[Collision] Introduce multi-staged collision pipeline

[fredroy]

Based on

• [SceneChecking] Collision: new checker on the presence of a pipeline and models #5839

Add the ability to have multiple collision pipeline in a scene, instead of one monolithic pipeline (presented at the STC20)
This allows a lot of things:

• group collision model with {alarm,contact} distances (can mitigate some tunneling-effect artifacts during collisions)
• different response for a group of models (not tested)
• mix different type of intersections
• easily add custom pipelines
• maybe more

It adds a warning if no collision model are handled by any pipeline.

This PR also adds a not-an-alias for CollisionPipeline similar to BruteForceDetection, but in this case I would not deprecate it and would be more seen as a convenience for most users, as the whole Multi + Sub collision pipeline is quite verbose in the end. And the former CollisionPipeline was doing a lot of things implicitly.

EDIT: with this, PipelineImpl is not used anymore (and has ... a dubious implementation by the way)

[with-all-tests]

[ci-depends-on https://github.com/sofa-framework/Regression/pull/96]

EDIT2: examples for a showcase
w/o Composite Pipeline [same collision distance, the 2nd sphere cannot go through]

w/ Composite Pipeline [different collision distances, the 2nd case has a smaller one so the sphere can go through]

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Reviewers will merge this pull-request only if

• it builds with SUCCESS for all platforms on the CI.
• it does not generate new warnings.
• it does not generate new unit test failures.
• it does not generate new scene test failures.
• it does not break API compatibility.
• it is more than 1 week old (or has fast-merge label).

[fredroy]

[ci-build][with-all-tests]

[fredroy]

[ci-build][with-all-tests]

[fredroy]

[ci-build][with-all-tests]

[sofabot]

[ci-depends-on] detected during build #15.

To unlock the merge button, you must

• Merge or close [References] Add CompositeCollisionPipeline scenes Regression#96
  For this build, the following CMake flags will be set
  -DREGRESSION_GIT_REPOSITORY='https://github.com/sofa-framework/Regression'
  -DREGRESSION_GIT_TAG='3c3d90669d0cfb194b81dbc79a1252bfda2da3f4'

[sofabot]

[ci-depends-on] detected during build #16.

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• Merge or close [References] Add CompositeCollisionPipeline scenes Regression#96
  For this build, the following CMake flags will be set
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[sofabot]

[ci-depends-on] detected during build #17.

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• Merge or close [References] Add CompositeCollisionPipeline scenes Regression#96
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[sofabot]

[ci-depends-on] detected during build #18.

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[sofabot]

[ci-depends-on] detected during build #19.

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• Merge or close [References] Add CompositeCollisionPipeline scenes Regression#96
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[sofabot]

[ci-depends-on] detected during build #20.

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• Merge or close [References] Add CompositeCollisionPipeline scenes Regression#96
  For this build, the following CMake flags will be set
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[sofabot]

[ci-depends-on] detected during build #21.

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• Merge or close [References] Add CompositeCollisionPipeline scenes Regression#96
  For this build, the following CMake flags will be set
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[sofabot]

[ci-depends-on] detected during build #22.

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• Merge or close [References] Add CompositeCollisionPipeline scenes Regression#96
  For this build, the following CMake flags will be set
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  -DREGRESSION_GIT_TAG='125ecbd1431d03e94ccc4e50308ed0ed42781dd1'

[hugtalbot]

[ci-build]

[sofabot]

[ci-depends-on] detected during build #23.

All dependencies are merged/closed. Congrats! 👍

[hugtalbot]

Hey @fredroy
Do you agree saying that PipelineImpl could be deprecated ?

[bakpaul]

Removed