[Collision] CompositeCollisionPipeline: add bwdInit for subcollision pipelines (#5942)

add bwdInit for subcollision pipelines

Co-authored-by: Paul Baksic <30337881+bakpaul@users.noreply.github.com>
Co-authored-by: Themis Skamagkis <70031729+th-skam@users.noreply.github.com>

Author: 3 people

Sofa/Component/Collision/Detection/Algorithm/src/sofa/component/collision/detection/algorithm/BaseSubCollisionPipeline.cpp

@@ -52,6 +52,11 @@ void BaseSubCollisionPipeline::init()
     doInit();
 }
 
+void BaseSubCollisionPipeline::bwdInit()
+{
+    doBwdInit();
+}
+
 /**
  * @brief Queries all registered contact response types from the Contact factory.
  *

Sofa/Component/Collision/Detection/Algorithm/src/sofa/component/collision/detection/algorithm/BaseSubCollisionPipeline.h

@@ -85,6 +85,9 @@ class SOFA_COMPONENT_COLLISION_DETECTION_ALGORITHM_API BaseSubCollisionPipeline
 
     /// @brief Initializes the component. Marked final to enforce Template Method pattern.
     void init() override final;
+    
+    /// @brief Initialization of the component during the bottom-up traversal. Marked final to enforce Template Method pattern.
+    void bwdInit() override final;
 
     /// @brief Renders debug visualization. Marked final to enforce Template Method pattern.
     void draw(const core::visual::VisualParams* vparams) override final;

Sofa/Component/Collision/Detection/Algorithm/src/sofa/component/collision/detection/algorithm/CompositeCollisionPipeline.cpp

@@ -122,6 +122,13 @@ void CompositeCollisionPipeline::init()
     }
 
 }
+void CompositeCollisionPipeline::bwdInit()
+{
+    for(const auto& subPipeline : l_subCollisionPipelines)
+    {
+        subPipeline->bwdInit();
+    }
+}
 
 void CompositeCollisionPipeline::reset()
 {

Sofa/Component/Collision/Detection/Algorithm/src/sofa/component/collision/detection/algorithm/CompositeCollisionPipeline.h

@@ -77,6 +77,7 @@ class SOFA_COMPONENT_COLLISION_DETECTION_ALGORITHM_API CompositeCollisionPipelin
     /// @brief Delegates response creation to all sub-pipelines.
     void doCollisionResponse() override;
 
+    void bwdInit() override;
     void reset() override;
 
     /// @brief Entry point for collision reset, called by the simulation loop.