#include <CompositeCollisionPipeline.h>

A collision pipeline that aggregates multiple sub-pipelines using the Composite pattern. More...

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

Detailed Description

A collision pipeline that aggregates multiple sub-pipelines using the Composite pattern.

CompositeCollisionPipeline enables partitioning collision detection into independent groups, where each group is handled by its own SubCollisionPipeline. This architecture provides several benefits:

Modularity: Different collision model groups can use different detection algorithms, intersection methods, or contact managers
Parallelization: When enabled via d_parallelDetection, the collision detection phase of each sub-pipeline runs concurrently, potentially improving performance on multi-core systems
Isolation: Collision models in different sub-pipelines won't generate contacts with each other, allowing intentional separation of non-interacting object groups

See also: SubCollisionPipeline; BaseSubCollisionPipeline

Public Attributes
sofa::Data< int >	d_depth

sofa::Data< bool >	d_parallelDetection
	When true, collision detection across sub-pipelines runs in parallel using the task scheduler. More...

sofa::MultiLink< CompositeCollisionPipeline, BaseSubCollisionPipeline, sofa::BaseLink::FLAG_DUPLICATE >	l_subCollisionPipelines
	List of sub-pipelines to aggregate. Each handles an independent set of collision models. More...

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}

Public Attributes inherited from sofa::simulation::TaskSchedulerUser
sofa::Data< int >	d_nbThreads

sofa::Data< std::string >	d_taskSchedulerType
	Type of task scheduler to use. More...

Public Member Functions
	SOFA_CLASS2 (CompositeCollisionPipeline, sofa::core::collision::Pipeline, sofa::simulation::TaskSchedulerUser)

void	init () override
	Initializes the pipeline and validates sub-pipeline configuration. More...

std::set< std::string >	getResponseList () const override
	Returns the set of available collision response types. More...

Public Member Functions inherited from sofa::core::collision::Pipeline
	SOFA_ABSTRACT_CLASS (Pipeline, sofa::core::objectmodel::BaseComponent)

void	computeCollisions ()

const BroadPhaseDetection *	getBroadPhaseDetection () const
	Broad phase collision detection method accessor. More...

const NarrowPhaseDetection *	getNarrowPhaseDetection () const
	Narrow phase collision detection method accessor. More...

bool	insertInNode (objectmodel::BaseNode *node) override

bool	removeInNode (objectmodel::BaseNode *node) override

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

virtual void	draw (const core::visual::VisualParams *)
	Render internal data of this object, for debugging purposes. More...

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...

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	handleEvent (Event *)
	Handle an event. More...

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	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)

Protected Member Functions
	CompositeCollisionPipeline ()

void	doCollisionReset () override
	Delegates reset to all sub-pipelines to clear previous contacts. More...

void	doCollisionDetection (const sofa::type::vector< sofa::core::CollisionModel * > &collisionModels) override
	Delegates collision detection to all sub-pipelines (optionally in parallel). More...

void	doCollisionResponse () override
	Delegates response creation to all sub-pipelines. More...

void	bwdInit () override
	Initialization method called at graph creation and modification, during bottom-up traversal. More...

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

virtual void	computeCollisionReset () override final
	Entry point for collision reset, called by the simulation loop. More...

virtual void	computeCollisionDetection () override final
	Entry point for collision detection, called by the simulation loop. More...

virtual void	computeCollisionResponse () override final
	Entry point for collision response, called by the simulation loop. More...

Protected Member Functions inherited from sofa::core::collision::Pipeline
	Pipeline ()

	~Pipeline () override

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

Protected Member Functions inherited from sofa::simulation::TaskSchedulerUser
	TaskSchedulerUser ()

void	initTaskScheduler (bool forceInit=false)

void	reinitTaskScheduler ()

void	stopTaskSchduler ()

Friends
class	CollisionPipeline

Additional Inherited Members
Protected Attributes inherited from sofa::core::collision::Pipeline
sofa::type::vector< Intersection * >	intersectionMethods

sofa::type::vector< BroadPhaseDetection * >	broadPhaseDetections

sofa::type::vector< NarrowPhaseDetection * >	narrowPhaseDetections

sofa::type::vector< ContactManager * >	contactManagers

sofa::type::vector< CollisionGroupManager * >	groupManagers

Intersection *	intersectionMethod

BroadPhaseDetection *	broadPhaseDetection

NarrowPhaseDetection *	narrowPhaseDetection

ContactManager *	contactManager

CollisionGroupManager *	groupManager

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...

Protected Attributes inherited from sofa::simulation::TaskSchedulerUser
sofa::simulation::TaskScheduler *	m_taskScheduler { nullptr }

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)

Attribute details

◆ d_depth

sofa::Data<int> sofa::component::collision::detection::algorithm::CompositeCollisionPipeline::d_depth

◆ d_parallelDetection

sofa::Data<bool> sofa::component::collision::detection::algorithm::CompositeCollisionPipeline::d_parallelDetection

When true, collision detection across sub-pipelines runs in parallel using the task scheduler.

◆ l_subCollisionPipelines

sofa::MultiLink< CompositeCollisionPipeline, BaseSubCollisionPipeline, sofa::BaseLink::FLAG_DUPLICATE > sofa::component::collision::detection::algorithm::CompositeCollisionPipeline::l_subCollisionPipelines

List of sub-pipelines to aggregate. Each handles an independent set of collision models.

Constructor details

◆ CompositeCollisionPipeline()

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

protected

Function details

◆ bwdInit()

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

overrideprotectedvirtual

Initialization method called at graph creation and modification, during bottom-up traversal.

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

◆ computeCollisionDetection()

void sofa::component::collision::detection::algorithm::CompositeCollisionPipeline::computeCollisionDetection ( )

finaloverrideprotectedvirtual

Entry point for collision detection, called by the simulation loop.

Entry point for collision detection phase, called by the simulation loop.

Implements sofa::core::collision::Pipeline.

◆ computeCollisionReset()

void sofa::component::collision::detection::algorithm::CompositeCollisionPipeline::computeCollisionReset ( )

finaloverrideprotectedvirtual

Entry point for collision reset, called by the simulation loop.

Entry point for collision reset phase, called by the simulation loop.

Implements sofa::core::collision::Pipeline.

◆ computeCollisionResponse()

void sofa::component::collision::detection::algorithm::CompositeCollisionPipeline::computeCollisionResponse ( )

finaloverrideprotectedvirtual

Entry point for collision response, called by the simulation loop.

Entry point for collision response phase, called by the simulation loop.

Implements sofa::core::collision::Pipeline.

◆ doCollisionDetection()

void sofa::component::collision::detection::algorithm::CompositeCollisionPipeline::doCollisionDetection ( const sofa::type::vector< sofa::core::CollisionModel * > & collisionModels )

overrideprotectedvirtual

Delegates collision detection to all sub-pipelines (optionally in parallel).

Executes collision detection across all sub-pipelines.

Note: The collisionModels parameter is ignored; each sub-pipeline uses its own models.

If parallel detection is enabled and a task scheduler is available, the detection phase of each sub-pipeline runs concurrently. This can significantly improve performance when there are multiple independent collision groups.

Parameters

collisionModels Ignored - each sub-pipeline uses its own linked collision models.

Implements sofa::core::collision::Pipeline.

◆ doCollisionReset()

void sofa::component::collision::detection::algorithm::CompositeCollisionPipeline::doCollisionReset ( )

overrideprotectedvirtual

Delegates reset to all sub-pipelines to clear previous contacts.

Delegates collision reset to all sub-pipelines sequentially.

Implements sofa::core::collision::Pipeline.

◆ doCollisionResponse()

void sofa::component::collision::detection::algorithm::CompositeCollisionPipeline::doCollisionResponse ( )

overrideprotectedvirtual

Delegates response creation to all sub-pipelines.

Delegates collision response creation to all sub-pipelines sequentially.

Implements sofa::core::collision::Pipeline.

◆ getResponseList()

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

overridevirtual

Returns the set of available collision response types.

Returns the list of available contact response types from the contact factory.

Implements sofa::core::collision::Pipeline.

◆ init()

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

overridevirtual

Initializes the pipeline and validates sub-pipeline configuration.

Initializes the composite pipeline and validates its configuration.

This method performs several validation and setup steps:

Validates that at least one sub-pipeline is linked
Initializes the task scheduler if parallel detection is enabled
Validates all linked sub-pipelines are valid (non-null)
Checks that all collision models in the scene are covered by at least one sub-pipeline (issues warnings for any uncovered models to help users identify configuration issues)

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

◆ reset()

void sofa::component::collision::detection::algorithm::CompositeCollisionPipeline::reset ( )

overrideprotectedvirtual

Reset to initial state.

Implements sofa::core::collision::Pipeline.

◆ SOFA_CLASS2()

sofa::component::collision::detection::algorithm::CompositeCollisionPipeline::SOFA_CLASS2	(	CompositeCollisionPipeline	,
		sofa::core::collision::Pipeline	,
		sofa::simulation::TaskSchedulerUser
	)

Related details

◆ CollisionPipeline

friend class CollisionPipeline

friend

Detailed Description

Public Attributes

Public Member Functions

Protected Member Functions

Friends

Additional Inherited Members

Attribute details

◆ d_depth

◆ d_parallelDetection

◆ l_subCollisionPipelines

Constructor details

◆ CompositeCollisionPipeline()

Function details

◆ bwdInit()

◆ computeCollisionDetection()

◆ computeCollisionReset()

◆ computeCollisionResponse()

◆ doCollisionDetection()

◆ doCollisionReset()

◆ doCollisionResponse()

◆ getResponseList()

◆ init()

◆ reset()

◆ SOFA_CLASS2()

Related details

◆ CollisionPipeline