#include <SubCollisionPipeline.h>

A self-contained collision pipeline for a specific set of collision models. More...

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

Detailed Description

A self-contained collision pipeline for a specific set of collision models.

SubCollisionPipeline implements a complete collision detection and response workflow for an explicitly defined subset of collision models. Unlike the standard CollisionPipeline which processes all collision models in the scene graph, this component only handles the collision models explicitly linked to it.

This class is designed to be used as part of a CompositeCollisionPipeline, which can aggregate multiple SubCollisionPipelines to handle different groups of collision models independently (and potentially in parallel).

Required components (via links):

At least one CollisionModel
An Intersection method (e.g., MinProximityIntersection, NewProximityIntersection)
A BroadPhaseDetection (e.g., BruteForceBroadPhase, BVHNarrowPhase)
A NarrowPhaseDetection (e.g., BVHNarrowPhase, DirectSAP)
A ContactManager (e.g., DefaultContactManager)

See also: CompositeCollisionPipeline; BaseSubCollisionPipeline

Public Attributes
sofa::Data< unsigned int >	d_depth
	Maximum depth of bounding trees used in collision detection. More...

sofa::MultiLink< SubCollisionPipeline, sofa::core::CollisionModel, sofa::BaseLink::FLAG_DUPLICATE >	l_collisionModels
	List of collision models to process in this pipeline. More...

sofa::SingleLink< SubCollisionPipeline, sofa::core::collision::Intersection, sofa::BaseLink::FLAG_STOREPATH\|sofa::BaseLink::FLAG_STRONGLINK >	l_intersectionMethod
	Intersection method defining how to detect intersections between geometric primitives. More...

sofa::SingleLink< SubCollisionPipeline, sofa::core::collision::ContactManager, sofa::BaseLink::FLAG_STOREPATH\|sofa::BaseLink::FLAG_STRONGLINK >	l_contactManager
	Contact manager responsible for creating and managing contact objects. More...

sofa::SingleLink< SubCollisionPipeline, sofa::core::collision::BroadPhaseDetection, sofa::BaseLink::FLAG_STOREPATH\|sofa::BaseLink::FLAG_STRONGLINK >	l_broadPhaseDetection
	Broad phase detection algorithm for quickly identifying potentially colliding pairs. More...

sofa::SingleLink< SubCollisionPipeline, sofa::core::collision::NarrowPhaseDetection, sofa::BaseLink::FLAG_STOREPATH\|sofa::BaseLink::FLAG_STRONGLINK >	l_narrowPhaseDetection
	Narrow phase detection algorithm for precise intersection testing. 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}

Static Public Attributes
static constexpr unsigned int	s_defaultDepthValue = 6
	Default value for the bounding tree depth parameter. More...

Public Member Functions
	SOFA_CLASS (SubCollisionPipeline, Inherited)

virtual	~SubCollisionPipeline () override=default

void	doInit () override
	Validates that all required components are linked and sets the component state accordingly. More...

void	doHandleEvent (sofa::core::objectmodel::Event *) override
	Event handling (currently no-op for this pipeline). More...

void	computeCollisionReset () override
	Clears contact responses from the previous time step. More...

void	computeCollisionDetection () override
	Performs collision detection: computes bounding trees, runs broad and narrow phase detection. More...

void	computeCollisionResponse () override
	Creates contact responses based on detected collisions. More...

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

Public Member Functions inherited from sofa::component::collision::detection::algorithm::BaseSubCollisionPipeline
	SOFA_ABSTRACT_CLASS (BaseSubCollisionPipeline, sofa::core::objectmodel::BaseComponent)

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...

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)

Protected Member Functions
	SubCollisionPipeline ()

Protected Member Functions inherited from sofa::component::collision::detection::algorithm::BaseSubCollisionPipeline
	BaseSubCollisionPipeline ()

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

Static Public Member Functions inherited from sofa::component::collision::detection::algorithm::BaseSubCollisionPipeline
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)

Attribute details

◆ d_depth

sofa::Data<unsigned int> sofa::component::collision::detection::algorithm::SubCollisionPipeline::d_depth

Maximum depth of bounding trees used in collision detection.

◆ l_broadPhaseDetection

sofa::SingleLink< SubCollisionPipeline, sofa::core::collision::BroadPhaseDetection, sofa::BaseLink::FLAG_STOREPATH | sofa::BaseLink::FLAG_STRONGLINK > sofa::component::collision::detection::algorithm::SubCollisionPipeline::l_broadPhaseDetection

Broad phase detection algorithm for quickly identifying potentially colliding pairs.

◆ l_collisionModels

sofa::MultiLink< SubCollisionPipeline, sofa::core::CollisionModel, sofa::BaseLink::FLAG_DUPLICATE > sofa::component::collision::detection::algorithm::SubCollisionPipeline::l_collisionModels

List of collision models to process in this pipeline.

◆ l_contactManager

sofa::SingleLink< SubCollisionPipeline, sofa::core::collision::ContactManager, sofa::BaseLink::FLAG_STOREPATH | sofa::BaseLink::FLAG_STRONGLINK > sofa::component::collision::detection::algorithm::SubCollisionPipeline::l_contactManager

Contact manager responsible for creating and managing contact objects.

◆ l_intersectionMethod

sofa::SingleLink< SubCollisionPipeline, sofa::core::collision::Intersection, sofa::BaseLink::FLAG_STOREPATH | sofa::BaseLink::FLAG_STRONGLINK > sofa::component::collision::detection::algorithm::SubCollisionPipeline::l_intersectionMethod

Intersection method defining how to detect intersections between geometric primitives.

◆ l_narrowPhaseDetection

sofa::SingleLink< SubCollisionPipeline, sofa::core::collision::NarrowPhaseDetection, sofa::BaseLink::FLAG_STOREPATH | sofa::BaseLink::FLAG_STRONGLINK > sofa::component::collision::detection::algorithm::SubCollisionPipeline::l_narrowPhaseDetection

Narrow phase detection algorithm for precise intersection testing.

◆ s_defaultDepthValue

constexpr unsigned int sofa::component::collision::detection::algorithm::SubCollisionPipeline::s_defaultDepthValue = 6

inlinestaticconstexpr

Default value for the bounding tree depth parameter.

Constructor details

◆ SubCollisionPipeline()

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

protected

◆ ~SubCollisionPipeline()

virtual sofa::component::collision::detection::algorithm::SubCollisionPipeline::~SubCollisionPipeline ( )

overridevirtualdefault

Function details

◆ computeCollisionDetection()

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

overridevirtual

Performs collision detection: computes bounding trees, runs broad and narrow phase detection.

Performs collision detection in two phases: broad phase and narrow phase.

Implements sofa::component::collision::detection::algorithm::BaseSubCollisionPipeline.

◆ computeCollisionReset()

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

overridevirtual

Clears contact responses from the previous time step.

Resets the collision state by clearing all existing contact responses.

This method prepares for a new collision detection cycle by:

Propagating the intersection method to all detection components
Removing all contact responses created during the previous time step

This ensures a clean slate before new collisions are detected.

Implements sofa::component::collision::detection::algorithm::BaseSubCollisionPipeline.

◆ computeCollisionResponse()

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

overridevirtual

Creates contact responses based on detected collisions.

Creates collision responses based on detected contacts.

Implements sofa::component::collision::detection::algorithm::BaseSubCollisionPipeline.

◆ doHandleEvent()

void sofa::component::collision::detection::algorithm::SubCollisionPipeline::doHandleEvent ( sofa::core::objectmodel::Event * )

inlineoverridevirtual

Event handling (currently no-op for this pipeline).

Implements sofa::component::collision::detection::algorithm::BaseSubCollisionPipeline.

◆ doInit()

void sofa::component::collision::detection::algorithm::SubCollisionPipeline::doInit ( )

overridevirtual

Validates that all required components are linked and sets the component state accordingly.

Validates that all required components are properly linked.

Checks for the presence of all mandatory links:

At least one collision model
An intersection method
A contact manager
A broad phase detection component
A narrow phase detection component

Sets the component state to Invalid if any required component is missing, which prevents the pipeline from executing collision detection.

Implements sofa::component::collision::detection::algorithm::BaseSubCollisionPipeline.

◆ getCollisionModels()

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

overridevirtual

Returns the list of collision models handled by this pipeline.

Returns the list of collision models explicitly linked to this pipeline.

Implements sofa::component::collision::detection::algorithm::BaseSubCollisionPipeline.

◆ SOFA_CLASS()

sofa::component::collision::detection::algorithm::SubCollisionPipeline::SOFA_CLASS	(	SubCollisionPipeline	,
		Inherited
	)

Detailed Description

Public Attributes

Static Public Attributes

Public Member Functions

Protected Member Functions

Additional Inherited Members

Attribute details

◆ d_depth

◆ l_broadPhaseDetection

◆ l_collisionModels

◆ l_contactManager

◆ l_intersectionMethod

◆ l_narrowPhaseDetection

◆ s_defaultDepthValue

Constructor details

◆ SubCollisionPipeline()

◆ ~SubCollisionPipeline()

Function details

◆ computeCollisionDetection()

◆ computeCollisionReset()

◆ computeCollisionResponse()

◆ doHandleEvent()

◆ doInit()

◆ getCollisionModels()

◆ SOFA_CLASS()