0))
{
componentToOpen.insert(obj);
clickedObject = nullptr;
}
else
{
clickedObject = obj;
}
}

ImGui::SameLine();
//Now actually write the name
bool doHighLight = isNodeHighlighted || ((clickedObject == obj) != currentSelection.contains(obj));
if (doHighLight)
{
ImGui::PushStyleColor(ImGuiCol_Text, ImVec4(1,1,0,1));
}

ImGui::SetCursorPosX(XPos);

ImGui::Text(obj->getName().c_str());
if (doHighLight)
{
ImGui::PopStyleColor();
}

ImGui::TableNextColumn();
ImGui::TextDisabled(obj->getClassName().c_str());
if (isNodeHighlighted)
{
ImGui::PopStyleColor();
}
ImGui::PopStyleColor();

ImGui::PopID();
return open;
}

bool drawNonExpandableObject(sofa::core::objectmodel::Base * obj, bool isObjectHighlighted, const char* icon, const ImVec4 objectColor, std::set<sofa::core::objectmodel::Base*>& componentToOpen, const std::set<sofa::core::objectmodel::Base*>& currentSelection, sofa::core::objectmodel::Base* &clickedObject)
{
ImGui::PushID(obj);

ImGuiTreeNodeFlags objectFlags = ImGuiTreeNodeFlags_SpanAvailWidth | ImGuiTreeNodeFlags_NoTreePushOnOpen | ImGuiTreeNodeFlags_Leaf;;

const auto& objectName = obj->getName();
const auto objectClassName = obj->getClassName();

ImGui::PushStyleColor(ImGuiCol_Text, objectColor);

const auto objectOpen = ImGui::TreeNodeEx(icon, objectFlags);
ImGui::PopStyleColor();

if (ImGui::IsItemClicked())
{
if (ImGui::IsMouseDoubleClicked(0))
{
componentToOpen.insert(obj);
clickedObject = nullptr;
}
else
{
clickedObject = obj;
}
}

ImGui::SameLine();

bool doHighLight = isObjectHighlighted || ((clickedObject == obj) != currentSelection.contains(obj));
if (doHighLight)
{
ImGui::PushStyleColor(ImGuiCol_Text, ImVec4(1,1,0,1));
}
ImGui::Text(objectName.c_str());
ImGui::TableNextColumn();
ImGui::TextDisabled(objectClassName.c_str());
ImGui::PopID();

if (doHighLight)
{
ImGui::PopStyleColor();
}

return objectOpen;
}

void showSceneGraph(sofa::core::sptr<sofa::simulation::Node> groot,
const char* const& windowNameSceneGraph,
std::set<sofa::core::objectmodel::BaseObject*>& openedComponents,
std::set<sofa::core::objectmodel::Base*>& openedComponents,
std::set<sofa::core::objectmodel::BaseObject*>& focusedComponents,
std::set<sofa::core::objectmodel::Base*>& currentSelection,
WindowState& winManagerSceneGraph, WindowState& winManagerSelectionDescription)
{
std::set<sofa::core::objectmodel::BaseObject*> componentToOpen;
std::set<sofa::core::objectmodel::Base*> componentToOpen;
if (*winManagerSceneGraph.getStatePtr())
{
if (ImGui::Begin(windowNameSceneGraph, winManagerSceneGraph.getStatePtr()))
Expand All @@ -71,11 +176,11 @@ namespace windows
}

unsigned int treeDepth {};
static sofa::core::objectmodel::Base* clickedObject { nullptr };
sofa::core::objectmodel::Base* clickedObject = nullptr ;

std::function<void(sofa::simulation::Node*)> showNode;
showNode = [&showNode, &treeDepth, expand, collapse, &openedComponents,
&componentToOpen, &currentSelection, &winManagerSelectionDescription](sofa::simulation::Node* node)
showNode = [&showNode, &treeDepth, expand, collapse,
&componentToOpen, &currentSelection, &clickedObject](sofa::simulation::Node* node)
{
if (node == nullptr) return;
if (treeDepth == 0)
Expand All @@ -87,48 +192,16 @@ namespace windows
ImGui::TableNextRow();
ImGui::TableNextColumn();

const auto& nodeName = node->getName();
const bool isNodeHighlighted = !filter.Filters.empty() && filter.PassFilter(nodeName.c_str());
if (isNodeHighlighted)
{
ImGui::PushStyleColor(ImGuiCol_Text, ImVec4(1,1,0,1));
}
////Label and tree expand drawing
const bool isNodeHighlighted = !filter.Filters.empty() && filter.PassFilter(node->getName().c_str());
bool open = drawExpandableObject(node, isNodeHighlighted, ICON_FA_CUBES, ImVec4(1,1,1,1), componentToOpen, currentSelection, clickedObject);

const bool open = ImGui::TreeNode(std::string(ICON_FA_CUBES " " + nodeName).c_str());
ImGui::TableNextColumn();
ImGui::TextDisabled("Node");
if (isNodeHighlighted)
{
ImGui::PopStyleColor();
}
if (ImGui::IsItemClicked())
clickedObject = node;
if (open)
{
for (const auto object : node->getNodeObjects())
{
ImGui::TableNextRow();
ImGui::TableNextColumn();
ImGui::PushID(object);

ImGuiTreeNodeFlags objectFlags = ImGuiTreeNodeFlags_SpanFullWidth;

const auto& slaves = object->getSlaves();
if (slaves.empty())
{
objectFlags |= ImGuiTreeNodeFlags_NoTreePushOnOpen | ImGuiTreeNodeFlags_Leaf;
}
else
{
if (expand)
ImGui::SetNextItemOpen(true);
if (collapse)
ImGui::SetNextItemOpen(false);
}

const auto& objectName = object->getName();
const auto objectClassName = object->getClassName();
const bool isObjectHighlighted = !filter.Filters.empty() && (filter.PassFilter(objectName.c_str()) || filter.PassFilter(objectClassName.c_str()));

ImVec4 objectColor;

Expand All @@ -153,101 +226,34 @@ namespace windows
objectColor = sofaimgui::getObjectColor(object);
}

ImGui::PushStyleColor(ImGuiCol_Text, objectColor);

const auto objectOpen = ImGui::TreeNodeEx(icon, objectFlags);
ImGui::PopStyleColor();

if (ImGui::IsItemClicked())
const auto& slaves = object->getSlaves();
if (!slaves.empty())
{
if (ImGui::IsMouseDoubleClicked(0))
{
componentToOpen.insert(object);
clickedObject = nullptr;
}
else
{
clickedObject = object;
if(!currentSelection.contains(clickedObject)){
currentSelection.clear();
currentSelection.insert(clickedObject);
winManagerSelectionDescription.setState(true);
}
else{
currentSelection.erase(clickedObject);
winManagerSelectionDescription.setState(false);
}
}
}

ImGui::SameLine();
if (expand)
ImGui::SetNextItemOpen(true);
if (collapse)
ImGui::SetNextItemOpen(false);

bool doHighLight = isObjectHighlighted || currentSelection.contains(object);
if (doHighLight)
{
ImGui::PushStyleColor(ImGuiCol_Text, ImVec4(1,1,0,1));
}
ImGui::Text(object->getName().c_str());
ImGui::TableNextColumn();
ImGui::TextDisabled(objectClassName.c_str());
ImGui::PopID();

if (doHighLight)
{
ImGui::PopStyleColor();
}
const bool isObjectHighlighted = !filter.Filters.empty() && (filter.PassFilter(object->getName().c_str()) || filter.PassFilter(object->getClassName().c_str()));
bool objectOpen;
if (slaves.empty())
objectOpen = drawNonExpandableObject(object,isObjectHighlighted, icon, objectColor, componentToOpen, currentSelection, clickedObject );
else
objectOpen = drawExpandableObject(object,isObjectHighlighted, icon, objectColor, componentToOpen, currentSelection, clickedObject );


if (objectOpen && !slaves.empty())
{
for (const auto slave : slaves)
{
ImGui::TableNextRow();
ImGui::TableNextColumn();
ImGui::PushID(slave.get());

const auto& slaveName = slave->getName();
const auto slaveClassName = slave->getClassName();
const bool isSlaveHighlighted = !filter.Filters.empty() && (filter.PassFilter(slaveName.c_str()) || filter.PassFilter(slaveClassName.c_str()));

ImGui::TreeNodeEx(std::string(ICON_FA_CUBE " ").c_str(), ImGuiTreeNodeFlags_Leaf | ImGuiTreeNodeFlags_NoTreePushOnOpen | ImGuiTreeNodeFlags_SpanFullWidth);
if (ImGui::IsItemClicked())
{
if (ImGui::IsMouseDoubleClicked(0))
{
componentToOpen.insert(slave.get());
clickedObject = nullptr;
}
else
{
clickedObject = slave.get();
if(!currentSelection.contains(clickedObject)){
currentSelection.clear();
currentSelection.insert(clickedObject);
winManagerSelectionDescription.setState(true);
}
else{
currentSelection.erase(clickedObject);
winManagerSelectionDescription.setState(false);
}
}
}
ImGui::SameLine();
const bool isSlaveHighlighted = !filter.Filters.empty() && (filter.PassFilter(slave->getName().c_str()) || filter.PassFilter(slave->getClassName().c_str()));
drawNonExpandableObject(slave.get(), isSlaveHighlighted, ICON_FA_CUBE, ImVec4(1,1,1,1), componentToOpen, currentSelection, clickedObject );

doHighLight = isSlaveHighlighted || currentSelection.contains(slave.get());
if (doHighLight)
{
ImGui::PushStyleColor(ImGuiCol_Text, ImVec4(1,1,0,1));
}
ImGui::Text(slave->getName().c_str());
ImGui::TableNextColumn();
ImGui::TextDisabled(slave->getClassName().c_str());

if (doHighLight)
{
ImGui::PopStyleColor();
}

ImGui::PopID();
}
ImGui::TreePop();
}
Expand Down Expand Up @@ -277,16 +283,32 @@ namespace windows
ImGui::EndTable();
}

if (clickedObject)
{
if(!currentSelection.contains(clickedObject)){
currentSelection.clear();
currentSelection.insert(clickedObject);
winManagerSelectionDescription.setState(true);
}
else
{
currentSelection.erase(clickedObject);
winManagerSelectionDescription.setState(false);
}
}

}
ImGui::End();

}



openedComponents.insert(componentToOpen.begin(), componentToOpen.end());
openedComponents.insert(focusedComponents.begin(), focusedComponents.end());

sofa::type::vector<sofa::core::objectmodel::BaseObject*> toRemove;
static std::map<sofa::core::objectmodel::BaseObject*, int> resizeWindow;
sofa::type::vector<sofa::core::objectmodel::Base*> toRemove;
static std::map<sofa::core::objectmodel::Base*, int> resizeWindow;
for (auto* component : openedComponents)
{
bool isOpen = true;
Expand Down
7 changes: 6 additions & 1 deletion SofaImGui/src/SofaImGui/windows/SceneGraph.h
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Original file line number Diff line number Diff line change
Expand Up @@ -40,7 +40,7 @@ namespace windows
*/
void showSceneGraph(sofa::core::sptr<sofa::simulation::Node> groot,
const char* const& windowNameSceneGraph,
std::set<sofa::core::objectmodel::BaseObject*>& openedComponents,
std::set<sofa::core::objectmodel::Base*>& openedComponents,
std::set<sofa::core::objectmodel::BaseObject*>& focusedComponents,
std::set<sofa::core::objectmodel::Base*>& currentSelection,
WindowState& winManagerSceneGraph, WindowState& winManagerSelectionDescription);
Expand All @@ -62,5 +62,10 @@ namespace windows
std::set<sofa::core::objectmodel::BaseObject*>& focusedComponents,
WindowState& winSelectionDescription);

//Utilitaries to draw the graph
bool drawExpandableObject(sofa::core::objectmodel::Base * obj, bool isNodeHighlighted, const char* icon, const ImVec4 objectColor, std::set<sofa::core::objectmodel::Base*>& componentToOpen, const std::set<sofa::core::objectmodel::Base*>& currentSelection, sofa::core::objectmodel::Base* &clickedObject);
bool drawNonExpandableObject(sofa::core::objectmodel::Base * obj, bool isObjectHighlighted, const char* icon, const ImVec4 objectColor, std::set<sofa::core::objectmodel::Base*>& componentToOpen, const std::set<sofa::core::objectmodel::Base*>& currentSelection, sofa::core::objectmodel::Base* &clickedObject);



} // namespace sofaimgui
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