#include <BaseSubCollisionPipeline.h>

Abstract base class defining the interface for sub-collision pipelines. More...

Inheritance diagram for sofa::component::collision::detection::algorithm::BaseSubCollisionPipeline:

Detailed Description

Abstract base class defining the interface for sub-collision pipelines.

This base class is designed to be used with CompositeCollisionPipeline, which aggregates multiple sub-pipelines and can execute them in parallel.

See also: SubCollisionPipeline for a concrete implementation; CompositeCollisionPipeline for the aggregator that manages sub-pipelines

Public Member Functions
	SOFA_ABSTRACT_CLASS (BaseSubCollisionPipeline, sofa::core::objectmodel::BaseComponent)

virtual std::vector< sofa::core::CollisionModel * >	getCollisionModels ()=0
	Returns the list of collision models handled by this sub-pipeline. More...

void	init () override final
	Initializes the component. Marked final to enforce Template Method pattern. More...

void	bwdInit () override final
	Initialization of the component during the bottom-up traversal. Marked final to enforce Template Method pattern. More...

void	draw (const core::visual::VisualParams *vparams) override final
	Renders debug visualization. Marked final to enforce Template Method pattern. More...

void	handleEvent (sofa::core::objectmodel::Event *e) override final
	Processes simulation events. Marked final to enforce Template Method pattern. More...

Collision Pipeline Interface
These methods define the three-phase collision workflow that derived classes must implement.
virtual void	computeCollisionReset ()=0
	Clears collision state from the previous time step (contacts, responses). More...

virtual void	computeCollisionDetection ()=0
	Performs collision detection (bounding tree, broad phase, narrow phase). More...

virtual void	computeCollisionResponse ()=0
	Creates collision responses based on detected contacts. More...

Public Member Functions inherited from sofa::core::objectmodel::BaseComponent
	SOFA_CLASS (BaseComponent, Base)

virtual void	computeBBox (const core::ExecParams *, bool=false)

void	setSrc (const std::string &v, std::vector< std::string > *attributeList=nullptr)
	Sets a source Object and parses it to collect dependent Data. More...

void	setSrc (const std::string &v, const BaseComponent loader, std::vector< std::string > attributeList=nullptr)

Base *	findLinkDestClass (const BaseClass destType, const std::string &path, const BaseLink link) override

virtual std::string	getPathName () const override
	Return the full path name of this object. More...

virtual bool	insertInNode (BaseNode *)

virtual bool	removeInNode (BaseNode *)

SReal	getTime () const
	Current time. More...

const BaseContext *	getContext () const

BaseContext *	getContext ()

const BaseComponent *	getMaster () const

BaseComponent *	getMaster ()

const VecSlaves &	getSlaves () const

BaseComponent *	getSlave (const std::string &name) const

virtual void	addSlave (BaseComponent::SPtr s)

virtual void	removeSlave (BaseComponent::SPtr s)

virtual void	handleTopologyChange ()

virtual void	handleTopologyChange (core::topology::Topology *t)

void	parse (BaseObjectDescription *arg) override
	Parse the given description to assign values to this object's fields and potentially other parameters. More...

virtual void	reinit ()
	Update method called when variables used in precomputation are modified. More...

void	updateInternal ()
	Update method called when variables (used to compute other internal variables) are modified. More...

virtual void	storeResetState ()
	Save the initial state for later uses in reset() More...

virtual void	reset ()
	Reset to initial state. More...

virtual void	cleanup ()

Public Member Functions inherited from sofa::core::objectmodel::Base
virtual const BaseClass *	getClass () const

void	addDeprecatedAttribute (lifecycle::DeprecatedData *attribute)

void	addUpdateCallback (const std::string &name, std::initializer_list< BaseData * > inputs, std::function< sofa::core::objectmodel::ComponentState(const DataTracker &)> function, std::initializer_list< BaseData * > outputs)

void	addOutputsToCallback (const std::string &name, std::initializer_list< BaseData * > outputs)

const std::string &	getName () const
	Accessor to the object name. More...

void	setName (const std::string &n)
	Set the name of this object. More...

void	setName (const std::string &n, int counter)
	Set the name of this object, adding an integer counter. More...

std::string	getTypeName () const
	Get the type name of this object (i.e. class and template types) More...

virtual std::string	getClassName () const
	Get the class name of this object. More...

virtual std::string	getTemplateName () const final
	Get the template type names (if any) used to instantiate this object. More...

std::string	getNameSpaceName () const
	Get the template type names (if any) used to instantiate this object. More...

void	setDefinitionSourceFileName (const std::string &sourceFileName)
	Set the source filename (where the component is implemented) More...

const std::string &	getDefinitionSourceFileName () const
	Get the source filename (where the component is implemented) More...

void	setDefinitionSourceFilePos (const int)
	Set the source location (where the component is implemented) More...

int	getDefinitionSourceFilePos () const
	Get the source location (where the component is implemented) More...

void	setInstanciationSourceFileName (const std::string &sourceFileName)

const std::string &	getInstanciationSourceFileName () const

void	setInstanciationSourceFilePos (const int)

int	getInstanciationSourceFilePos () const

void	addMessage (const sofa::helper::logging::Message &m) const

size_t	countLoggedMessages (sofa::helper::logging::Message::TypeSet t=sofa::helper::logging::Message::AnyTypes) const

const std::deque< sofa::helper::logging::Message > &	getLoggedMessages () const

const std::string	getLoggedMessagesAsString (sofa::helper::logging::Message::TypeSet t=sofa::helper::logging::Message::AnyTypes) const

void	clearLoggedMessages () const

bool	notMuted () const

const sofa::core::objectmodel::TagSet &	getTags () const
	Represents the subsets the object belongs to. More...

bool	hasTag (Tag t) const
	Return true if the object belong to the given subset. More...

void	addTag (Tag t)
	Add a subset qualification to the object. More...

void	removeTag (Tag t)
	Remove a subset qualification to the object. More...

ComponentState	getComponentState () const

bool	isComponentStateValid () const

bool	isComponentStateInvalid () const

	SOFA_ATTRIBUTE_DEPRECATED__TOBASECONSTRAINT () virtual const behavior

	SOFA_ATTRIBUTE_DEPRECATED__TOBASEOBJECT () virtual const objectmodel

virtual bool	parseField (const std::string &attribute, const std::string &value)
	Assign one field value (Data or Link) More...

virtual bool	hasField (const std::string &attribute) const
	Check if a given Data field or Link exists. More...

void	parseFields (const std::list< std::string > &str)
	Assign the field values stored in the given list of name + value pairs of strings. More...

virtual void	parseFields (const std::map< std::string, std::string * > &str)
	Assign the field values stored in the given map of name -> value pairs. More...

void	writeDatas (std::ostream &out, const std::string &separator=" ")

BaseData *	findData (const std::string &name) const

std::vector< BaseData * >	findGlobalField (const std::string &name) const
	Find data fields given a name: several can be found as we look into the alias map. More...

BaseLink *	findLink (const std::string &name) const

std::vector< BaseLink * >	findLinks (const std::string &name) const
	Find link fields given a name: several can be found as we look into the alias map. More...

virtual void	updateLinks (bool logErrors=true)
	Update pointers in case the pointed-to objects have appeared. More...

template<class T >
BaseData::BaseInitData	initData (::sofa::core::objectmodel::Data< T > field, const char n, const char *help, ::sofa::core::objectmodel::BaseData::DataFlags dataflags)
	Helper method used to initialize a data field containing a value of type T. More...

template<class T >
BaseData::BaseInitData	initData (Data< T > field, const char n, const char *help, bool isDisplayed=true, bool isReadOnly=false)
	Helper method used to initialize a data field containing a value of type T. More...

template<class T >
Data< T >::InitData	initData (Data< T > field, const T &value, const char n, const char *help, bool isDisplayed=true, bool isReadOnly=false)
	Helper method used to initialize a data field containing a value of type T. More...

void	addData (BaseData *f, const std::string &name)

void	addData (BaseData *f)

void	removeData (BaseData *f)
	Remove a data field. More...

void	addAlias (BaseData field, const char alias)
	Add an alias to a Data. More...

void	addLink (BaseLink *l)
	Add a link. More...

void	addAlias (BaseLink link, const char alias)
	Add an alias to a Link. More...

const VecData &	getDataFields () const
	Accessor to the vector containing all the fields of this object. More...

const MapData &	getDataAliases () const
	Accessor to the map containing all the aliases of this object. More...

const VecLink &	getLinks () const
	Accessor to the vector containing all the fields of this object. More...

const MapLink &	getLinkAliases () const
	Accessor to the map containing all the aliases of this object. More...

virtual bool	findDataLinkDest (BaseData &ptr, const std::string &path, const BaseLink link)

template<class T >
bool	findLinkDest (T &ptr, const std::string &path, const BaseLink link)

Static Public Member Functions
static std::set< std::string >	getResponseList ()
	Returns all available contact response types registered in the Contact factory. More...

Static Public Member Functions inherited from sofa::core::objectmodel::BaseComponent
template<class T >
static bool	canCreate (T , BaseContext , BaseObjectDescription *)
	Pre-construction check method called by ObjectFactory. More...

template<class T >
static T::SPtr	create (T , BaseContext context, BaseObjectDescription *arg)
	Construction method called by ObjectFactory. More...

Static Public Member Functions inherited from sofa::core::objectmodel::Base
static const BaseClass *	GetClass ()

template<class T >
static std::string	shortName (const T ptr=nullptr, BaseObjectDescription =nullptr)

Protected Member Functions
	BaseSubCollisionPipeline ()

virtual void	doInit ()=0
	Called during initialization. Derived classes must implement validation and setup logic. More...

virtual void	doBwdInit ()
	Called after all objects are initialized. Default implementation is empty. More...

virtual void	doHandleEvent (sofa::core::objectmodel::Event *e)=0
	Called to handle simulation events. Derived classes must implement event processing. More...

virtual void	doDraw (const core::visual::VisualParams *vparams)
	Called during rendering. Default implementation is empty. More...

Protected Member Functions inherited from sofa::core::objectmodel::BaseComponent
	BaseComponent ()

	~BaseComponent () override

virtual void	doUpdateInternal ()
	Implementation of the internal update. More...

void	changeContextLink (BaseContext before, BaseContext &after)

void	changeSlavesLink (BaseComponent::SPtr ptr, std::size_t, bool add)
	This method insures that slaves objects have master and context links set correctly. More...

void	trackInternalData (const BaseData &data)
	Method called to add the Data to the DataTracker (listing the Data to track) More...

void	cleanTracker ()

bool	hasDataChanged (const BaseData &data)
	Method called to know if a tracked Data has changed. More...

Protected Member Functions inherited from sofa::core::objectmodel::Base
	Base ()

virtual	~Base ()

void	initData0 (BaseData field, BaseData::BaseInitData &res, const char name, const char *help, bool isDisplayed=true, bool isReadOnly=false)
	Helper method used by initData() More...

void	initData0 (BaseData field, BaseData::BaseInitData &res, const char name, const char *help, BaseData::DataFlags dataFlags)
	Helper method used by initData() More...

template<class T >
void	initData0 (Data< T > field, typename Data< T >::InitData &res, const T &value, const char n, const char *help, bool isDisplayed=true, bool isReadOnly=false)
	Helper method used by initData() More...

Protected Member Functions inherited from sofa::core::IntrusiveObject
virtual	~IntrusiveObject ()=default

Additional Inherited Members
Public Attributes inherited from sofa::core::objectmodel::BaseComponent
Data< bool >	f_listening
	if true, handle the events, otherwise ignore the events More...

Public Attributes inherited from sofa::core::objectmodel::Base
std::vector< lifecycle::DeprecatedData * >	m_oldAttributes

Data< int >	d_messageLogCount

Data< std::string >	name
	Name of the object. More...

Data< bool >	f_printLog
	if true, emits extra messages at runtime. More...

Data< sofa::core::objectmodel::TagSet >	f_tags
	list of the subsets the object belongs to More...

Data< sofa::type::BoundingBox >	f_bbox
	this object bounding box More...

Data< sofa::core::objectmodel::ComponentState >	d_componentState
	The state of the component among (Dirty, Valid, Undefined, Loading, Invalid). More...

std::string	m_definitionSourceFileName {""}

int	m_definitionSourceFilePos {-1}

std::string	m_instanciationSourceFileName {""}

int	m_instanciationSourceFilePos {-1}

Protected Attributes inherited from sofa::core::objectmodel::BaseComponent
SingleLink< BaseComponent, BaseContext, BaseLink::FLAG_DOUBLELINK >	l_context

LinkSlaves	l_slaves

SingleLink< BaseComponent, BaseComponent, BaseLink::FLAG_DOUBLELINK >	l_master

Protected Attributes inherited from sofa::core::objectmodel::Base
std::map< std::string, sofa::core::DataTrackerCallback >	m_internalEngine

VecData	m_vecData
	List of fields (Data instances) More...

MapData	m_aliasData
	name -> Data multi-map (includes names and aliases) More...

VecLink	m_vecLink
	List of links. More...

MapLink	m_aliasLink
	name -> Link multi-map (includes names and aliases) More...

Constructor details

◆ BaseSubCollisionPipeline()

sofa::component::collision::detection::algorithm::BaseSubCollisionPipeline::BaseSubCollisionPipeline ( )

protected

Function details

◆ bwdInit()

void sofa::component::collision::detection::algorithm::BaseSubCollisionPipeline::bwdInit ( )

finaloverridevirtual

Initialization of the component during the bottom-up traversal. Marked final to enforce Template Method pattern.

Reimplemented from sofa::core::objectmodel::BaseComponent.

◆ computeCollisionDetection()

virtual void sofa::component::collision::detection::algorithm::BaseSubCollisionPipeline::computeCollisionDetection ( )

pure virtual

Performs collision detection (bounding tree, broad phase, narrow phase).

Implemented in sofa::component::collision::detection::algorithm::SubCollisionPipeline.

◆ computeCollisionReset()

virtual void sofa::component::collision::detection::algorithm::BaseSubCollisionPipeline::computeCollisionReset ( )

pure virtual

Clears collision state from the previous time step (contacts, responses).

Implemented in sofa::component::collision::detection::algorithm::SubCollisionPipeline.

◆ computeCollisionResponse()

virtual void sofa::component::collision::detection::algorithm::BaseSubCollisionPipeline::computeCollisionResponse ( )

pure virtual

Creates collision responses based on detected contacts.

Implemented in sofa::component::collision::detection::algorithm::SubCollisionPipeline.

◆ doBwdInit()

void sofa::component::collision::detection::algorithm::BaseSubCollisionPipeline::doBwdInit ( )

protectedvirtual

Called after all objects are initialized. Default implementation is empty.

◆ doDraw()

void sofa::component::collision::detection::algorithm::BaseSubCollisionPipeline::doDraw ( const core::visual::VisualParams * vparams )

protectedvirtual

Called during rendering. Default implementation is empty.

◆ doHandleEvent()

virtual void sofa::component::collision::detection::algorithm::BaseSubCollisionPipeline::doHandleEvent ( sofa::core::objectmodel::Event * e )

protectedpure virtual

Called to handle simulation events. Derived classes must implement event processing.

Implemented in sofa::component::collision::detection::algorithm::SubCollisionPipeline.

◆ doInit()

virtual void sofa::component::collision::detection::algorithm::BaseSubCollisionPipeline::doInit ( )

protectedpure virtual

Called during initialization. Derived classes must implement validation and setup logic.

Implemented in sofa::component::collision::detection::algorithm::SubCollisionPipeline.

◆ draw()

void sofa::component::collision::detection::algorithm::BaseSubCollisionPipeline::draw ( const core::visual::VisualParams * vparams )

finaloverridevirtual

Renders debug visualization. Marked final to enforce Template Method pattern.

Reimplemented from sofa::core::objectmodel::BaseComponent.

◆ getCollisionModels()

virtual std::vector<sofa::core::CollisionModel*> sofa::component::collision::detection::algorithm::BaseSubCollisionPipeline::getCollisionModels ( )

pure virtual

Returns the list of collision models handled by this sub-pipeline.

Implemented in sofa::component::collision::detection::algorithm::SubCollisionPipeline.

◆ getResponseList()

std::set< std::string > sofa::component::collision::detection::algorithm::BaseSubCollisionPipeline::getResponseList ( )

static

Returns all available contact response types registered in the Contact factory.

Queries all registered contact response types from the Contact factory.

This static method iterates through all contact types registered in the Contact::Factory and returns their names. These represent the available collision response methods (e.g., "PenalityContactForceField", "FrictionContact").

Returns: A set of strings containing all registered contact response type names.

◆ handleEvent()

void sofa::component::collision::detection::algorithm::BaseSubCollisionPipeline::handleEvent ( sofa::core::objectmodel::Event * e )

finaloverridevirtual

Processes simulation events. Marked final to enforce Template Method pattern.

Reimplemented from sofa::core::objectmodel::BaseComponent.

◆ init()

void sofa::component::collision::detection::algorithm::BaseSubCollisionPipeline::init ( void )

finaloverridevirtual

Initializes the component. Marked final to enforce Template Method pattern.

Reimplemented from sofa::core::objectmodel::BaseComponent.

◆ SOFA_ABSTRACT_CLASS()

sofa::component::collision::detection::algorithm::BaseSubCollisionPipeline::SOFA_ABSTRACT_CLASS	(	BaseSubCollisionPipeline	,
		sofa::core::objectmodel::BaseComponent
	)

Detailed Description

Public Member Functions

Static Public Member Functions

Protected Member Functions

Additional Inherited Members

Constructor details

◆ BaseSubCollisionPipeline()

Function details

◆ bwdInit()

◆ computeCollisionDetection()

◆ computeCollisionReset()

◆ computeCollisionResponse()

◆ doBwdInit()

◆ doDraw()

◆ doHandleEvent()

◆ doInit()

◆ draw()

◆ getCollisionModels()

◆ getResponseList()

◆ handleEvent()

◆ init()

◆ SOFA_ABSTRACT_CLASS()