feat(simulation): auto-build source mesh collision

src/k1link/simulation/gaussian_pipeline_gateway.py

@@ -767,6 +767,24 @@ def _discover_bundle_members(root: Path, entrypoint: str, source_format: str) ->
         return _logical_path(logical, "descriptor member")
 
     members = {entrypoint}
+    source_meshes: list[str] = []
+    for candidate in root.rglob("*"):
+        if candidate.is_symlink():
+            raise GaussianPipelineIntegrityError(
+                "Gaussian source bundle contains a symlink"
+            )
+        if not candidate.is_file():
+            continue
+        logical_path = candidate.relative_to(root).as_posix()
+        if is_xgrids_source_mesh_path(logical_path):
+            source_meshes.append(logical_path)
+    source_meshes.sort(key=lambda value: value.encode("utf-8"))
+    if len(source_meshes) > 1:
+        raise GaussianPipelineIntegrityError(
+            "Gaussian source bundle must contain at most one PLY mesh inside Mesh_Files"
+        )
+    if source_meshes:
+        members.add(source_meshes[0])
     if source_format == "lcc":
         members.update({related("index.bin"), related("data.bin")})
         file_type = document.get("fileType")
@@ -810,6 +828,11 @@ def _discover_bundle_members(root: Path, entrypoint: str, source_format: str) ->
     return members
 
 
+def is_xgrids_source_mesh_path(logical_path: str) -> bool:
+    parts = logical_path.lower().replace("\\", "/").split("/")
+    return "mesh_files" in parts and parts[-1].endswith(".ply")
+
+
 def _logical_path(value: str, label: str) -> str:
     if (
         not value

src/k1link/simulation/projects.py

@@ -26,6 +26,7 @@ from k1link.simulation.gaussian_pipeline_gateway import (
     GaussianPipelineUnavailableError,
     configured_gaussian_pipeline_gateway,
     discover_gaussian_source_bundle,
+    is_xgrids_source_mesh_path,
 )
 
 PROJECT_SCHEMA: Final = "missioncore.simulation-project/v1"
@@ -610,6 +611,22 @@ class SimulationProjectService:
                         entrypoint=entrypoint,
                         source_format=source_format,
                     )
+                source_mesh_available = any(
+                    is_xgrids_source_mesh_path(member.logical_path)
+                    for member in source.members
+                )
+                collision_profile = (
+                    {
+                        "scene_type": project["scene_type"],
+                        "seed_position": [0.0, 0.0, 0.0],
+                        "capsule_height": 0.4,
+                        "capsule_radius": 0.4,
+                        "voxel_size": 0.05,
+                        "mesh_shape": "source",
+                    }
+                    if source_mesh_available
+                    else None
+                )
                 request = {
                     "schema_version": BUILD_REQUEST_SCHEMA,
                     "idempotency_key": f"missioncore-{project_id}",
@@ -617,10 +634,10 @@ class SimulationProjectService:
                     "outputs": {
                         "preview_sog": True,
                         "streamed_sog": True,
-                        "collision": False,
+                        "collision": source_mesh_available,
                     },
                     "preview_lod": "coarsest",
-                    "collision_profile": None,
+                    "collision_profile": collision_profile,
                 }
                 submitted = provider.submit_build(request)
                 job_id = submitted.get("job_id")