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Merged
fredroy merged 10 commits into from
Sep 1, 2025
Merged

[Response] Clean init of CollisionResponse #5604

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5c1490d
[Response] Clean init of CollisionResponse
hugtalbot Jul 10, 2025
d69f200
Apply suggestions from code review
hugtalbot Jul 10, 2025
da69857
Apply suggestions from code review
hugtalbot Aug 22, 2025
edc2ad7
add a function in OptionsGroup to list all possibly items
hugtalbot Aug 26, 2025
3cda259
only set the response when given response data is valid and not empty…
hugtalbot Aug 26, 2025
2a21421
clean the init of CollisionResponse to properly warn the user
hugtalbot Aug 26, 2025
03eebe4
Update all examples which where not specifying the collision response
hugtalbot Aug 27, 2025
0053a6c
Update CollisionPipeline_test which was not specifying the collision …
hugtalbot Aug 27, 2025
ea537b0
Fix two last failing scene tests
hugtalbot Aug 27, 2025
184fe4e
Fix last .. CUDA scene
hugtalbot Aug 27, 2025
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10 changes: 5 additions & 5 deletions Sofa/Component/Collision/Detection/Algorithm/tests/CollisionPipeline_test.cpp
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Expand Up @@ -102,7 +102,7 @@ void TestCollisionPipeline::checkCollisionPipelineWithNoAttributes()
" <CollisionPipeline name='pipeline'/> \n"
" <BruteForceBroadPhase/> \n"
" <BVHNarrowPhase/> \n"
" <CollisionResponse/> \n"
" <CollisionResponse response='PenalityContactForceField'/> \n"
" <DiscreteIntersection name='interaction'/> \n"
"</Node> \n" ;

Expand All @@ -126,7 +126,7 @@ void TestCollisionPipeline::checkCollisionPipelineWithMissingIntersection()
" <CollisionPipeline name='pipeline'/> \n"
" <BruteForceBroadPhase/> \n"
" <BVHNarrowPhase/> \n"
" <CollisionResponse/> \n"
" <CollisionResponse response='PenalityContactForceField'/> \n"
"</Node> \n" ;

root = SceneLoaderXML::loadFromMemory ("testscene", scene.str().c_str());
Expand All @@ -147,7 +147,7 @@ void TestCollisionPipeline::checkCollisionPipelineWithMissingBroadPhase()
"<Node name='Root' gravity='0 -9.81 0' time='0' animate='0' > \n"
" <CollisionPipeline name='pipeline'/> \n"
" <BVHNarrowPhase/> \n"
" <CollisionResponse/> \n"
" <CollisionResponse response='PenalityContactForceField'/> \n"
" <DiscreteIntersection name='interaction'/> \n"
"</Node> \n" ;

Expand All @@ -168,7 +168,7 @@ void TestCollisionPipeline::checkCollisionPipelineWithMissingNarrowPhase()
"<Node name='Root' gravity='0 -9.81 0' time='0' animate='0' > \n"
" <CollisionPipeline name='pipeline'/> \n"
" <BruteForceBroadPhase/> \n"
" <CollisionResponse/> \n"
" <CollisionResponse response='PenalityContactForceField'/> \n"
" <DiscreteIntersection name='interaction'/> \n"
"</Node> \n" ;

Expand Down Expand Up @@ -210,7 +210,7 @@ int TestCollisionPipeline::checkCollisionPipelineWithMonkeyValueForDepth(int dva
" <CollisionPipeline name='pipeline' depth='"<< dvalue <<"'/> \n"
" <BruteForceBroadPhase/> \n"
" <BVHNarrowPhase/> \n"
" <CollisionResponse/> \n"
" <CollisionResponse response='PenalityContactForceField'/> \n"
" <DiscreteIntersection name='interaction'/> \n"
"</Node> \n" ;

Expand Down
19 changes: 14 additions & 5 deletions ...sion/Response/Contact/src/sofa/component/collision/response/contact/CollisionResponse.cpp
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Expand Up @@ -62,18 +62,28 @@ sofa::helper::OptionsGroup CollisionResponse::initializeResponseOptions(sofa::co
}

sofa::helper::OptionsGroup responseOptions(listResponse);
if (listResponse.contains("PenalityContactForceField"))
responseOptions.setSelectedItem("PenalityContactForceField");
Comment thread
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return responseOptions;
}

void CollisionResponse::init()
{
Inherit1::init();

if(!d_response.isSet())
{
msg_error() << "No response method has been set";
return;
}

if (d_response.getValue().size() == 0)
{
d_response.setValue(initializeResponseOptions(getContext()));
sofa::helper::OptionsGroup responseOptions = initializeResponseOptions(getContext());
msg_error() << "Response method is wrongly set. Option list is: " << responseOptions.getItemNames();
d_response.setValue(responseOptions);
}
else
{
msg_info() << "Valid response method: " << d_response.getValue().getSelectedItem();
}
}

Expand Down Expand Up @@ -111,7 +121,6 @@ void CollisionResponse::setDefaultResponseType(const std::string &responseT)
}
}


void CollisionResponse::changeInstance(Instance inst)
{
core::collision::ContactManager::changeInstance(inst);
Expand Down
9 changes: 7 additions & 2 deletions ...lision/Response/Contact/src/sofa/component/collision/response/contact/CollisionResponse.h
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Expand Up @@ -52,7 +52,13 @@ public :
{
context->addObject(obj);
sofa::helper::OptionsGroup options = initializeResponseOptions(context);
obj->d_response.setValue(options);
const std::string responseName = arg->getAttribute("response","");
// Check if the response is valid and not empty, only then set the response
if(options.isInOptionsList(responseName) >= 0 && responseName != "")
{
options.setSelectedItem(responseName);
obj->d_response.setValue(options);
}
}

if (arg)
Expand Down Expand Up @@ -112,7 +118,6 @@ public :
/// The number of contacts corresponds to the number of collision models
/// currently in contact with a collision model.
void setNumberOfContacts() const;

};


Expand Down
5 changes: 5 additions & 0 deletions Sofa/framework/Helper/src/sofa/helper/OptionsGroup.cpp
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Expand Up @@ -45,6 +45,11 @@ void OptionsGroup::setNbItems(const size_type nbofRadioButton )
selectedItem = 0;
}
///////////////////////////////////////
type::vector<std::string> OptionsGroup::getItemNames()
{
return textItems;
}
///////////////////////////////////////
void OptionsGroup::setItemName(const unsigned int id_item, const std::string& name )
{
if(id_item < textItems.size())
Expand Down
3 changes: 3 additions & 0 deletions Sofa/framework/Helper/src/sofa/helper/OptionsGroup.h
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Expand Up @@ -71,6 +71,9 @@ public :
///Set the name of the id-th item
void setItemName( unsigned int id_item, const std::string& name );

///Get the vector of names available
type::vector<std::string> getItemNames();

template <class T>
void setNames(const std::initializer_list<T>& list);

Expand Down
8 changes: 4 additions & 4 deletions applications/plugins/ArticulatedSystemPlugin/examples/ArticulatedSystemMapping.scn
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Expand Up @@ -15,13 +15,13 @@
<RequiredPlugin name="Sofa.Component.StateContainer"/> <!-- Needed to use components [MechanicalObject] -->
<RequiredPlugin name="Sofa.Component.Topology.Container.Constant"/> <!-- Needed to use components [MeshTopology] -->
<RequiredPlugin name="Sofa.GL.Component.Rendering3D"/> <!-- Needed to use components [OglModel] -->
<DefaultAnimationLoop />
<DefaultVisualManagerLoop />
<CollisionPipeline />
<BruteForceBroadPhase/>
<BVHNarrowPhase/>
<CollisionResponse />
<CollisionPipeline />
<CollisionResponse response="PenalityContactForceField"/>
<MinProximityIntersection alarmDistance="1" contactDistance="0.5"/>
<DefaultAnimationLoop />
<DefaultVisualManagerLoop />
<Node>
<EulerImplicitSolver name="cg odesolver" printLog="false" rayleighStiffness="0.1" rayleighMass="0.1" />
<CGLinearSolver iterations="100" name="linear solver" threshold="1e-20" tolerance="1e-20" />
Expand Down
2 changes: 1 addition & 1 deletion applications/plugins/SofaCUDA/examples/quadSpringSphere.scn
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Expand Up @@ -18,7 +18,7 @@
<CollisionPipeline verbose="0" />
<BruteForceBroadPhase/>
<BVHNarrowPhase/>
<CollisionResponse name="Response" />
<CollisionResponse name="Response" response="PenalityContactForceField"/>
<NewProximityIntersection alarmDistance="0.002" contactDistance="0.001" />
<Node name="Floor">
<RegularGridTopology
Expand Down
2 changes: 1 addition & 1 deletion examples/Component/Mapping/Linear/CenterOfMassMapping.scn
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Expand Up @@ -16,7 +16,7 @@
<VisualStyle displayFlags="showVisual showForceFields showCollisionModels showMechanicalMappings showWireframe" />
<BruteForceBroadPhase/>
<BVHNarrowPhase/>
<CollisionResponse name="default1" />
<CollisionResponse name="default1" response="PenalityContactForceField"/>
<CollisionPipeline name="default2" />
<MinProximityIntersection name="default3" alarmDistance="1" contactDistance="0.5"/>
<DefaultAnimationLoop/>
Expand Down
2 changes: 1 addition & 1 deletion examples/Component/Mapping/Linear/SkinningMapping.scn
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Expand Up @@ -17,7 +17,7 @@
<VisualStyle displayFlags="showBehaviorModels showCollisionModels" />
<BruteForceBroadPhase/>
<BVHNarrowPhase/>
<CollisionResponse name="default1" />
<CollisionResponse name="default1" response="PenalityContactForceField"/>
<CollisionPipeline name="default2" />
<MinProximityIntersection name="default3" alarmDistance="1" contactDistance="0.5"/>
<DefaultAnimationLoop/>
Expand Down
2 changes: 1 addition & 1 deletion examples/Component/Mapping/Linear/SubsetMapping.scn
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Expand Up @@ -24,7 +24,7 @@
<BruteForceBroadPhase/>
<BVHNarrowPhase/>
<LocalMinDistance name="Proximity" alarmDistance="0.006" contactDistance="0.001" coneFactor="0.3" angleCone="0.01" filterIntersection="true"/>
<CollisionResponse name="Response" response="NeedleContact"/>
<CollisionResponse name="Response" response="PenalityContactForceField"/>
<DefaultAnimationLoop/>

<Node name="sutureSoftCubes">
Expand Down
2 changes: 1 addition & 1 deletion examples/Component/MechanicalLoad/EllipsoidForceField.scn
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Expand Up @@ -23,7 +23,7 @@
<CollisionPipeline verbose="0" />
<BruteForceBroadPhase/>
<BVHNarrowPhase/>
<CollisionResponse name="Response" />
<CollisionResponse name="Response" response="PenalityContactForceField"/>
<NewProximityIntersection alarmDistance="0.002" contactDistance="0.001" />
<DefaultAnimationLoop/>

Expand Down
2 changes: 1 addition & 1 deletion examples/Component/MechanicalLoad/InteractionEllipsoidForceField.scn
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Expand Up @@ -22,7 +22,7 @@
<CollisionPipeline verbose="0" />
<BruteForceBroadPhase/>
<BVHNarrowPhase/>
<CollisionResponse name="Response" />
<CollisionResponse name="Response" response="PenalityContactForceField"/>
<NewProximityIntersection alarmDistance="0.002" contactDistance="0.001" />
<Node name="RotatingObstacle">
<EulerExplicitSolver name="odesolver" printLog="false" />
Expand Down
2 changes: 1 addition & 1 deletion examples/Component/SolidMechanics/Spring/QuadBendingSprings.scn
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Expand Up @@ -16,7 +16,7 @@
<CollisionPipeline verbose="0" />
<BruteForceBroadPhase/>
<BVHNarrowPhase/>
<CollisionResponse name="Response" />
<CollisionResponse name="Response" response="PenalityContactForceField"/>
<DefaultAnimationLoop/>
<NewProximityIntersection alarmDistance="0.002" contactDistance="0.001" />
<Node name="SquareCloth1">
Expand Down
2 changes: 1 addition & 1 deletion examples/Component/Topology/Container/Grid/SparseGridTopology.scn
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Expand Up @@ -23,7 +23,7 @@
<CollisionPipeline verbose="0" />
<BruteForceBroadPhase/>
<BVHNarrowPhase/>
<CollisionResponse name="Response"/>
<CollisionResponse name="Response" response="PenalityContactForceField"/>
<DiscreteIntersection/>

<MeshOBJLoader name="loader" filename="mesh/dragon.obj" />
Expand Down
5 changes: 1 addition & 4 deletions examples/Demos/fallingBeamAugmentedLagrangianCollision.scn
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Expand Up @@ -22,7 +22,6 @@
<RequiredPlugin name="Sofa.Component.Visual"/> <!-- Needed to use components [VisualStyle] -->
<RequiredPlugin name="Sofa.GL.Component.Rendering3D"/> <!-- Needed to use components [OglModel] -->
<RequiredPlugin name="Sofa.GUI.Component"/> <!-- Needed to use components [ConstraintAttachButtonSetting] -->
Container,TriangleSetTopologyModifier] -->
</Node>

<VisualStyle displayFlags="showForceFields"/>
Expand All @@ -32,7 +31,7 @@
<CollisionPipeline name="Pipeline" />
<BruteForceBroadPhase name="BroadPhase" />
<BVHNarrowPhase name="NarrowPhase" />
<CollisionResponse name="ContactManager" response="AugmentedLagrangian" responseParams="mu=0.5&epsilon=10" />
<CollisionResponse name="ContactManager" response="AugmentedLagrangianResponseConstraint" responseParams="mu=0.5&epsilon=10" />
<NewProximityIntersection name="Intersection" alarmDistance="0.02" contactDistance="0.001" />

<Node name="BEAMVOLUME">
Expand Down Expand Up @@ -88,5 +87,3 @@
</Node>

</Node>


2 changes: 1 addition & 1 deletion examples/Tutorials/Collision/AdvancedSolversMultipleGroupsSolver.scn
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Expand Up @@ -18,7 +18,7 @@
<CollisionPipeline />
<BruteForceBroadPhase/>
<BVHNarrowPhase/>
<CollisionResponse />
<CollisionResponse response="PenalityContactForceField"/>
<MinProximityIntersection alarmDistance="0.5" contactDistance="0.2" />
<DefaultAnimationLoop/>

Expand Down
2 changes: 1 addition & 1 deletion examples/Tutorials/Collision/ModelizationSphereBased.scn
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Expand Up @@ -18,7 +18,7 @@
<CollisionPipeline />
<BruteForceBroadPhase/>
<BVHNarrowPhase/>
<CollisionResponse />
<CollisionResponse response="PenalityContactForceField"/>
<MinProximityIntersection alarmDistance="1" contactDistance="0.5"/>
<DefaultAnimationLoop/>

Expand Down
2 changes: 1 addition & 1 deletion examples/Tutorials/Collision/ModelizationTriangleBased.scn
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Expand Up @@ -18,7 +18,7 @@
<CollisionPipeline />
<BruteForceBroadPhase/>
<BVHNarrowPhase/>
<CollisionResponse />
<CollisionResponse response="PenalityContactForceField"/>
<DefaultAnimationLoop/>

<MinProximityIntersection alarmDistance="1" contactDistance="0.5"/>
Expand Down
2 changes: 1 addition & 1 deletion examples/Tutorials/Collision/MultipleObjectsTwoCubes.scn
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Expand Up @@ -19,7 +19,7 @@
<CollisionPipeline />
<BruteForceBroadPhase/>
<BVHNarrowPhase/>
<CollisionResponse />
<CollisionResponse response="PenalityContactForceField"/>
<MinProximityIntersection alarmDistance="1" contactDistance="0.5"/>
<DefaultAnimationLoop/>

Expand Down
2 changes: 1 addition & 1 deletion examples/Tutorials/Topologies/TopologyDynamicSurfaceMesh.scn
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Expand Up @@ -24,7 +24,7 @@
<BruteForceBroadPhase/>
<BVHNarrowPhase/>
<MinProximityIntersection name="Proximity" alarmDistance="0.8" contactDistance="0.5" />
<CollisionResponse name="Response" />
<CollisionResponse name="Response" response="PenalityContactForceField"/>
<DefaultAnimationLoop/>

<Node name="Triangles Mesh">
Expand Down
2 changes: 1 addition & 1 deletion examples/Tutorials/Topologies/TopologyHexa2QuadTopologicalMapping.scn
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Expand Up @@ -24,7 +24,7 @@
<BruteForceBroadPhase/>
<BVHNarrowPhase/>
<MinProximityIntersection name="Proximity" alarmDistance="0.8" contactDistance="0.5" />
<CollisionResponse name="Response" />
<CollisionResponse name="Response" response="PenalityContactForceField"/>
<DefaultAnimationLoop/>

<Node name="Cube">
Expand Down
2 changes: 1 addition & 1 deletion examples/Tutorials/Topologies/TopologyHexa2TetraTopologicalMapping.scn
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Expand Up @@ -24,7 +24,7 @@
<BruteForceBroadPhase/>
<BVHNarrowPhase/>
<MinProximityIntersection name="Proximity" alarmDistance="0.8" contactDistance="0.5" />
<CollisionResponse name="Response" />
<CollisionResponse name="Response" response="PenalityContactForceField"/>
<DefaultAnimationLoop/>

<Node name="Hexa Mesh">
Expand Down
2 changes: 1 addition & 1 deletion examples/Tutorials/Topologies/TopologyLinearDifferentMesh.scn
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Expand Up @@ -21,7 +21,7 @@
<BruteForceBroadPhase/>
<BVHNarrowPhase/>
<MinProximityIntersection name="Proximity" alarmDistance="0.3" contactDistance="0.2" />
<CollisionResponse name="Response" />
<CollisionResponse name="Response" response="PenalityContactForceField"/>
<DefaultAnimationLoop/>

<Node name="Pendulum Static Mesh">
Expand Down
2 changes: 1 addition & 1 deletion examples/Tutorials/Topologies/TopologyLinearMesh.scn
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Expand Up @@ -19,7 +19,7 @@
<BruteForceBroadPhase/>
<BVHNarrowPhase/>
<MinProximityIntersection name="Proximity" alarmDistance="0.3" contactDistance="0.2" />
<CollisionResponse name="Response" />
<CollisionResponse name="Response" response="PenalityContactForceField"/>
<DefaultAnimationLoop/>
<Node name="Pendulum Static Mesh">
<MechanicalObject template="Vec3" name="DOF" position="0 0 4 1 0 4 2 0 4 3 0 4 4 0 4 5 0 4" />
Expand Down
2 changes: 1 addition & 1 deletion examples/Tutorials/Topologies/TopologyQuad2TriangleTopologicalMapping.scn
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Expand Up @@ -24,7 +24,7 @@
<BruteForceBroadPhase/>
<BVHNarrowPhase/>
<MinProximityIntersection name="Proximity" alarmDistance="0.8" contactDistance="0.5" />
<CollisionResponse name="Response" />
<CollisionResponse name="Response" response="PenalityContactForceField"/>
<DefaultAnimationLoop/>

<Node name="Quads Mesh">
Expand Down
2 changes: 1 addition & 1 deletion examples/Tutorials/Topologies/TopologySurfaceDifferentMesh.scn
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Expand Up @@ -24,7 +24,7 @@
<BruteForceBroadPhase/>
<BVHNarrowPhase/>
<MinProximityIntersection name="Proximity" alarmDistance="0.8" contactDistance="0.5" />
<CollisionResponse name="Response" />
<CollisionResponse name="Response" response="PenalityContactForceField"/>
<DefaultAnimationLoop/>

<Node name="Cloth Dynamic Mesh (blue)">
Expand Down
2 changes: 1 addition & 1 deletion examples/Tutorials/Topologies/TopologyTetra2TriangleTopologicalMapping.scn
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Expand Up @@ -24,7 +24,7 @@
<BruteForceBroadPhase/>
<BVHNarrowPhase/>
<MinProximityIntersection name="Proximity" alarmDistance="0.8" contactDistance="0.5" />
<CollisionResponse name="Response" />
<CollisionResponse name="Response" response="PenalityContactForceField"/>
<DefaultAnimationLoop/>

<Node name="Tetrahedrons Mesh">
Expand Down
2 changes: 1 addition & 1 deletion examples/Tutorials/Topologies/TopologyTriangle2EdgeTopologicalMapping.scn
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Expand Up @@ -22,7 +22,7 @@
<BruteForceBroadPhase/>
<BVHNarrowPhase/>
<MinProximityIntersection name="Proximity" alarmDistance="0.8" contactDistance="0.5" />
<CollisionResponse name="Response" />
<CollisionResponse name="Response" response="PenalityContactForceField"/>
<DefaultAnimationLoop/>

<Node name="Triangles Mesh">
Expand Down
2 changes: 1 addition & 1 deletion examples/Tutorials/Topologies/TopologyVolumeDifferentMesh.scn
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Expand Up @@ -26,7 +26,7 @@
<BruteForceBroadPhase/>
<BVHNarrowPhase/>
<MinProximityIntersection name="Proximity" alarmDistance="0.8" contactDistance="0.5" />
<CollisionResponse name="Response" />
<CollisionResponse name="Response" response="PenalityContactForceField"/>
<DefaultAnimationLoop/>

<Node name="Cylinder Static Mesh">
Expand Down