Switch to rational-cpp and CCD-Query-IO

Author: zfergus

CMakeLists.txt

@@ -61,7 +61,7 @@ project(TightInclusion
         LANGUAGES CXX
         VERSION "1.0.4")
 
-option(TIGHT_INCLUSION_WITH_GMP               "Enable rational based predicates (for debugging)"        OFF)
+option(TIGHT_INCLUSION_WITH_RATIONAL          "Enable rational based predicates (for debugging)"        OFF)
 option(TIGHT_INCLUSION_WITH_TIMER             "Enable profiling timers (for debugging)"                 OFF)
 option(TIGHT_INCLUSION_WITH_DOUBLE_PRECISION  "Enable double precision floating point numbers as input"  ON)
 option(TIGHT_INCLUSION_LIMIT_QUEUE_SIZE       "Enable limitation of maximal queue size"                 OFF)
@@ -129,10 +129,10 @@ target_link_libraries(tight_inclusion PUBLIC Eigen3::Eigen)
 include(spdlog)
 target_link_libraries(tight_inclusion PUBLIC spdlog::spdlog)
 
-# GMP (optional)
-if(TIGHT_INCLUSION_WITH_GMP)
-    find_package(GMP REQUIRED)
-    target_link_libraries(tight_inclusion PUBLIC gmp::gmp)
+# rational-cpp (optional)
+if(TIGHT_INCLUSION_WITH_RATIONAL)
+    include(rational_cpp)
+    target_link_libraries(tight_inclusion PUBLIC rational::rational)
 endif()
 
 # Extra warnings (link last for highest priority)

TightInclusionOptions.cmake.sample

@@ -28,7 +28,7 @@
 # IPC Toolkit Options
 ################################################################################
 
-# option(TIGHT_INCLUSION_WITH_GMP               "Enable rational based predicates (for debugging)"        OFF)
+# option(TIGHT_INCLUSION_WITH_RATIONAL          "Enable rational based predicates (for debugging)"        OFF)
 # option(TIGHT_INCLUSION_WITH_TIMER             "Enable profiling timers (for debugging)"                 OFF)
 # option(TIGHT_INCLUSION_WITH_DOUBLE_PRECISION  "Enable double precision floating point numbers as input"  ON)
 # option(TIGHT_INCLUSION_LIMIT_QUEUE_SIZE       "Enable limitation of maximal queue size"                 OFF)

app/CMakeLists.txt

@@ -12,14 +12,8 @@ configure_file("${CMAKE_CURRENT_SOURCE_DIR}/config.hpp.in" "${CMAKE_CURRENT_SOUR
 
 # Link to the required libraries
 if(TIGHT_INCLUSION_WITH_SAMPLE_QUERIES)
-    if(NOT TIGHT_INCLUSION_WITH_GMP)
-        find_package(GMP REQUIRED)
-        target_link_libraries(Tight_Inclusion_bin PUBLIC gmp::gmp)
-    endif()
-    target_sources(Tight_Inclusion_bin PUBLIC "read_rational_csv.cpp")
-
-    include(sample_queries)
-    target_link_libraries(Tight_Inclusion_bin PUBLIC tight_inclusion::sample_queries)
+    include(ccd_query_io)
+    target_link_libraries(Tight_Inclusion_bin PUBLIC ccd_io::ccd_io)
 endif()
 
 include(pbar)

app/main.cpp

@@ -6,8 +6,7 @@
 #include <tight_inclusion/config.hpp>
 
 #ifdef TIGHT_INCLUSION_WITH_SAMPLE_QUERIES
-#include <tight_inclusion/rational/ccd.hpp>
-#include "read_rational_csv.hpp"
+#include <ccd_io/read_ccd_queries.hpp>
 #endif
 
 #include <pbar.hpp>
@@ -21,7 +20,7 @@ using namespace ticcd;
 
 #ifdef TIGHT_INCLUSION_WITH_SAMPLE_QUERIES
 
-static const std::string root_path(TIGHT_INCLUSION_SAMPLE_QUERIES_DIR);
+static const std::string root_path(CCD_IO_SAMPLE_QUERIES_DIR);
 
 static const std::vector<std::string> simulation_folders = {{
     "chain",
@@ -52,6 +51,8 @@ void check_sample_queries(
     const long max_itr,
     const bool print_progress = true)
 {
+    using Matrix8x3 = Eigen::Matrix<double, 8, 3, Eigen::RowMajor>;
+
     const Eigen::Array3d err(-1, -1, -1);
     constexpr double t_max = 1;
     constexpr bool no_zero_toi = false;
@@ -76,11 +77,12 @@ void check_sample_queries(
         for (const std::string &folder : folders) {
             fs::path dir = fs::path(root_path) / folder / sub_folder;
             for (const auto &csv : fs::directory_iterator(dir)) {
-                std::vector<bool> _;
-                const Eigen::MatrixXd all_V =
-                    rational::read_rational_csv(csv.path().string(), _);
-                assert(all_V.rows() % 8 == 0);
-                total_number_of_queries += all_V.rows() / 8;
+                std::ifstream in_stream(csv.path().string());
+                unsigned int line_count = std::count_if(
+                    std::istreambuf_iterator<char>{in_stream}, {},
+                    [](char c) { return c == '\n'; });
+                assert(line_count % 8 == 0);
+                total_number_of_queries += line_count / 8;
             }
         }
         logger().trace("Total number of queries: {}", total_number_of_queries);
@@ -94,21 +96,12 @@ void check_sample_queries(
         fs::path dir = fs::path(root_path) / folder / sub_folder;
         for (const auto &csv : fs::directory_iterator(dir)) {
 
-            std::vector<bool> results;
-            const Eigen::MatrixXd all_V =
-                rational::read_rational_csv(csv.path().string(), results);
-
-            if (all_V.rows() % 8 != 0 || all_V.cols() != 3) {
-                logger().error(
-                    "Incorrectly formatted data in file \"{}\": vertices should be of shape (8n)×3 where n is the number of queries! Got {}×{} instead.",
-                    csv.path().string(), all_V.rows(), all_V.cols());
-                assert(false);
-                continue;
-            }
+            const std::vector<ccd_io::CCDQuery> queries =
+                ccd_io::read_ccd_queries(csv.path().string());
 
-            for (int i = 0; i < all_V.rows(); i += 8) {
-                const Eigen::Matrix<double, 8, 3> V = all_V.middleRows<8>(i);
-                const bool expected_result = results[i];
+            for (int i = 0; i < queries.size(); i++) {
+                Eigen::Map<const Matrix8x3> V(&queries[i].vertices[0][0]);
+                const bool expected_result = queries[i].ground_truth;
                 total_positives += expected_result;
 
                 // Output of CCD
@@ -149,7 +142,7 @@ void check_sample_queries(
 
                         logger().error(
                             "False negative encountered in file \"{}\" (query #{})!",
-                            csv.path().string(), i / 8);
+                            csv.path().string(), i);
                         for (int j = 0; j < 8; j++) {
                             logger().debug(
                                 "V{}: {:.17f} {:.17f} {:.17f}", //

app/read_rational_csv.cpp

@@ -0,0 +1,11 @@
+if(TARGET ccd_io::ccd_io)
+    return()
+endif()
+
+message(STATUS "Third-party: creating target 'ccd_io::ccd_io'")
+
+set(CCD_IO_DOWNLOAD_SAMPLE_QUERIES ON CACHE BOOL "Download sample CCD queries" FORCE)
+set(CCD_IO_SAMPLE_QUERIES_DIR "${PROJECT_SOURCE_DIR}/sample-queries/" CACHE PATH "Where should we download sample queries?")
+
+include(CPM)
+CPMAddPackage("gh:Continuous-Collision-Detection/CCD-Query-IO#efca80cda21d95d74a1477ed22d42db8aabb5835")