Merge branch 'master' of https://github.com/Continuous-Collision-Detection/Tight-Inclusion

Author: wangbolun300

tight_inclusion/avx.cpp

@@ -45,7 +45,13 @@ namespace inclusion_ccd
     //     }
 
     // calculate a*(2^b)
-    long power(const long a, const int b) { return a << b; }
+    long power(const long a, const int b)
+    {
+        // The fast bit shifting power trick only works if b is not too larger.
+        assert(b < 8 * sizeof(long) - 1);
+        // WARNING: Technically this can still fail with `b < 8 * sizeof(long) - 1` if `a > 1`.
+        return a << b;
+    }
     std::array<Scalar, 8> function_ee(
         const Scalar &a0s,
         const Scalar &a1s,

tight_inclusion/interval_root_finder.cpp

@@ -1942,7 +1942,7 @@ namespace inclusion_ccd
                 rnbr++;
                 // continue;
                 toi = Numccd2double(TOI) * impact_ratio;
-				//std::cout << "return 1" << std::endl;
+                //std::cout << "return 1" << std::endl;
                 return true;
                 // we don't need to compare with TOI_SKIP because we already continue
                 // when t>=TOI_SKIP
@@ -2384,7 +2384,7 @@ namespace inclusion_ccd
             vffilter = 6.661338147750939e-15;
 #else
             eefilter = 3.337861e-06;
-			vffilter = 3.576279e-06;
+            vffilter = 3.576279e-06;
 #endif
         }
         else // using minimum separation
@@ -2393,7 +2393,7 @@ namespace inclusion_ccd
             eefilter = 7.105427357601002e-15;
             vffilter = 7.549516567451064e-15;
 #else
-            eefilter = 3.814698e-06; 
+            eefilter = 3.814698e-06;
             vffilter = 4.053116e-06;
 #endif
         }