{
  "name": "BruteForceDetection",
  "main": {
    "name": "BruteForceDetection",
    "namespace": "sofa::component::collision::detection::algorithm",
    "module": "Sofa.Component.Collision.Detection.Algorithm",
    "include": "sofa/component/collision/detection/algorithm/BruteForceDetection.h",
    "doc": "Combination of brute force broad phase and BVH narrow phase collision detection.",
    "inherits": [
      "BaseObject"
    ],
    "templates": [],
    "data_fields": [],
    "links": [],
    "methods": [
      {
        "name": "init",
        "return_type": "void",
        "params": [],
        "is_virtual": true,
        "is_pure_virtual": false,
        "is_static": false,
        "access": "public"
      }
    ]
  },
  "desc": {
    "description": "The `BruteForceDetection` is a collision detection algorithm in the SOFA framework, specifically designed for interactive computational medical simulation scenarios. It combines brute force broad phase and BVH (Bounding Volume Hierarchy) narrow phase techniques to detect collisions between objects.\n\n**Role and Purpose:**\n- This component plays a crucial role in identifying potential collisions by first using a brute force approach to check all possible pairs of objects, followed by a more refined BVH-based narrow phase for accurate contact detection. It ensures that collision detection is both efficient and precise within the simulation environment.\n\n**Interactions with Other Components: **\n- `BruteForceDetection` inherits from `BaseObject`, indicating it integrates seamlessly into the SOFA scene graph architecture. \n- It constructs and initializes components such as `BruteForceBroadPhase` and `BVHNarrowPhase` within its context.\n\n**Practical Usage Guidance:**\n- The component is primarily used in scenarios where detailed collision detection is required between multiple objects. Despite its functionality, it has been deprecated in favor of separate BroadPhase and NarrowPhase components for more flexible and customizable collision detection pipelines.\n- When instantiated, `BruteForceDetection` automatically adds a `BruteForceBroadPhase` and a `BVHNarrowPhase` to the simulation context."
  },
  "maths": {
    "maths": "The `BruteForceDetection` is a collision detection algorithm in the SOFA framework designed for identifying potential collisions between objects within a simulation. It combines two key phases: brute force broad phase and BVH (Bounding Volume Hierarchy) narrow phase.\n\n### Broad Phase (Brute Force)\n\nIn the **broad phase**, the component uses a **brute force** approach to check all possible pairs of objects for potential collisions. This involves iterating over every pair of objects in the scene, making it computationally expensive but ensuring that no potential collision is missed.\n\n### Narrow Phase (BVH)\n\nIn the **narrow phase**, the component uses a **Bounding Volume Hierarchy (BVH)** to refine and accurately determine contacts between objects. The BVH approach involves constructing a hierarchical tree structure where each node represents a bounding volume encompassing a subset of objects or geometric primitives.\n\nThe BVH helps in reducing the number of detailed collision checks by only considering pairs that are within overlapping bounding volumes, thus significantly improving efficiency.\n\n### Mathematical Description\n\n1. **Broad Phase**:\n   - Let \\( N \\) be the total number of objects in the scene.\n   - The brute force approach iterates over every pair of objects (\\( O(N^2) \\)) to identify potential collisions.\n   \n2. **Narrow Phase**:\n   - Construct a BVH tree where each node represents a bounding volume, such as an axis-aligned bounding box (AABB).\n   - Traverse the BVH tree to determine which pairs of objects are within overlapping volumes and require further detailed collision checks.\n   - The traversal process typically involves recursive comparisons between nodes until reaching leaf nodes that contain individual geometric primitives or objects.\n\n### Role in Simulation\n\n- **Initialization**: The component initializes and adds `BruteForceBroadPhase` and `BVHNarrowPhase` components to the scene context, ensuring backward compatibility with previous versions of SOFA.\n- **Deprecation Notice**: Despite its functionality, this component has been deprecated. Users are advised to use separate BroadPhase and NarrowPhase components for more flexible and customizable collision detection pipelines.\n\n### Conclusion\nThe `BruteForceDetection` provides a robust method for detecting collisions within the simulation environment by combining brute force broad phase with BVH-based narrow phase techniques. Although it ensures thorough detection, its efficiency can be improved using modern BroadPhase and NarrowPhase components."
  },
  "summary": {
    "abstract": "The BruteForceDetection component combines brute force broad phase with BVH narrow phase techniques for collision detection in SOFA simulations.",
    "sheet": "# BruteForceDetection\n\n**Overview**\n\nBruteForceDetection is a collision detection algorithm that integrates brute force broad phase and BVH (Bounding Volume Hierarchy) narrow phase techniques. It inherits from `BaseObject` and initializes components such as `BruteForceBroadPhase` and `BVHNarrowPhase` within its context.\n\n**Practical Notes**\n\nDespite its functionality, BruteForceDetection has been deprecated in favor of separate BroadPhase and NarrowPhase components for more flexible and customizable collision detection pipelines. When instantiated, it automatically adds a `BruteForceBroadPhase` and a `BVHNarrowPhase` to the simulation context."
  }
}