From a9913c45580f73f626f34a9e2cbf7ac4990b3502 Mon Sep 17 00:00:00 2001
From: Frederick Roy <froy@lnrobo.com>
Date: Fri, 6 Feb 2026 17:54:49 +0900
Subject: [PATCH] add bwdInit for subcollision pipelines

---
 .../detection/algorithm/BaseSubCollisionPipeline.cpp       | 5 +++++
 .../detection/algorithm/BaseSubCollisionPipeline.h         | 3 +++
 .../detection/algorithm/CompositeCollisionPipeline.cpp     | 7 +++++++
 .../detection/algorithm/CompositeCollisionPipeline.h       | 1 +
 4 files changed, 16 insertions(+)

diff --git a/Sofa/Component/Collision/Detection/Algorithm/src/sofa/component/collision/detection/algorithm/BaseSubCollisionPipeline.cpp b/Sofa/Component/Collision/Detection/Algorithm/src/sofa/component/collision/detection/algorithm/BaseSubCollisionPipeline.cpp
index b15df4b776e..abead5dfb6a 100644
--- a/Sofa/Component/Collision/Detection/Algorithm/src/sofa/component/collision/detection/algorithm/BaseSubCollisionPipeline.cpp
+++ b/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.
  *
diff --git a/Sofa/Component/Collision/Detection/Algorithm/src/sofa/component/collision/detection/algorithm/BaseSubCollisionPipeline.h b/Sofa/Component/Collision/Detection/Algorithm/src/sofa/component/collision/detection/algorithm/BaseSubCollisionPipeline.h
index bdf1bab7919..96c6ce3d2b8 100644
--- a/Sofa/Component/Collision/Detection/Algorithm/src/sofa/component/collision/detection/algorithm/BaseSubCollisionPipeline.h
+++ b/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;
diff --git a/Sofa/Component/Collision/Detection/Algorithm/src/sofa/component/collision/detection/algorithm/CompositeCollisionPipeline.cpp b/Sofa/Component/Collision/Detection/Algorithm/src/sofa/component/collision/detection/algorithm/CompositeCollisionPipeline.cpp
index e50d6e6b0e8..fe2a93d4fe9 100644
--- a/Sofa/Component/Collision/Detection/Algorithm/src/sofa/component/collision/detection/algorithm/CompositeCollisionPipeline.cpp
+++ b/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()
 {
diff --git a/Sofa/Component/Collision/Detection/Algorithm/src/sofa/component/collision/detection/algorithm/CompositeCollisionPipeline.h b/Sofa/Component/Collision/Detection/Algorithm/src/sofa/component/collision/detection/algorithm/CompositeCollisionPipeline.h
index 99088c894a5..706e6b8da4c 100644
--- a/Sofa/Component/Collision/Detection/Algorithm/src/sofa/component/collision/detection/algorithm/CompositeCollisionPipeline.h
+++ b/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.