Fix compatibility with latest Eigen (#94)

* Alias Eigen::indexing::all as Eigen::all
* Update tight_inclusion and scalable_ccd

---------

Co-authored-by: Zachary Ferguson <[email protected]>

Author: teseoch

cmake/recipes/scalable_ccd.cmake

@@ -9,4 +9,4 @@ message(STATUS "Third-party: creating target 'scalable_ccd::scalable_ccd'")
 set(SCALABLE_CCD_WITH_CUDA ${IPC_TOOLKIT_WITH_CUDA} CACHE BOOL "Enable CUDA CCD" FORCE)
 
 include(CPM)
-CPMAddPackage("gh:continuous-collision-detection/scalable-ccd#c03efa095173b44c13d8440bbc859eeaa0ec550b")
+CPMAddPackage("gh:continuous-collision-detection/scalable-ccd#60692d7cbc03390a3a198792a3ff2b869c5da05b")

cmake/recipes/tight_inclusion.cmake

@@ -7,4 +7,4 @@ endif()
 message(STATUS "Third-party: creating target 'tight_inclusion::tight_inclusion'")
 
 include(CPM)
-CPMAddPackage("gh:Continuous-Collision-Detection/[email protected].4")
+CPMAddPackage("gh:Continuous-Collision-Detection/[email protected].5")

src/ipc/barrier/adaptive_stiffness.cpp

@@ -5,6 +5,7 @@
 #include <ipc/barrier/barrier.hpp>
 
 #include <algorithm> // std::min/max
+#include <cassert>
 
 namespace ipc {
 

src/ipc/candidates/candidates.cpp

@@ -2,6 +2,7 @@
 
 #include <ipc/ipc.hpp>
 #include <ipc/utils/save_obj.hpp>
+#include <ipc/utils/eigen_ext.hpp>
 
 #include <ipc/config.hpp>
 

src/ipc/utils/eigen_ext.hpp

@@ -3,6 +3,8 @@
 #include <Eigen/Core>
 #include <Eigen/SparseCore>
 
+#include <cassert>
+
 namespace ipc {
 
 // Boolean scalar
@@ -163,4 +165,12 @@ static const Eigen::IOFormat OBJ_VERTEX_FORMAT = Eigen::IOFormat(
 
 } // namespace ipc
 
+// The current head of the Eigen library moved all into the indexing namespace.
+#if EIGEN_VERSION_AT_LEAST(3, 4, 90)
+namespace Eigen {
+// Move all back to the root namespace for compatibility with older versions
+static const Eigen::internal::all_t all = indexing::all;
+} // namespace Eigen
+#endif
+
 #include "eigen_ext.tpp"