[Collision] Introduce multi-staged collision pipeline

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

@@ -6,10 +6,12 @@ set(SOFACOMPONENTCOLLISIONDETECTIONALGORITHM_SOURCE_DIR "src/sofa/component/coll
 set(HEADER_FILES
     ${SOFACOMPONENTCOLLISIONDETECTIONALGORITHM_SOURCE_DIR}/config.h.in
     ${SOFACOMPONENTCOLLISIONDETECTIONALGORITHM_SOURCE_DIR}/init.h
+    ${SOFACOMPONENTCOLLISIONDETECTIONALGORITHM_SOURCE_DIR}/BaseSubCollisionPipeline.h
     ${SOFACOMPONENTCOLLISIONDETECTIONALGORITHM_SOURCE_DIR}/BVHNarrowPhase.h
     ${SOFACOMPONENTCOLLISIONDETECTIONALGORITHM_SOURCE_DIR}/BruteForceBroadPhase.h
     ${SOFACOMPONENTCOLLISIONDETECTIONALGORITHM_SOURCE_DIR}/BruteForceDetection.h
     ${SOFACOMPONENTCOLLISIONDETECTIONALGORITHM_SOURCE_DIR}/CollisionPM.h
+    ${SOFACOMPONENTCOLLISIONDETECTIONALGORITHM_SOURCE_DIR}/CompositeCollisionPipeline.h
     ${SOFACOMPONENTCOLLISIONDETECTIONALGORITHM_SOURCE_DIR}/DSAPBox.h
     ${SOFACOMPONENTCOLLISIONDETECTIONALGORITHM_SOURCE_DIR}/CollisionPipeline.h
     ${SOFACOMPONENTCOLLISIONDETECTIONALGORITHM_SOURCE_DIR}/DirectSAP.h
@@ -19,20 +21,24 @@ set(HEADER_FILES
     ${SOFACOMPONENTCOLLISIONDETECTIONALGORITHM_SOURCE_DIR}/MirrorIntersector.h
     ${SOFACOMPONENTCOLLISIONDETECTIONALGORITHM_SOURCE_DIR}/RayTraceDetection.h
     ${SOFACOMPONENTCOLLISIONDETECTIONALGORITHM_SOURCE_DIR}/RayTraceNarrowPhase.h
+    ${SOFACOMPONENTCOLLISIONDETECTIONALGORITHM_SOURCE_DIR}/SubCollisionPipeline.h
 )
 
 set(SOURCE_FILES
     ${SOFACOMPONENTCOLLISIONDETECTIONALGORITHM_SOURCE_DIR}/init.cpp
+    ${SOFACOMPONENTCOLLISIONDETECTIONALGORITHM_SOURCE_DIR}/BaseSubCollisionPipeline.cpp
     ${SOFACOMPONENTCOLLISIONDETECTIONALGORITHM_SOURCE_DIR}/BVHNarrowPhase.cpp
     ${SOFACOMPONENTCOLLISIONDETECTIONALGORITHM_SOURCE_DIR}/BruteForceBroadPhase.cpp
     ${SOFACOMPONENTCOLLISIONDETECTIONALGORITHM_SOURCE_DIR}/BruteForceDetection.cpp
     ${SOFACOMPONENTCOLLISIONDETECTIONALGORITHM_SOURCE_DIR}/DSAPBox.cpp
     ${SOFACOMPONENTCOLLISIONDETECTIONALGORITHM_SOURCE_DIR}/CollisionPipeline.cpp
+    ${SOFACOMPONENTCOLLISIONDETECTIONALGORITHM_SOURCE_DIR}/CompositeCollisionPipeline.cpp
     ${SOFACOMPONENTCOLLISIONDETECTIONALGORITHM_SOURCE_DIR}/DirectSAP.cpp
     ${SOFACOMPONENTCOLLISIONDETECTIONALGORITHM_SOURCE_DIR}/DirectSAPNarrowPhase.cpp
     ${SOFACOMPONENTCOLLISIONDETECTIONALGORITHM_SOURCE_DIR}/IncrSAP.cpp
     ${SOFACOMPONENTCOLLISIONDETECTIONALGORITHM_SOURCE_DIR}/RayTraceDetection.cpp
     ${SOFACOMPONENTCOLLISIONDETECTIONALGORITHM_SOURCE_DIR}/RayTraceNarrowPhase.cpp
+    ${SOFACOMPONENTCOLLISIONDETECTIONALGORITHM_SOURCE_DIR}/SubCollisionPipeline.cpp
 )
 
 sofa_find_package(Sofa.Simulation.Core REQUIRED)

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

@@ -0,0 +1,77 @@
+/******************************************************************************
+*                 SOFA, Simulation Open-Framework Architecture                *
+*                    (c) 2006 INRIA, USTL, UJF, CNRS, MGH                     *
+*                                                                             *
+* This program is free software; you can redistribute it and/or modify it     *
+* under the terms of the GNU Lesser General Public License as published by    *
+* the Free Software Foundation; either version 2.1 of the License, or (at     *
+* your option) any later version.                                             *
+*                                                                             *
+* This program is distributed in the hope that it will be useful, but WITHOUT *
+* ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or       *
+* FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License *
+* for more details.                                                           *
+*                                                                             *
+* You should have received a copy of the GNU Lesser General Public License    *
+* along with this program. If not, see <http://www.gnu.org/licenses/>.        *
+*******************************************************************************
+* Authors: The SOFA Team and external contributors (see Authors.txt)          *
+*                                                                             *
+* Contact information: contact@sofa-framework.org                             *
+******************************************************************************/
+#pragma once
+#include <sofa/component/collision/detection/algorithm/BaseSubCollisionPipeline.h>
+
+#include <sofa/core/visual/VisualParams.h>
+#include <sofa/core/collision/Contact.h>
+
+namespace sofa::component::collision::detection::algorithm
+{
+
+BaseSubCollisionPipeline::BaseSubCollisionPipeline()
+: sofa::core::objectmodel::BaseObject()
+{
+
+}
+
+void BaseSubCollisionPipeline::doBwdInit()
+{
+
+}
+
+void BaseSubCollisionPipeline::doDraw(const core::visual::VisualParams* vparams)
+{
+    SOFA_UNUSED(vparams);
+
+}
+
+void BaseSubCollisionPipeline::init()
+{
+    this->d_componentState.setValue(sofa::core::objectmodel::ComponentState::Loading);
+
+    doInit();
+}
+
+std::set< std::string > BaseSubCollisionPipeline::getResponseList()
+{
+    std::set< std::string > listResponse;
+    for (const auto& [key, creatorPtr] : *core::collision::Contact::Factory::getInstance())
+    {
+        listResponse.insert(key);
+    }
+    return listResponse;
+}
+
+void BaseSubCollisionPipeline::draw(const core::visual::VisualParams* vparams)
+{
+    const auto stateLifeCycle = vparams->drawTool()->makeStateLifeCycle();
+
+    doDraw(vparams);
+}
+
+void BaseSubCollisionPipeline::handleEvent(sofa::core::objectmodel::Event* e)
+{
+    doHandleEvent(e);
+}
+
+} // namespace sofa::component::collision::detection::algorithm

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

@@ -0,0 +1,65 @@
+/******************************************************************************
+*                 SOFA, Simulation Open-Framework Architecture                *
+*                    (c) 2006 INRIA, USTL, UJF, CNRS, MGH                     *
+*                                                                             *
+* This program is free software; you can redistribute it and/or modify it     *
+* under the terms of the GNU Lesser General Public License as published by    *
+* the Free Software Foundation; either version 2.1 of the License, or (at     *
+* your option) any later version.                                             *
+*                                                                             *
+* This program is distributed in the hope that it will be useful, but WITHOUT *
+* ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or       *
+* FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License *
+* for more details.                                                           *
+*                                                                             *
+* You should have received a copy of the GNU Lesser General Public License    *
+* along with this program. If not, see <http://www.gnu.org/licenses/>.        *
+*******************************************************************************
+* Authors: The SOFA Team and external contributors (see Authors.txt)          *
+*                                                                             *
+* Contact information: contact@sofa-framework.org                             *
+******************************************************************************/
+#pragma once
+#include <sofa/component/collision/detection/algorithm/config.h>
+
+#include <sofa/core/objectmodel/BaseObject.h>
+
+#include <set>
+#include <string>
+
+namespace sofa::core
+{
+class CollisionModel;
+}
+
+namespace sofa::component::collision::detection::algorithm
+{
+
+class SOFA_COMPONENT_COLLISION_DETECTION_ALGORITHM_API BaseSubCollisionPipeline : public sofa::core::objectmodel::BaseObject
+{
+public:
+    SOFA_ABSTRACT_CLASS(BaseSubCollisionPipeline, sofa::core::objectmodel::BaseObject);
+
+protected:
+    BaseSubCollisionPipeline();
+
+    virtual void doInit() = 0;
+    virtual void doBwdInit();
+    virtual void doHandleEvent(sofa::core::objectmodel::Event* e) = 0;
+    virtual void doDraw(const core::visual::VisualParams* vparams);
+
+public:
+    virtual void computeCollisionReset() = 0;
+    virtual void computeCollisionDetection() = 0;
+    virtual void computeCollisionResponse() = 0;
+
+    virtual std::vector<sofa::core::CollisionModel*> getCollisionModels() = 0;
+
+    void init() override final;
+    void draw(const core::visual::VisualParams* vparams) override final;
+    void handleEvent(sofa::core::objectmodel::Event* e) override final;
+
+    static std::set< std::string > getResponseList();
+};
+
+} // namespace sofa::component::collision::detection::algorithm