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Merge branch 'master' of https://github.com/sofa-framework/sofa 
2 parents bbb28c8 + 19375d3 commit 96695fc

16 files changed

+1272
-253
lines changed

‎Sofa/Component/Collision/Detection/Algorithm/CMakeLists.txt‎

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@@ -6,10 +6,12 @@ set(SOFACOMPONENTCOLLISIONDETECTIONALGORITHM_SOURCE_DIR "src/sofa/component/coll
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set(HEADER_FILES
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${SOFACOMPONENTCOLLISIONDETECTIONALGORITHM_SOURCE_DIR}/config.h.in
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${SOFACOMPONENTCOLLISIONDETECTIONALGORITHM_SOURCE_DIR}/init.h
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${SOFACOMPONENTCOLLISIONDETECTIONALGORITHM_SOURCE_DIR}/BaseSubCollisionPipeline.h
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${SOFACOMPONENTCOLLISIONDETECTIONALGORITHM_SOURCE_DIR}/BVHNarrowPhase.h
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${SOFACOMPONENTCOLLISIONDETECTIONALGORITHM_SOURCE_DIR}/BruteForceBroadPhase.h
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${SOFACOMPONENTCOLLISIONDETECTIONALGORITHM_SOURCE_DIR}/BruteForceDetection.h
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${SOFACOMPONENTCOLLISIONDETECTIONALGORITHM_SOURCE_DIR}/CollisionPM.h
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${SOFACOMPONENTCOLLISIONDETECTIONALGORITHM_SOURCE_DIR}/CompositeCollisionPipeline.h
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${SOFACOMPONENTCOLLISIONDETECTIONALGORITHM_SOURCE_DIR}/DSAPBox.h
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${SOFACOMPONENTCOLLISIONDETECTIONALGORITHM_SOURCE_DIR}/CollisionPipeline.h
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${SOFACOMPONENTCOLLISIONDETECTIONALGORITHM_SOURCE_DIR}/DirectSAP.h
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${SOFACOMPONENTCOLLISIONDETECTIONALGORITHM_SOURCE_DIR}/MirrorIntersector.h
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${SOFACOMPONENTCOLLISIONDETECTIONALGORITHM_SOURCE_DIR}/RayTraceDetection.h
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${SOFACOMPONENTCOLLISIONDETECTIONALGORITHM_SOURCE_DIR}/RayTraceNarrowPhase.h
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${SOFACOMPONENTCOLLISIONDETECTIONALGORITHM_SOURCE_DIR}/SubCollisionPipeline.h
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)
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set(SOURCE_FILES
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${SOFACOMPONENTCOLLISIONDETECTIONALGORITHM_SOURCE_DIR}/init.cpp
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${SOFACOMPONENTCOLLISIONDETECTIONALGORITHM_SOURCE_DIR}/BaseSubCollisionPipeline.cpp
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${SOFACOMPONENTCOLLISIONDETECTIONALGORITHM_SOURCE_DIR}/BVHNarrowPhase.cpp
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${SOFACOMPONENTCOLLISIONDETECTIONALGORITHM_SOURCE_DIR}/BruteForceBroadPhase.cpp
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${SOFACOMPONENTCOLLISIONDETECTIONALGORITHM_SOURCE_DIR}/BruteForceDetection.cpp
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${SOFACOMPONENTCOLLISIONDETECTIONALGORITHM_SOURCE_DIR}/DSAPBox.cpp
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${SOFACOMPONENTCOLLISIONDETECTIONALGORITHM_SOURCE_DIR}/CollisionPipeline.cpp
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${SOFACOMPONENTCOLLISIONDETECTIONALGORITHM_SOURCE_DIR}/CompositeCollisionPipeline.cpp
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${SOFACOMPONENTCOLLISIONDETECTIONALGORITHM_SOURCE_DIR}/DirectSAP.cpp
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${SOFACOMPONENTCOLLISIONDETECTIONALGORITHM_SOURCE_DIR}/DirectSAPNarrowPhase.cpp
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${SOFACOMPONENTCOLLISIONDETECTIONALGORITHM_SOURCE_DIR}/IncrSAP.cpp
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${SOFACOMPONENTCOLLISIONDETECTIONALGORITHM_SOURCE_DIR}/RayTraceDetection.cpp
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${SOFACOMPONENTCOLLISIONDETECTIONALGORITHM_SOURCE_DIR}/RayTraceNarrowPhase.cpp
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${SOFACOMPONENTCOLLISIONDETECTIONALGORITHM_SOURCE_DIR}/SubCollisionPipeline.cpp
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)
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sofa_find_package(Sofa.Simulation.Core REQUIRED)

‎Sofa/Component/Collision/Detection/Algorithm/src/sofa/component/collision/detection/algorithm/BaseSubCollisionPipeline.cpp‎

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/******************************************************************************
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* SOFA, Simulation Open-Framework Architecture *
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* (c) 2006 INRIA, USTL, UJF, CNRS, MGH *
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* *
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* This program is free software; you can redistribute it and/or modify it *
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* under the terms of the GNU Lesser General Public License as published by *
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* the Free Software Foundation; either version 2.1 of the License, or (at *
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* your option) any later version. *
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* *
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* This program is distributed in the hope that it will be useful, but WITHOUT *
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* ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or *
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* FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License *
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* for more details. *
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* *
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* You should have received a copy of the GNU Lesser General Public License *
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* along with this program. If not, see <http://www.gnu.org/licenses/>. *
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*******************************************************************************
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* Authors: The SOFA Team and external contributors (see Authors.txt) *
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* *
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* Contact information: contact@sofa-framework.org *
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******************************************************************************/
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#pragma once
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#include <sofa/component/collision/detection/algorithm/BaseSubCollisionPipeline.h>
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#include <sofa/core/visual/VisualParams.h>
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#include <sofa/core/collision/Contact.h>
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namespace sofa::component::collision::detection::algorithm
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{
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BaseSubCollisionPipeline::BaseSubCollisionPipeline()
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: sofa::core::objectmodel::BaseObject()
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{
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}
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void BaseSubCollisionPipeline::doBwdInit()
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{
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}
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void BaseSubCollisionPipeline::doDraw(const core::visual::VisualParams* vparams)
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{
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SOFA_UNUSED(vparams);
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}
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void BaseSubCollisionPipeline::init()
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{
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this->d_componentState.setValue(sofa::core::objectmodel::ComponentState::Loading);
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doInit();
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}
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/**
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* @brief Queries all registered contact response types from the Contact factory.
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*
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* This static method iterates through all contact types registered in the
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* Contact::Factory and returns their names. These represent the available
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* collision response methods (e.g., "PenalityContactForceField", "FrictionContact").
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*
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* @return A set of strings containing all registered contact response type names.
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*/
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std::set< std::string > BaseSubCollisionPipeline::getResponseList()
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{
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std::set< std::string > listResponse;
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for (const auto& [key, creatorPtr] : *core::collision::Contact::Factory::getInstance())
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{
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listResponse.insert(key);
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}
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return listResponse;
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}
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void BaseSubCollisionPipeline::draw(const core::visual::VisualParams* vparams)
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{
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const auto stateLifeCycle = vparams->drawTool()->makeStateLifeCycle();
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doDraw(vparams);
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}
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void BaseSubCollisionPipeline::handleEvent(sofa::core::objectmodel::Event* e)
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{
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doHandleEvent(e);
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}
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} // namespace sofa::component::collision::detection::algorithm

‎Sofa/Component/Collision/Detection/Algorithm/src/sofa/component/collision/detection/algorithm/BaseSubCollisionPipeline.h‎

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/******************************************************************************
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* SOFA, Simulation Open-Framework Architecture *
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* (c) 2006 INRIA, USTL, UJF, CNRS, MGH *
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* *
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* This program is free software; you can redistribute it and/or modify it *
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* under the terms of the GNU Lesser General Public License as published by *
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* the Free Software Foundation; either version 2.1 of the License, or (at *
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* your option) any later version. *
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* *
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* This program is distributed in the hope that it will be useful, but WITHOUT *
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* ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or *
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* FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License *
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* for more details. *
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* *
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* You should have received a copy of the GNU Lesser General Public License *
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* along with this program. If not, see <http://www.gnu.org/licenses/>. *
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*******************************************************************************
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* Authors: The SOFA Team and external contributors (see Authors.txt) *
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* *
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* Contact information: contact@sofa-framework.org *
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******************************************************************************/
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#pragma once
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#include <sofa/component/collision/detection/algorithm/config.h>
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#include <sofa/core/objectmodel/BaseObject.h>
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#include <set>
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#include <string>
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namespace sofa::core
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{
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class CollisionModel;
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}
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namespace sofa::component::collision::detection::algorithm
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{
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/**
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* @brief Abstract base class defining the interface for sub-collision pipelines.
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*
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* This base class is designed to be used with CompositeCollisionPipeline, which
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* aggregates multiple sub-pipelines and can execute them in parallel.
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*
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* @see SubCollisionPipeline for a concrete implementation
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* @see CompositeCollisionPipeline for the aggregator that manages sub-pipelines
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*/
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class SOFA_COMPONENT_COLLISION_DETECTION_ALGORITHM_API BaseSubCollisionPipeline : public sofa::core::objectmodel::BaseObject
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{
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public:
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SOFA_ABSTRACT_CLASS(BaseSubCollisionPipeline, sofa::core::objectmodel::BaseObject);
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protected:
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BaseSubCollisionPipeline();
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/// @brief Called during initialization. Derived classes must implement validation and setup logic.
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virtual void doInit() = 0;
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/// @brief Called after all objects are initialized. Default implementation is empty.
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virtual void doBwdInit();
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/// @brief Called to handle simulation events. Derived classes must implement event processing.
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virtual void doHandleEvent(sofa::core::objectmodel::Event* e) = 0;
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/// @brief Called during rendering. Default implementation is empty.
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virtual void doDraw(const core::visual::VisualParams* vparams);
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public:
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///@{
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/// @name Collision Pipeline Interface
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/// These methods define the three-phase collision workflow that derived classes must implement.
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/// @brief Clears collision state from the previous time step (contacts, responses).
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virtual void computeCollisionReset() = 0;
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/// @brief Performs collision detection (bounding tree, broad phase, narrow phase).
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virtual void computeCollisionDetection() = 0;
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/// @brief Creates collision responses based on detected contacts.
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virtual void computeCollisionResponse() = 0;
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///@}
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/// @brief Returns the list of collision models handled by this sub-pipeline.
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virtual std::vector<sofa::core::CollisionModel*> getCollisionModels() = 0;
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/// @brief Initializes the component. Marked final to enforce Template Method pattern.
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void init() override final;
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/// @brief Renders debug visualization. Marked final to enforce Template Method pattern.
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void draw(const core::visual::VisualParams* vparams) override final;
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/// @brief Processes simulation events. Marked final to enforce Template Method pattern.
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void handleEvent(sofa::core::objectmodel::Event* e) override final;
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/// @brief Returns all available contact response types registered in the Contact factory.
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static std::set< std::string > getResponseList();
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};
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} // namespace sofa::component::collision::detection::algorithm

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