[SceneChecking] Collision: new checker on the presence of a pipeline and models

applications/projects/SceneChecking/CMakeLists.txt

@@ -12,6 +12,7 @@ set(HEADER_FILES
     ${SCENECHECK_SRC_DIR}/config.h.in
     ${SCENECHECK_SRC_DIR}/init.h
     ${SCENECHECK_SRC_DIR}/SceneCheckAPIChange.h
+    ${SCENECHECK_SRC_DIR}/SceneCheckCollisionPipelineAndModels.h
     ${SCENECHECK_SRC_DIR}/SceneCheckCollisionResponse.h
     ${SCENECHECK_SRC_DIR}/SceneCheckDeprecatedComponents.h
     ${SCENECHECK_SRC_DIR}/SceneCheckDuplicatedName.h
@@ -26,6 +27,7 @@ set(HEADER_FILES
 set(SOURCE_FILES
     ${SCENECHECK_SRC_DIR}/init.cpp
     ${SCENECHECK_SRC_DIR}/SceneCheckAPIChange.cpp
+    ${SCENECHECK_SRC_DIR}/SceneCheckCollisionPipelineAndModels.cpp
     ${SCENECHECK_SRC_DIR}/SceneCheckCollisionResponse.cpp
     ${SCENECHECK_SRC_DIR}/SceneCheckDeprecatedComponents.cpp
     ${SCENECHECK_SRC_DIR}/SceneCheckDuplicatedName.cpp

applications/projects/SceneChecking/src/SceneChecking/SceneCheckCollisionPipelineAndModels.cpp

@@ -0,0 +1,104 @@
+/******************************************************************************
+*                 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: [email protected]                             *
+******************************************************************************/
+#include "SceneCheckCollisionPipelineAndModels.h"
+
+#include <sofa/simulation/Node.h>
+#include <sofa/core/CollisionModel.h>
+#include <sofa/core/collision/Pipeline.h>
+#include <sofa/simulation/SceneCheckMainRegistry.h>
+
+namespace sofa::_scenechecking_
+{
+
+const bool SceneCheckCollisionPipelineAndModelsRegistered = sofa::simulation::SceneCheckMainRegistry::addToRegistry(SceneCheckCollisionPipelineAndModels::newSPtr());
+
+using sofa::simulation::Node;
+
+const std::string SceneCheckCollisionPipelineAndModels::getName()
+{
+    return "SceneCheckCollisionPipelineAndModels";
+}
+
+const std::string SceneCheckCollisionPipelineAndModels::getDesc()
+{
+    return "Ensure the consistency of the existence of a collision pipeline, and collision models in the scene.";
+}
+
+void SceneCheckCollisionPipelineAndModels::doInit(Node* node)
+{
+    SOFA_UNUSED(node);
+}
+
+void SceneCheckCollisionPipelineAndModels::doCheckOn(Node* node)
+{
+    const sofa::core::objectmodel::BaseContext* root = node->getContext()->getRootContext();
+
+    if(!root)
+    {
+        return;
+    }
+
+    sofa::core::collision::Pipeline::SPtr anyPipeline{};
+    root->get(anyPipeline, sofa::core::objectmodel::BaseContext::SearchDirection::SearchDown);
+    sofa::core::CollisionModel::SPtr anyCollisionModel{};
+    root->get(anyCollisionModel, sofa::core::objectmodel::BaseContext::SearchDirection::SearchDown);
+
+    if(anyPipeline)
+    {
+        if(anyCollisionModel)
+        {
+            // there is a collision pipeline and (at least one) collision model(s), carry on.
+        }
+        else
+        {
+            // there is a collision pipeline but no collision model.
+            // Either the collision pipeline is superfluous;
+            // or the collision model(s) has been forgotten.
+            m_message = "There is no collision model in this scene, but there is a collision pipeline. Either add one collision model or remove the collision pipeline.";
+        }
+    }
+    else
+    {
+        if(anyCollisionModel)
+        {
+            // At least one collision model has been detected but without any pipeline.
+            // Either the collision pipeline has been forgotten;
+            // or the collision model(s) is useless.
+            m_message = "At least one collision model has been found, but there is no collision pipeline. You may add a collision pipeline (or remove the collision model if it is not used).";
+        }
+        else
+        {
+            // there is no collision pipeline and no collision model, the scene certainly does not involve any collision feature.
+        }
+    }
+}
+
+void SceneCheckCollisionPipelineAndModels::doPrintSummary()
+{
+    if(!m_message.empty())
+    {
+        msg_warning(this->getName()) << m_message;
+    }
+}
+
+
+} // namespace sofa::_scenechecking_

applications/projects/SceneChecking/src/SceneChecking/SceneCheckCollisionPipelineAndModels.h

@@ -0,0 +1,54 @@
+/******************************************************************************
+*                 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: [email protected]                             *
+******************************************************************************/
+#pragma once
+
+#include <SceneChecking/config.h>
+#include <sofa/simulation/SceneCheck.h>
+
+#include <map>
+#include <sstream>
+
+namespace sofa::_scenechecking_
+{
+
+class SOFA_SCENECHECKING_API SceneCheckCollisionPipelineAndModels : public sofa::simulation::SceneCheck
+{
+public:
+    virtual ~SceneCheckCollisionPipelineAndModels() {}
+    typedef std::shared_ptr<SceneCheckCollisionPipelineAndModels> SPtr;
+    static SPtr newSPtr() { return SPtr(new SceneCheckCollisionPipelineAndModels()); }
+    virtual const std::string getName() override;
+    virtual const std::string getDesc() override;
+    void doInit(sofa::simulation::Node* node) override;
+    void doCheckOn(sofa::simulation::Node* node) override;
+    void doPrintSummary() override;
+
+private:
+    std::string m_message;
+};
+
+} // namespace sofa::_scenechecking_
+
+namespace sofa::scenechecking
+{
+    using _scenechecking_::SceneCheckCollisionPipelineAndModels;
+}

applications/projects/SceneChecking/tests/SceneChecker_test.cpp

@@ -38,6 +38,8 @@ using sofa::scenechecking::SceneCheckMissingRequiredPlugin;
 using sofa::scenechecking::SceneCheckDuplicatedName;
 #include <SceneChecking/SceneCheckUsingAlias.h>
 using sofa::scenechecking::SceneCheckUsingAlias;
+#include <SceneChecking/SceneCheckCollisionPipelineAndModels.h>
+using sofa::scenechecking::SceneCheckCollisionPipelineAndModels;
 
 #include <sofa/helper/system/PluginManager.h>
 using sofa::helper::system::PluginManager;
@@ -238,6 +240,74 @@ struct SceneChecker_test : public BaseSimulationTest
             checker.validate(root.get(), &sceneLoader);
         }
     }
+
+    void checkCollisionPipelineModels(bool withPipeline, bool withCollisionModel)
+    {
+        std::string scenePrefix = R"("
+<Node name='root'>
+    <DefaultAnimationLoop/>
+    <RequiredPlugin name='Sofa.Component.Collision.Detection.Algorithm' />
+    <RequiredPlugin name='Sofa.Component.Collision.Detection.Intersection' />
+    <RequiredPlugin name='Sofa.Component.Collision.Geometry' />
+    <RequiredPlugin name='Sofa.Component.Collision.Response.Contact' />
+)";
+        std::string scenePipeline = R"("
+    <CollisionPipeline verbose="0" />
+    <BruteForceBroadPhase/>
+    <BVHNarrowPhase/>
+    <CollisionResponse name="Response" response="PenalityContactForceField" />
+    <DiscreteIntersection />
+)";
+        std::string sceneModel = R"("
+    <Node name='Collision'>
+        <MechanicalObject position="1 1 1" />
+        <SphereCollisionModel name="Floor" radius="1" />
+    </Node>
+)";
+        std::string sceneSuffix = R"("
+</Node>
+)";
+        std::string scene = scenePrefix;
+        if(withPipeline)
+        {
+            scene += scenePipeline;
+        }
+        if(withCollisionModel)
+        {
+            scene += sceneModel;
+        }
+        scene += sceneSuffix;
+
+        SceneCheckerVisitor checker(sofa::core::execparams::defaultInstance());
+        checker.addCheck( SceneCheckCollisionPipelineAndModels::newSPtr() );
+
+        SceneLoaderXML sceneLoader;
+        const Node::SPtr root = sceneLoader.doLoadFromMemory("testscene", scene.c_str());
+        ASSERT_NE(root.get(), nullptr);
+        root->init(sofa::core::execparams::defaultInstance());
+
+        if(!withPipeline && !withCollisionModel)
+        {
+            EXPECT_MSG_NOEMIT(Warning);
+            checker.validate(root.get(), &sceneLoader);
+        }
+        if(withPipeline && !withCollisionModel)
+        {
+            EXPECT_MSG_EMIT(Warning);
+            checker.validate(root.get(), &sceneLoader);
+        }
+        if(!withPipeline && withCollisionModel)
+        {
+            EXPECT_MSG_EMIT(Warning);
+            checker.validate(root.get(), &sceneLoader);
+        }
+        if(withPipeline && withCollisionModel)
+        {
+            EXPECT_MSG_NOEMIT(Warning);
+            checker.validate(root.get(), &sceneLoader);
+        }
+
+    }
 };
 
 TEST_F(SceneChecker_test, checkMissingRequiredPlugin )
@@ -279,3 +349,20 @@ TEST_F(SceneChecker_test, checkUsingAlias_withoutAlias )
 {
     checkUsingAlias(false);
 }
+
+TEST_F(SceneChecker_test, checkCollisionPipelineModels_nothing )
+{
+    checkCollisionPipelineModels(false, false);
+}
+TEST_F(SceneChecker_test, checkCollisionPipelineModels_onlyPipeline )
+{
+    checkCollisionPipelineModels(true, false);
+}
+TEST_F(SceneChecker_test, checkCollisionPipelineModels_onlyModel )
+{
+    checkCollisionPipelineModels(false, true);
+}
+TEST_F(SceneChecker_test, checkCollisionPipelineModels_both )
+{
+    checkCollisionPipelineModels(true, true);
+}