ENH: Add collision in sceneManager

Implement getInteractionPairList and getInteractionPairMap
in CollisionGraph for this.

Base/Scene/imstkCollisionGraph.cpp

@@ -123,4 +123,15 @@ CollisionGraph::getInteractionPair(CollidingObjectPtr A, CollidingObjectPtr B)
     return nullptr;
 }
 
+const std::vector<std::shared_ptr<InteractionPair>>&
+CollisionGraph::getInteractionPairList() const
+{
+    return m_interactionPairList;
+}
+
+const std::unordered_map<std::shared_ptr<CollidingObject>, std::vector<std::shared_ptr<InteractionPair>>>&
+CollisionGraph::getInteractionPairMap() const
+{
+    return m_interactionPairMap;
+}
 }

Base/Scene/imstkCollisionGraph.h

@@ -64,6 +64,18 @@ public:
     ///
     InteractionPairPtr getInteractionPair(CollidingObjectPtr A, CollidingObjectPtr B);
 
+    ///
+    /// \brief Returns a vector of all interaction pairs in the collision graph
+    ///
+    const std::vector<InteractionPairPtr>& getInteractionPairList() const;
+
+    ///
+    /// \brief Returns a map of all interaction pairs per object
+    ///
+    const std::unordered_map<
+      CollidingObjectPtr,
+      std::vector<InteractionPairPtr>>& getInteractionPairMap() const;
+
 protected:
 
     std::vector<InteractionPairPtr> m_interactionPairList; //!< All interaction pairs in the collision graph

Base/SimulationManager/imstkSceneManager.cpp

@@ -56,6 +56,23 @@ SceneManager::initModule()
 void
 SceneManager::runModule()
 {
+    // Compute collision data per interaction pair
+    for (auto intPair : m_scene->getCollisionGraph()->getInteractionPairList())
+    {
+        intPair->computeCollisionData();
+    }
+
+    // Compute contact forces per objects
+    for (auto objIntPair : m_scene->getCollisionGraph()->getInteractionPairMap())
+    {
+        auto obj = objIntPair.first;
+        auto intPairVector = objIntPair.second;
+        for (auto intPair : intPairVector)
+        {
+            intPair->computeContactForces(obj);
+        }
+    }
+
     // Update virtualCoupling objects based on devices
     for (auto obj : m_scene->getSceneObjects())
     {