ENH: Expose collision algorithms in InteractionPair

Allow access to collision detection and collidion handling algorithms.

Base/Collision/imstkInteractionPair.cpp

@@ -132,4 +132,21 @@ InteractionPair::getObjectsPair() const
     return m_objects;
 }
 
+std::shared_ptr<CollisionDetection>
+InteractionPair::getCollisionDetection() const
+{
+    return m_colDetect;
+}
+
+std::shared_ptr<CollisionHandling>
+InteractionPair::getCollisionHandlingA() const
+{
+    return m_colHandlingA;
+}
+
+std::shared_ptr<CollisionHandling>
+InteractionPair::getCollisionHandlingB() const
+{
+    return m_colHandlingB;
+}
 }

Base/Collision/imstkInteractionPair.h

@@ -80,6 +80,21 @@ public:
     ///
     const ObjectsPair& getObjectsPair() const;
 
+    ///
+    /// \brief Returns collision detection algorithm for A-B
+    ///
+    std::shared_ptr<CollisionDetection> getCollisionDetection() const;
+
+    ///
+    /// \brief Returns collision handling algorithm for object B
+    ///
+    std::shared_ptr<CollisionHandling> getCollisionHandlingA() const;
+
+    ///
+    /// \brief Returns collision handling algorithm for object A
+    ///
+    std::shared_ptr<CollisionHandling> getCollisionHandlingB() const;
+
 protected:
 
     ObjectsPair m_objects;                             ///< Colliding objects

Base/Scene/imstkCollisionGraph.cpp

@@ -62,6 +62,7 @@ CollisionGraph::addInteractionPair(CollidingObjectPtr A,
     return intPair;
 }
 
+//TODO: Refactor -> PBD only
 void CollisionGraph::addInteractionPair(std::shared_ptr<PbdInteractionPair> pair)
 {
     m_interactionPbdPairList.push_back(pair);

Base/Scene/imstkCollisionGraph.h

@@ -66,6 +66,7 @@ public:
                                           CollisionHandling::Type CHAType,
                                           CollisionHandling::Type CHBType);
 
+    //TODO: Refactor -> PBD only
     void addInteractionPair(std::shared_ptr<PbdInteractionPair> pair);
 
     ///
@@ -92,7 +93,7 @@ public:
     const std::unordered_map<CollidingObjectPtr, std::vector<InteractionPairPtr>>& getInteractionPairMap() const;
 
 protected:
-    std::vector<std::shared_ptr<PbdInteractionPair>> m_interactionPbdPairList;
+    std::vector<std::shared_ptr<PbdInteractionPair>> m_interactionPbdPairList; //TODO: Refactor -> PBD only
 
     std::vector<InteractionPairPtr> m_interactionPairList; //!< All interaction pairs in the collision graph
     std::unordered_map<CollidingObjectPtr, std::vector<InteractionPairPtr>> m_interactionPairMap; //!< Map of interaction pairs per colliding object