[Collision] Introduce multi-staged collision pipeline

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

@@ -6,6 +6,7 @@ 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}/AbstractSubCollisionPipeline.h
     ${SOFACOMPONENTCOLLISIONDETECTIONALGORITHM_SOURCE_DIR}/BVHNarrowPhase.h
     ${SOFACOMPONENTCOLLISIONDETECTIONALGORITHM_SOURCE_DIR}/BruteForceBroadPhase.h
     ${SOFACOMPONENTCOLLISIONDETECTIONALGORITHM_SOURCE_DIR}/BruteForceDetection.h
@@ -17,8 +18,10 @@ set(HEADER_FILES
     ${SOFACOMPONENTCOLLISIONDETECTIONALGORITHM_SOURCE_DIR}/EndPoint.h
     ${SOFACOMPONENTCOLLISIONDETECTIONALGORITHM_SOURCE_DIR}/IncrSAP.h
     ${SOFACOMPONENTCOLLISIONDETECTIONALGORITHM_SOURCE_DIR}/MirrorIntersector.h
+    ${SOFACOMPONENTCOLLISIONDETECTIONALGORITHM_SOURCE_DIR}/MultiCollisionPipeline.h
     ${SOFACOMPONENTCOLLISIONDETECTIONALGORITHM_SOURCE_DIR}/RayTraceDetection.h
     ${SOFACOMPONENTCOLLISIONDETECTIONALGORITHM_SOURCE_DIR}/RayTraceNarrowPhase.h
+    ${SOFACOMPONENTCOLLISIONDETECTIONALGORITHM_SOURCE_DIR}/SubCollisionPipeline.h
 )
 
 set(SOURCE_FILES
@@ -31,8 +34,10 @@ set(SOURCE_FILES
     ${SOFACOMPONENTCOLLISIONDETECTIONALGORITHM_SOURCE_DIR}/DirectSAP.cpp
     ${SOFACOMPONENTCOLLISIONDETECTIONALGORITHM_SOURCE_DIR}/DirectSAPNarrowPhase.cpp
     ${SOFACOMPONENTCOLLISIONDETECTIONALGORITHM_SOURCE_DIR}/IncrSAP.cpp
+    ${SOFACOMPONENTCOLLISIONDETECTIONALGORITHM_SOURCE_DIR}/MultiCollisionPipeline.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/AbstractSubCollisionPipeline.h

@@ -0,0 +1,123 @@
+/******************************************************************************
+*                 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 <sofa/core/CollisionModel.h>
+#include <sofa/core/collision/ContactManager.h>
+#include <sofa/core/collision/Intersection.h>
+
+#include <sofa/core/visual/VisualParams.h>
+
+#include <set>
+#include <string>
+
+namespace sofa::component::collision::detection::algorithm
+{
+
+class SOFA_COMPONENT_COLLISION_DETECTION_ALGORITHM_API AbstractSubCollisionPipeline : public sofa::core::objectmodel::BaseObject
+{
+public:
+    SOFA_ABSTRACT_CLASS(AbstractSubCollisionPipeline, sofa::core::objectmodel::BaseObject);
+
+    virtual void computeCollisionReset() = 0;
+    virtual void computeCollisionDetection() = 0;
+    virtual void computeCollisionResponse() = 0;
+    virtual void doInit() = 0;
+    virtual void doBwdInit() {}
+    virtual void doHandleEvent(sofa::core::objectmodel::Event* e) = 0;
+
+    virtual void doDraw(const core::visual::VisualParams*) {}
+
+    AbstractSubCollisionPipeline()
+    : sofa::core::objectmodel::BaseObject()
+    , l_collisionModels(initLink("collisionModels", "List of collision models to consider in this pipeline"))
+    , l_intersectionMethod(initLink("intersectionMethod", "Intersection method to use in this pipeline"))
+    , l_contactManager(initLink("contactManager", "Contact manager to use in this pipeline"))
+    {
+
+    }
+
+    void init() override final
+    {
+        bool validity = true;
+
+        this->d_componentState.setValue(sofa::core::objectmodel::ComponentState::Invalid);
+
+        //Check given parameters
+        if (l_collisionModels.size() == 0)
+        {
+            msg_warning() << "At least one CollisionModel is required to compute collision detection.";
+            validity = false;
+        }
+
+        if (!l_intersectionMethod)
+        {
+            msg_warning() << "An Intersection detection component is required to compute collision detection.";
+            validity = false;
+        }
+
+        if (!l_contactManager)
+        {
+            msg_warning() << "A contact manager component is required to compute collision detection.";
+            validity = false;
+        }
+
+        if (validity)
+        {
+            this->d_componentState.setValue(sofa::core::objectmodel::ComponentState::Valid);
+        }
+
+        doInit();
+    }
+
+    static std::set< std::string > getResponseList()
+    {
+        std::set< std::string > listResponse;
+        core::collision::Contact::Factory::iterator it;
+        for (it = core::collision::Contact::Factory::getInstance()->begin(); it != core::collision::Contact::Factory::getInstance()->end(); ++it)
+        {
+            listResponse.insert(it->first);
+        }
+        return listResponse;
+    }
+
+    void draw(const core::visual::VisualParams* vparams) override final
+    {
+        const auto stateLifeCycle = vparams->drawTool()->makeStateLifeCycle();
+
+        doDraw(vparams);
+    }
+
+    void handleEvent(sofa::core::objectmodel::Event* e) override final
+    {
+        doHandleEvent(e);
+    }
+
+    sofa::MultiLink < AbstractSubCollisionPipeline, sofa::core::CollisionModel, sofa::BaseLink::FLAG_DUPLICATE > l_collisionModels;
+    sofa::SingleLink< AbstractSubCollisionPipeline, sofa::core::collision::Intersection, sofa::BaseLink::FLAG_STOREPATH | sofa::BaseLink::FLAG_STRONGLINK > l_intersectionMethod;
+    sofa::SingleLink< AbstractSubCollisionPipeline, sofa::core::collision::ContactManager, sofa::BaseLink::FLAG_STOREPATH | sofa::BaseLink::FLAG_STRONGLINK > l_contactManager;
+};
+
+} // namespace sofa::component::collision::detection::algorithm