sofa-framework · RyanPaulMcKenna · Jul 16, 2025 · Jul 10, 2025 · Jul 22, 2025 · Jul 22, 2025
diff --git a/CMake/SofaPython3Tools.cmake b/CMake/SofaPython3Tools.cmake
@@ -114,6 +114,12 @@ function(SP3_add_python_module)
 
     find_package(pybind11 CONFIG QUIET REQUIRED)
 
+    # Ensure FindPython created Python::Python (needed by python_add_library)
+    if(NOT TARGET Python::Python)
+    	find_package(Python REQUIRED COMPONENTS Interpreter Development Development.Module Development.Embed)
+    endif()
+
+
     # We are doing manually what's usually done with pybind11_add_module(${A_TARGET} SHARED "${A_SOURCES}")
     # since we got some problems on MacOS using recent versions of pybind11 where the SHARED argument wasn't taken
     # into account

diff --git a/bindings/Sofa/src/SofaPython3/Sofa/Core/Binding_BaseData.cpp b/bindings/Sofa/src/SofaPython3/Sofa/Core/Binding_BaseData.cpp
@@ -112,9 +112,13 @@ std::unique_ptr<DataContainerContext> writeableArray(BaseData* self)
     return nullptr;
 }
 
-void __setattr__(py::object self, const std::string& s, py::object value)
+py::object getValue(py::object self)
+{
+    return PythonFactory::valueToPython_ro(py::cast<BaseData*>(self));
+}
+
+void setValue(py::object self, py::object value)
 {
-    SOFA_UNUSED(s);
     BaseData* selfdata = py::cast<BaseData*>(self);
 
     if(py::isinstance<DataContainer>(value))
@@ -132,14 +136,20 @@ void __setattr__(py::object self, const std::string& s, py::object value)
     BindingBase::SetAttr(py::cast(selfdata->getOwner()),selfdata->getName(),value);
 }
 
+void __setattr__(py::object self, const std::string& s, py::object value)
+{
+    SOFA_UNUSED(s);
+    setValue(self, value);
+}
+
 py::object __getattr__(py::object self, const std::string& s)
 {
     /// If this is data.value we returns the content value of the data field converted into
     /// a python object that is easy to manipulate. The conversion is done with the toPython
     /// function.
     if(s == "value")
     {
-        return PythonFactory::valueToPython_ro(py::cast<BaseData*>(self));
+        return getValue(self);
     }
 
     if(s == "linkpath")
@@ -150,6 +160,8 @@ py::object __getattr__(py::object self, const std::string& s)
     throw py::attribute_error("There is no attribute '"+s+"'");
 }
 
+
+
 void setParent(BaseData* self, BaseData* parent)
 {
     self->setParent(parent);
@@ -211,6 +223,8 @@ void moduleAddBaseData(py::module& m)
     data.def("getName", [](BaseData& b){ return b.getName(); }, sofapython3::doc::baseData::getName);
     data.def("setName", [](BaseData& b, const std::string& s){ b.setName(s); }, sofapython3::doc::baseData::setName);
     data.def("getCounter", [](BaseData& self) { return self.getCounter(); }, sofapython3::doc::baseData::getCounter);
+    data.def("setValue", setValue);
+    data.def("getValue", getValue);
     data.def("getHelp", &BaseData::getHelp, sofapython3::doc::baseData::getHelp);
     data.def("unset", [](BaseData& b){ b.unset(); }, sofapython3::doc::baseData::unset);
     data.def("getOwner", &getOwner, sofapython3::doc::baseData::getOwner);

diff --git a/bindings/Sofa/src/SofaPython3/Sofa/Core/Binding_Node.cpp b/bindings/Sofa/src/SofaPython3/Sofa/Core/Binding_Node.cpp
@@ -234,9 +234,47 @@ void setFieldsFromPythonValues(Base* self, const py::kwargs& dict)
     }
 }
 
+class NumpyReprFixerRAII
+{
+public:
+    NumpyReprFixerRAII()
+    {
+        using namespace pybind11::literals;
+
+        m_numpy = py::module_::import("numpy");
+        const std::string version = py::cast<std::string>(m_numpy.attr("__version__"));
+        m_majorVersion = std::stoi(version.substr(0,1));
+        if ( m_majorVersion > 1)
+        {
+            m_setPO =  m_numpy.attr("set_printoptions");
+            m_initialState = m_numpy.attr("get_printoptions")();
+            m_setPO("legacy"_a = "1.25");
+        }
+    }
+
+    ~NumpyReprFixerRAII()
+    {
+        if ( m_majorVersion > 1)
+        {
+            m_setPO(**m_initialState);
+        }
+    }
+
+private:
+    py::module_ m_numpy;
+    int m_majorVersion;
+    py::object m_setPO;
+    py::dict m_initialState;
+
+};
+
+
 /// Implement the addObject function.
 py::object addObjectKwargs(Node* self, const std::string& type, const py::kwargs& kwargs)
 {
+    //Instantiating this object will make sure the numpy representation is fixed during the call of this function, and comes back to its previous state after
+    [[maybe_unused]] const NumpyReprFixerRAII numpyReprFixer;
+
     std::string name {};
     if (kwargs.contains("name"))
     {
@@ -291,6 +329,8 @@ py::object addObjectKwargs(Node* self, const std::string& type, const py::kwargs
         if(d)
             d->setPersistent(true);
     }
+
+
     return PythonFactory::toPython(object.get());
 }
 
@@ -360,6 +400,9 @@ py::object createObject(Node* self, const std::string& type, const py::kwargs& k
 
 py::object addChildKwargs(Node* self, const std::string& name, const py::kwargs& kwargs)
 {
+    //Instantiating this object will make sure the numpy representation is fixed during the call of this function, and comes back to its previous state after
+    [[maybe_unused]] const NumpyReprFixerRAII numpyReprFixer;
+
     if (sofapython3::isProtectedKeyword(name))
         throw py::value_error("addChild: Cannot call addChild with name " + name + ": Protected keyword");
     BaseObjectDescription desc (name.c_str());
@@ -378,6 +421,7 @@ py::object addChildKwargs(Node* self, const std::string& name, const py::kwargs&
             d->setPersistent(true);
     }
 
+
     return py::cast(node);
 }
 

diff --git a/examples/basic-addGUI.py b/examples/basic-addGUI.py
@@ -1,14 +1,10 @@
-# Required import for python
-import Sofa
-
-
 # Choose in your script to activate or not the GUI
 USE_GUI = True
 
 def main():
+    # Required import for python
+    import Sofa
     import SofaRuntime
-    import Sofa.Gui
-    # Make sure to load all SOFA libraries
 
     #Create the root node
     root = Sofa.Core.Node("root")
@@ -20,12 +16,13 @@ def main():
         for iteration in range(10):
             Sofa.Simulation.animate(root, root.dt.value)
     else:
-        import SofaQt
+        import Sofa.Gui
+        SofaRuntime.importPlugin("SofaImGui")
 
         # Find out the supported GUIs
         print ("Supported GUIs are: " + Sofa.Gui.GUIManager.ListSupportedGUI(","))
-        # Launch the GUI (qt or qglviewer)
-        Sofa.Gui.GUIManager.Init("myscene", "qglviewer")
+        # Launch the GUI (imgui is now by default, to use Qt please refer to the example "basic-useQtGui.py")
+        Sofa.Gui.GUIManager.Init("myscene", "imgui")
         Sofa.Gui.GUIManager.createGUI(root, __file__)
         Sofa.Gui.GUIManager.SetDimension(1080, 1080)
         # Initialization of the scene will be done here

diff --git a/examples/basic-useQtGUI.py b/examples/basic-useQtGUI.py
@@ -0,0 +1,59 @@
+# Choose in your script to activate or not the GUI
+USE_GUI = True
+
+def main():
+    # Required import for python
+    import Sofa
+    import SofaRuntime
+
+    # Make sure to load all SOFA libraries
+
+    #Create the root node
+    root = Sofa.Core.Node("root")
+    # Call the below 'createScene' function to create the scene graph
+    createScene(root)
+    Sofa.Simulation.initRoot(root)
+
+    if not USE_GUI:
+        for iteration in range(10):
+            Sofa.Simulation.animate(root, root.dt.value)
+    else:
+        import Sofa.Gui
+        import SofaQt
+
+        # Find out the supported GUIs
+        print ("Supported GUIs are: " + Sofa.Gui.GUIManager.ListSupportedGUI(","))
+        # Launch the GUI (qt or qglviewer)
+        Sofa.Gui.GUIManager.Init("myscene", "qglviewer")
+        Sofa.Gui.GUIManager.createGUI(root, __file__)
+        Sofa.Gui.GUIManager.SetDimension(1080, 1080)
+        # Initialization of the scene will be done here
+        Sofa.Gui.GUIManager.MainLoop(root)
+        Sofa.Gui.GUIManager.closeGUI()
+        print("GUI was closed")
+
+    print("Simulation is done.")
+
+
+# Function called when the scene graph is being created
+def createScene(root):
+
+    root.addObject('RequiredPlugin', name='Sofa.Component.StateContainer')
+
+    # Scene must now include a AnimationLoop
+    root.addObject('DefaultAnimationLoop')
+
+    # Add new nodes and objects in the scene
+    node1 = root.addChild("Node1")
+    node2 = root.addChild("Node2")
+
+    node1.addObject("MechanicalObject", template="Rigid3d", position="0 0 0   0 0 0 1", showObject="1")
+
+    node2.addObject("MechanicalObject", template="Rigid3d", position="1 1 1   0 0 0 1", showObject="1")
+
+    return root
+
+
+# Function used only if this script is called from a python environment
+if __name__ == '__main__':
+    main()
diff --git a/examples/emptyController.py b/examples/emptyController.py
@@ -39,6 +39,10 @@ def onKeypressedEvent(self, event):
 
         if ord(key) == 20:  # right
             print("You pressed the Right key")
+
+        if key == 'M':       # M key of the keyboard
+            print("You pressed the M key")
+
 
     def onKeyreleasedEvent(self, event):
         key = event['key']
@@ -54,6 +58,10 @@ def onKeyreleasedEvent(self, event):
         if ord(key) == 20:  # right
             print("You released the Right key")
 
+        if key == 'M':       # M key of the keyboard
+            print("You released the M key")
+
+
     def onMouseEvent(self, event):
         if (event['State']== 0): # mouse moving
             print("Mouse is moving (x,y) = "+str(event['mouseX'])+" , "+str(event['mouseY']))
@@ -96,13 +104,13 @@ def createScene(root):
 def main():
     import SofaRuntime
     import Sofa.Gui
-    import SofaQt
+    SofaRuntime.importPlugin("SofaImGui")
 
     root=Sofa.Core.Node("root")
     createScene(root)
     Sofa.Simulation.initRoot(root)
 
-    Sofa.Gui.GUIManager.Init("myscene", "qglviewer")
+    Sofa.Gui.GUIManager.Init("myscene", "imgui")
     Sofa.Gui.GUIManager.createGUI(root, __file__)
     Sofa.Gui.GUIManager.SetDimension(1080, 1080)
     Sofa.Gui.GUIManager.MainLoop(root)

diff --git a/examples/emptyDataEngine.py b/examples/emptyDataEngine.py
@@ -33,13 +33,13 @@ def createScene(root):
 def main():
     import Sofa.Gui
     import SofaRuntime
-    import SofaQt
+    SofaRuntime.importPlugin("SofaImGui")
 
     root=Sofa.Core.Node("root")
     createScene(root)
     Sofa.Simulation.initRoot(root)
 
-    Sofa.Gui.GUIManager.Init("myscene", "qglviewer")
+    Sofa.Gui.GUIManager.Init("myscene", "imgui")
     Sofa.Gui.GUIManager.createGUI(root, __file__)
     Sofa.Gui.GUIManager.SetDimension(1080, 1080)
     Sofa.Gui.GUIManager.MainLoop(root)

diff --git a/examples/emptyForceField.py b/examples/emptyForceField.py
@@ -58,13 +58,13 @@ def createScene(root):
 def main():
     import SofaRuntime
     import Sofa.Gui
-    import SofaQt
+    SofaRuntime.importPlugin("SofaImGui")
 
     root=Sofa.Core.Node("root")
     createScene(root)
     Sofa.Simulation.initRoot(root)
 
-    Sofa.Gui.GUIManager.Init("myscene", "qglviewer")
+    Sofa.Gui.GUIManager.Init("myscene", "imgui")
     Sofa.Gui.GUIManager.createGUI(root, __file__)
     Sofa.Gui.GUIManager.SetDimension(1080, 1080)
     Sofa.Gui.GUIManager.MainLoop(root)

diff --git a/examples/example-forcefield.py b/examples/example-forcefield.py
@@ -60,13 +60,13 @@ def createScene(root):
 def main():
     import SofaRuntime
     import Sofa.Gui
-    import SofaQt
+    SofaRuntime.importPlugin("SofaImGui")
 
     root=Sofa.Core.Node("root")
     createScene(root)
     Sofa.Simulation.initRoot(root)
 
-    Sofa.Gui.GUIManager.Init("myscene", "qglviewer")
+    Sofa.Gui.GUIManager.Init("myscene", "imgui")
     Sofa.Gui.GUIManager.createGUI(root, __file__)
     Sofa.Gui.GUIManager.SetDimension(1080, 1080)
     Sofa.Gui.GUIManager.MainLoop(root)

diff --git a/examples/liver-scriptcontroller.py b/examples/liver-scriptcontroller.py
@@ -15,12 +15,11 @@ def main():
     Sofa.Simulation.initRoot(root)
 
     if not USE_GUI:
-        import SofaQt
-
         for iteration in range(10):
             Sofa.Simulation.animate(root, root.dt.value)
     else:
-        Sofa.Gui.GUIManager.Init("myscene", "qglviewer")
+        SofaRuntime.importPlugin("SofaImGui")
+        Sofa.Gui.GUIManager.Init("myscene", "imgui")
         Sofa.Gui.GUIManager.createGUI(root, __file__)
         Sofa.Gui.GUIManager.SetDimension(1080, 1080)
         Sofa.Gui.GUIManager.MainLoop(root)
@@ -43,12 +42,13 @@ def createScene(root):
     'Sofa.Component.ODESolver.Backward',
     'Sofa.Component.SolidMechanics.FEM.Elastic',
     'Sofa.Component.StateContainer',
+    'Sofa.Component.MechanicalLoad',
     'Sofa.Component.Topology.Container.Dynamic',
     'Sofa.Component.Visual',
     'Sofa.GL.Component.Rendering3D'
     ])
 
-    root.addObject('DefaultAnimationLoop')
+    root.addObject('DefaultAnimationLoop', computeBoundingBox=False)
 
     root.addObject('VisualStyle', displayFlags="showCollisionModels hideVisualModels showForceFields")
     root.addObject('CollisionPipeline', name="CollisionPipeline")

diff --git a/examples/liver.py b/examples/liver.py
@@ -18,9 +18,8 @@ def main():
         for iteration in range(10):
             Sofa.Simulation.animate(root, root.dt.value)
     else:
-        import SofaQt
-
-        Sofa.Gui.GUIManager.Init("myscene", "qglviewer")
+        SofaRuntime.importPlugin("SofaImGui")
+        Sofa.Gui.GUIManager.Init("myscene", "imgui")
         Sofa.Gui.GUIManager.createGUI(root, __file__)
         Sofa.Gui.GUIManager.SetDimension(1080, 1080)
         Sofa.Gui.GUIManager.MainLoop(root)

diff --git a/examples/loadXMLfromPython.py b/examples/loadXMLfromPython.py
@@ -31,16 +31,16 @@ def createScene(root):
 def main():
 	import SofaRuntime
 	import Sofa.Gui
-	import SofaQt
 
 	root = Sofa.Core.Node("root")
 	createScene(root)
 	Sofa.Simulation.initRoot(root)
 
 	# Find out the supported GUIs
 	print ("Supported GUIs are: " + Sofa.Gui.GUIManager.ListSupportedGUI(","))
-	# Launch the GUI (qt or qglviewer)
-	Sofa.Gui.GUIManager.Init("myscene", "qglviewer")
+	# Launch the GUI (imgui is now by default, to use Qt please refer to the example "basic-useQtGui.py")
+	SofaRuntime.importPlugin("SofaImGui")
+	Sofa.Gui.GUIManager.Init("myscene", "imgui")
 	Sofa.Gui.GUIManager.createGUI(root, __file__)
 	Sofa.Gui.GUIManager.SetDimension(1080, 1080)
 	# Initialization of the scene will be done here