[Collision] Introduce multi-staged collision pipeline #5841

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Merged

hugtalbot merged 29 commits into sofa-framework:master from fredroy:add_multi_pipeline

Feb 5, 2026

+1,272 −253

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

-Original file line number
+Diff line change
@@ Expand Up @@
     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
@@ Expand All / @@ -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)
@@ Expand Down @@

...n/Algorithm/src/sofa/component/collision/detection/algorithm/BaseSubCollisionPipeline.cpp

-Original file line number
+Diff line change
@@ -0,0 +1,86 @@
+    /******************************************************************************
+    *                 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();
+    }
+    /**
+     * @brief 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").
+     *
+     * @return A set of strings containing all registered contact response type names.
+     */
+    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

...ion/Algorithm/src/sofa/component/collision/detection/algorithm/BaseSubCollisionPipeline.h

-Original file line number
+Diff line change
@@ -0,0 +1,99 @@
+    /******************************************************************************
+    *                 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
+    {
+    /**
+     * @brief 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 SubCollisionPipeline for a concrete implementation
+     * @see CompositeCollisionPipeline for the aggregator that manages sub-pipelines
+     */
+    class SOFA_COMPONENT_COLLISION_DETECTION_ALGORITHM_API BaseSubCollisionPipeline : public sofa::core::objectmodel::BaseObject
+    {
+    public:
+        SOFA_ABSTRACT_CLASS(BaseSubCollisionPipeline, sofa::core::objectmodel::BaseObject);
+    protected:
+        BaseSubCollisionPipeline();
+        /// @brief Called during initialization. Derived classes must implement validation and setup logic.
+        virtual void doInit() = 0;
+        /// @brief Called after all objects are initialized. Default implementation is empty.
+        virtual void doBwdInit();
+        /// @brief Called to handle simulation events. Derived classes must implement event processing.
+        virtual void doHandleEvent(sofa::core::objectmodel::Event* e) = 0;
+        /// @brief Called during rendering. Default implementation is empty.
+        virtual void doDraw(const core::visual::VisualParams* vparams);
+    public:
+        ///@{
+        /// @name Collision Pipeline Interface
+        /// These methods define the three-phase collision workflow that derived classes must implement.
+        /// @brief Clears collision state from the previous time step (contacts, responses).
+        virtual void computeCollisionReset() = 0;
+        /// @brief Performs collision detection (bounding tree, broad phase, narrow phase).
+        virtual void computeCollisionDetection() = 0;
+        /// @brief Creates collision responses based on detected contacts.
+        virtual void computeCollisionResponse() = 0;
+        ///@}
+        /// @brief Returns the list of collision models handled by this sub-pipeline.
+        virtual std::vector<sofa::core::CollisionModel*> getCollisionModels() = 0;
+        /// @brief Initializes the component. Marked final to enforce Template Method pattern.
+        void init() override final;
+        /// @brief Renders debug visualization. Marked final to enforce Template Method pattern.
+        void draw(const core::visual::VisualParams* vparams) override final;
+        /// @brief Processes simulation events. Marked final to enforce Template Method pattern.
+        void handleEvent(sofa::core::objectmodel::Event* e) override final;
+        /// @brief Returns all available contact response types registered in the Contact factory.
+        static std::set< std::string > getResponseList();
+    };
+    } // namespace sofa::component::collision::detection::algorithm

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[Collision] Introduce multi-staged collision pipeline #5841

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