remove CollisionBase class

Author: Huangzizhou

src/ipc/collisions/normal/normal_collisions.hpp

@@ -15,72 +15,14 @@
 
 namespace ipc {
 
-class CollisionsBase {
-public:
-    CollisionsBase() = default;
-    virtual ~CollisionsBase() = default;
-
-    virtual std::shared_ptr<CollisionsBase> deepcopy() const = 0;
-
-    /// @brief Get the number of collisions.
-    virtual size_t size() const = 0;
-
-    /// @brief Get if the collision set are empty.
-    virtual bool empty() const = 0;
-
-    /// @brief Clear the collision set.
-    virtual void clear() = 0;
-
-    /// @brief Computes the minimum distance between any non-adjacent elements.
-    /// @param mesh The collision mesh.
-    /// @param vertices Vertices of the collision mesh.
-    /// @returns The minimum distance between any non-adjacent elements.
-    virtual double compute_minimum_distance(
-        const CollisionMesh& mesh, Eigen::ConstRef<Eigen::MatrixXd> vertices) const = 0;
-
-    /// @brief Get if the collision set are using the convergent formulation.
-    /// @note If not empty, this is the current value not necessarily the value used to build the collisions.
-    /// @return If the collision set are using the convergent formulation.
-    bool are_shape_derivatives_enabled() const
-    {
-        return m_are_shape_derivatives_enabled;
-    }
-
-    /// @brief Set if the collision set should enable shape derivative computation.
-    /// @warning This must be set before the collisions are built.
-    /// @param are_shape_derivatives_enabled If the collision set should enable shape derivative computation.
-    void
-    set_are_shape_derivatives_enabled(const bool are_shape_derivatives_enabled)
-    {
-        if (!empty()
-            && are_shape_derivatives_enabled
-                != m_are_shape_derivatives_enabled) {
-            logger().warn(
-                "Setting enable_shape_derivatives after building collisions. "
-                "Re-build collisions for this to have an effect.");
-        }
-
-        m_are_shape_derivatives_enabled = are_shape_derivatives_enabled;
-    }
-
-protected:
-    bool m_use_convergent_formulation = false;
-    bool m_are_shape_derivatives_enabled = false;
-};
-
-class NormalCollisions : public CollisionsBase {
+class NormalCollisions {
 public:
     /// @brief The type of the collisions.
     using value_type = NormalCollision;
 
 public:
     NormalCollisions() = default;
 
-    std::shared_ptr<CollisionsBase> deepcopy() const override
-    {
-        return std::make_shared<NormalCollisions>(*this);
-    }
-
     /// @brief Initialize the set of collisions used to compute the barrier potential.
     /// @param mesh The collision mesh.
     /// @param vertices Vertices of the collision mesh.
@@ -116,18 +58,18 @@ class NormalCollisions : public CollisionsBase {
     /// @returns The minimum distance between any non-adjacent elements.
     double compute_minimum_distance(
         const CollisionMesh& mesh,
-        Eigen::ConstRef<Eigen::MatrixXd> vertices) const override;
+        Eigen::ConstRef<Eigen::MatrixXd> vertices) const;
 
     // ------------------------------------------------------------------------
 
     /// @brief Get the number of collisions.
-    size_t size() const override;
+    size_t size() const;
 
     /// @brief Get if the collision set are empty.
-    bool empty() const override;
+    bool empty() const;
 
     /// @brief Clear the collision set.
-    void clear() override;
+    void clear();
 
     /// @brief Get a reference to collision at index i.
     /// @param i The index of the collision.

src/ipc/smooth_contact/smooth_collisions.hpp

@@ -1,32 +1,29 @@
 #pragma once
 
-#include <ipc/collisions/normal/normal_collisions.hpp>
 #include <ipc/smooth_contact/collisions/smooth_collision.hpp>
 
-namespace ipc {
+#include <ipc/collision_mesh.hpp>
+#include <ipc/candidates/candidates.hpp>
+#include <ipc/collisions/normal/edge_edge.hpp>
+#include <ipc/collisions/normal/edge_vertex.hpp>
+#include <ipc/collisions/normal/face_vertex.hpp>
+#include <ipc/collisions/normal/normal_collision.hpp>
+#include <ipc/collisions/normal/plane_vertex.hpp>
+#include <ipc/collisions/normal/vertex_vertex.hpp>
+
+#include <Eigen/Core>
 
-template <int dim> class SmoothCollisions : public CollisionsBase {
+#include <vector>
+
+namespace ipc {
+template <int dim> class SmoothCollisions {
 public:
-    using Super = CollisionsBase;
     /// @brief The type of the collisions.
     using value_type = SmoothCollision<MaxVertices<dim>::value>;
 
 public:
     SmoothCollisions() = default;
 
-    std::shared_ptr<CollisionsBase> deepcopy() const override
-    {
-        std::shared_ptr<SmoothCollisions<dim>> ptr =
-            std::make_shared<SmoothCollisions<dim>>();
-        ptr->candidates = this->candidates;
-        ptr->vert_adaptive_dhat = this->vert_adaptive_dhat;
-        ptr->edge_adaptive_dhat = this->edge_adaptive_dhat;
-        ptr->face_adaptive_dhat = this->face_adaptive_dhat;
-        for (const auto& cc : this->collisions)
-            ptr->collisions.push_back(cc);
-        return ptr;
-    }
-
     void compute_adaptive_dhat(
         const CollisionMesh& mesh,
         Eigen::ConstRef<Eigen::MatrixXd> vertices,
@@ -60,13 +57,13 @@ template <int dim> class SmoothCollisions : public CollisionsBase {
     // ------------------------------------------------------------------------
 
     /// @brief Get the number of collisions.
-    size_t size() const override;
+    size_t size() const;
 
     /// @brief Get if the collision set are empty.
-    bool empty() const override;
+    bool empty() const;
 
     /// @brief Clear the collision set.
-    void clear() override;
+    void clear();
 
     /// @brief Get a reference to collision at index i.
     /// @param i The index of the collision.
@@ -80,7 +77,7 @@ template <int dim> class SmoothCollisions : public CollisionsBase {
 
     double compute_minimum_distance(
         const CollisionMesh& mesh,
-        Eigen::ConstRef<Eigen::MatrixXd> vertices) const override;
+        Eigen::ConstRef<Eigen::MatrixXd> vertices) const;
 
     double compute_active_minimum_distance(
         const CollisionMesh& mesh,

tests/src/tests/friction/friction_data_generator.cpp

@@ -157,7 +157,6 @@ SmoothFrictionData<3> smooth_friction_data_generator_3d()
         data;
 
     double& dhat = param.dhat;
-    collisions.set_are_shape_derivatives_enabled(true);
 
     mu = 1.; // GENERATE(range(0.0, 1.0, 0.2));
 #ifdef NDEBUG
@@ -325,7 +324,6 @@ SmoothFrictionData<2> smooth_friction_data_generator_2d()
         data;
 
     double& dhat = param.dhat;
-    collisions.set_are_shape_derivatives_enabled(true);
 
     mu = 1.; // GENERATE(range(0.0, 1.0, 0.2));
 #ifdef NDEBUG

tests/src/tests/friction/test_force_jacobian.cpp

@@ -356,8 +356,6 @@ void check_smooth_friction_force_jacobian(
     const double barrier_stiffness,
     const bool recompute_collisions)
 {
-    REQUIRE(collisions.are_shape_derivatives_enabled());
-
     const double dhat = params.dhat;
     const Eigen::MatrixXd& X = mesh.rest_positions();
     double distance_t0 = collisions.compute_minimum_distance(mesh, X + Ut);
@@ -606,7 +604,6 @@ TEST_CASE(
     SmoothFrictionData<2> data = smooth_friction_data_generator_2d();
     const auto& [V0, V1, E, F, collisions, mu, epsv_times_h, param, barrier_stiffness] =
         data;
-    REQUIRE(collisions.are_shape_derivatives_enabled());
 
     Eigen::MatrixXd X, Ut, U;
     X = V0;
@@ -626,7 +623,6 @@ TEST_CASE(
     SmoothFrictionData<3> data = smooth_friction_data_generator_3d();
     const auto& [V0, V1, E, F, collisions, mu, epsv_times_h, param, barrier_stiffness] =
         data;
-    REQUIRE(collisions.are_shape_derivatives_enabled());
 
     Eigen::MatrixXd X, Ut, U;
     X = V0;