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Author: fredroy

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

@@ -66,6 +66,16 @@ CollisionPipeline::CollisionPipeline()
     , d_depth(initData(&d_depth, defaultDepthValue, "depth",
                ("Max depth of bounding trees. (default=" + std::to_string(defaultDepthValue) + ", min=?, max=?)").c_str()))
 {
+    
+    m_subCollisionPipeline = sofa::core::objectmodel::New<SubCollisionPipeline>();
+    m_subCollisionPipeline->d_depth.setParent(&this->d_depth);
+    m_subCollisionPipeline->l_broadPhaseDetection.set(this->broadPhaseDetection);
+    m_subCollisionPipeline->l_narrowPhaseDetection.set(this->narrowPhaseDetection);
+    m_multiCollisionPipeline = sofa::core::objectmodel::New<MultiCollisionPipeline>();
+    m_multiCollisionPipeline->l_subCollisionPipelines.add(m_subCollisionPipeline.get());
+    
+    this->addSlave(m_subCollisionPipeline);
+    this->addSlave(m_multiCollisionPipeline);
 }
 
 void CollisionPipeline::init()
@@ -74,17 +84,26 @@ void CollisionPipeline::init()
 
     msg_info() << "CollisionPipeline is now a wrapper to MultiCollisionPipeline with a single SubCollisionPipeline.";
     msg_info() << "If you want more flexibility, use directly the components MultiCollisionPipeline and SubCollisionPipeline, with their respective Data.";
+
+    auto context = this->getContext();
+    // set the whole collision models list to the sub collision pipeline
+    sofa::type::vector<sofa::core::CollisionModel::SPtr> collisionModels;
+    context->get<sofa::core::CollisionModel, sofa::type::vector<sofa::core::CollisionModel::SPtr>>(&collisionModels, BaseContext::SearchRoot);
+        
+    for(auto collisionModel : collisionModels)
+    {
+        m_subCollisionPipeline->l_collisionModels.add(collisionModel.get());
+    }
 
-    m_subCollisionPipeline = sofa::core::objectmodel::New<SubCollisionPipeline>();
-    m_subCollisionPipeline->d_depth.setParent(&this->d_depth);
+    // set the other component to the sub collision pipeline (which is implcitely searched/set by PipelineImpl)
+    m_subCollisionPipeline->l_intersectionMethod.set(this->intersectionMethod);
     m_subCollisionPipeline->l_broadPhaseDetection.set(this->broadPhaseDetection);
     m_subCollisionPipeline->l_narrowPhaseDetection.set(this->narrowPhaseDetection);
-    m_multiCollisionPipeline = sofa::core::objectmodel::New<MultiCollisionPipeline>();
-    m_multiCollisionPipeline->l_subCollisionPipelines.add(m_subCollisionPipeline.get());
+    m_subCollisionPipeline->l_contactManager.set(this->contactManager);
+    
+    m_subCollisionPipeline->init();
+    m_multiCollisionPipeline->init();
 
-    this->addSlave(m_subCollisionPipeline);
-    this->addSlave(m_multiCollisionPipeline);
-
     /// Insure that all the value provided by the user are valid and report message if it is not.
     checkDataValues() ;
 }