Polymorphic CCD (#110)

* Implement polymorphic CCD choice

* Fix compilation

* Fix inexact CCD

* Update Python bindings

* Make CCD strategies private

* Update GitHub Actions dependencies

Author: zfergus

.github/workflows/continuous.yml

@@ -61,12 +61,12 @@ jobs:
         uses: seanmiddleditch/gha-setup-ninja@master
 
       - name: Get number of CPU cores
-        uses: SimenB/github-actions-cpu-cores@v1
+        uses: SimenB/github-actions-cpu-cores@v2.0.0
         id: cpu-cores
 
       - name: Cache Build
         id: cache-build
-        uses: actions/cache@v3.0.11
+        uses: actions/cache@v4.0.2
         with:
           path: ${{ env.CACHE_PATH }}
           key: ${{ runner.os }}-${{ matrix.config }}-cache

.github/workflows/coverage.yml

@@ -30,7 +30,7 @@ jobs:
 
       - name: Cache Build
         id: cache-build
-        uses: actions/cache@v3.0.11
+        uses: actions/cache@v4.0.2
         with:
           path: ${{ env.CACHE_PATH }}
           key: coverage-cache
@@ -61,7 +61,7 @@ jobs:
           lcov --remove coverage.info '/usr/*' "${HOME}"'/.cache/*' '*tests/*' --output-file coverage.info
 
       - name: Upload coverage reports to Codecov
-        uses: codecov/codecov-action@v3
+        uses: codecov/codecov-action@v4.5.0
         env:
           token: ${{ secrets.CODECOV_TOKEN }}
           files: coverage.info

.github/workflows/docs.yml

@@ -16,7 +16,7 @@ jobs:
           fetch-depth: 10
 
       - name: Set up Python
-        uses: actions/setup-python@v4.3.0
+        uses: actions/setup-python@v5.1.1
         with:
           python-version: "3.10"
 
@@ -30,7 +30,7 @@ jobs:
 
       - name: Cache Build
         id: cache-build
-        uses: actions/cache@v3.0.11
+        uses: actions/cache@v4.0.2
         with:
           path: ${{ env.CACHE_PATH }}
           key: docs-cache

.github/workflows/pypi.yml

@@ -43,13 +43,13 @@ jobs:
         uses: pypa/[email protected]
         # to supply options, put them in 'env', like:
         env:
-          MACOSX_DEPLOYMENT_TARGET: "10.14"
+          MACOSX_DEPLOYMENT_TARGET: "11.0"
           CIBW_ARCHS: auto64
           CIBW_ARCHS_MACOS: ${{ matrix.arch }}
           CIBW_BUILD: ${{ matrix.python-version }}-*
           CIBW_SKIP: "cp36-* cp37-* pp* *musllinux* *manylinux1* *-win32 *linux_i686 *linux_aarch64 *linux_ppc64le *linux_s390x"
 
-      - uses: actions/upload-artifact@v3
+      - uses: actions/upload-artifact@v4.3.4
         with:
           path: ./wheelhouse/*.whl
 
@@ -62,7 +62,7 @@ jobs:
       - name: Build sdist
         run: pipx run build --sdist
 
-      - uses: actions/upload-artifact@v3
+      - uses: actions/upload-artifact@v4.3.4
         with:
           path: dist/*.tar.gz
 

.github/workflows/python.yml

@@ -38,7 +38,7 @@ jobs:
           fetch-depth: 10
 
       - name: Set up Python ${{ matrix.python-version }}
-        uses: actions/setup-python@v4.3.0
+        uses: actions/setup-python@v5.1.1
         with:
           python-version: ${{ matrix.python-version }}
 
@@ -62,7 +62,7 @@ jobs:
 
       - name: Cache Build
         id: cache-build
-        uses: actions/cache@v3.0.11
+        uses: actions/cache@v4.0.2
         with:
           path: ${{ env.CACHE_PATH }}
           key: ${{ runner.os }}-Python${{ matrix.python-version }}-cache

CMakeLists.txt

@@ -68,13 +68,12 @@ option(IPC_TOOLKIT_WITH_RATIONAL_INTERSECTION "Use rational edge-triangle inters
 option(IPC_TOOLKIT_WITH_ROBIN_MAP             "Use Tessil's robin-map rather than std maps"    ON)
 option(IPC_TOOLKIT_WITH_ABSEIL                "Use Abseil's hash functions"                    ON)
 option(IPC_TOOLKIT_WITH_FILIB                 "Use filib for interval arithmetic"              ON)
+option(IPC_TOOLKIT_WITH_INEXACT_CCD           "Use the original inexact CCD method of IPC"    OFF)
 
 # Advanced options
-option(IPC_TOOLKIT_WITH_INEXACT_CCD           "Use the original inexact CCD method of IPC"    OFF)
 option(IPC_TOOLKIT_WITH_SIMD                  "Enable SIMD"                                   OFF)
 option(IPC_TOOLKIT_WITH_CODE_COVERAGE         "Enable coverage reporting"                     OFF)
 
-mark_as_advanced(IPC_TOOLKIT_WITH_INEXACT_CCD)   # This is only for comparison purposes
 mark_as_advanced(IPC_TOOLKIT_WITH_SIMD)          # This does not work reliably
 mark_as_advanced(IPC_TOOLKIT_WITH_CODE_COVERAGE) # This is used in GitHub Actions
 

README.md

@@ -90,7 +90,6 @@ The following dependencies are optionally used based on CMake options:
 * [Etienne Vouga's Collision Detection Library](https://github.com/evouga/collisiondetection): inexact CCD
     * Included for comparison with the original IPC library
     * Enable by using the CMake option `IPC_TOOLKIT_WITH_INEXACT_CCD`
-    * Replaces the default Tight-Inclusion CCD
 
 ## Usage
 

python/src/bindings.cpp

@@ -12,6 +12,8 @@ PYBIND11_MODULE(ipctk, m)
 
     // define these early because they are used in other definitions
     define_eigen_ext(m);
+    define_narrow_phase_ccd(m);
+    define_tight_inclusion_ccd(m);
 
     // barrier
     define_barrier(m);
@@ -35,17 +37,18 @@ PYBIND11_MODULE(ipctk, m)
     define_edge_edge_candidate(m);
     define_edge_face_candidate(m);
     define_edge_vertex_candidate(m);
+    define_face_face_candidate(m);
     define_face_vertex_candidate(m);
     define_vertex_vertex_candidate(m);
 
     // ccd
     define_ccd_aabb(m);
-    define_ccd(m);
-    define_additive_ccd(m);
+    define_check_initial_distance(m);
     define_inexact_point_edge(m);
-    define_nonlinear_ccd(m);
     define_point_static_plane(m);
-    define_tight_inclusion_ccd(m);
+    define_inexact_ccd(m);
+    define_additive_ccd(m);
+    define_nonlinear_ccd(m);
 
     // collisions
     define_distance_type(m); // define early because it is used next

python/src/broad_phase/aabb.cpp

@@ -105,6 +105,17 @@ void define_aabb(py::module_& m)
                 vertices_t0, vertices_t1, vertex_boxes, inflation_radius);
             return vertex_boxes;
         },
+        R"ipc_Qu8mg5v7(
+        Build one AABB per vertex position moving linearly from t=0 to t=1.
+
+        Parameters:
+            vertices_t0: Vertex positions at t=0 (rowwise).
+            vertices_t1: Vertex positions at t=1 (rowwise).
+            inflation_radius: Radius of a capsule around the temporal edges which the AABBs enclose.
+
+        Returns:
+            Vertex AABBs.
+        )ipc_Qu8mg5v7",
         py::arg("vertices_t0"), py::arg("vertices_t1"),
         py::arg("inflation_radius") = 0);
 
@@ -116,6 +127,16 @@ void define_aabb(py::module_& m)
             build_edge_boxes(vertex_boxes, edges, edge_boxes);
             return edge_boxes;
         },
+        R"ipc_Qu8mg5v7(
+        Build one AABB per edge.
+
+        Parameters:
+            vertex_boxes: Vertex AABBs.
+            edges: Edges (rowwise).
+
+        Returns:
+            edge_boxes: Edge AABBs.
+        )ipc_Qu8mg5v7",
         py::arg("vertex_boxes"), py::arg("edges"));
 
     m.def(
@@ -126,5 +147,15 @@ void define_aabb(py::module_& m)
             build_face_boxes(vertex_boxes, faces, face_boxes);
             return face_boxes;
         },
+        R"ipc_Qu8mg5v7(
+        Build one AABB per face.
+
+        Parameters:
+            vertex_boxes: Vertex AABBs.
+            faces: Faces (rowwise).
+
+        Returns:
+            face_boxes: Face AABBs.
+        )ipc_Qu8mg5v7",
         py::arg("vertex_boxes"), py::arg("faces"));
 }

python/src/broad_phase/broad_phase.cpp

@@ -139,6 +139,19 @@ void define_broad_phase(py::module_& m)
             Returns:
                 The candidate edge-face intersections.
             )ipc_Qu8mg5v7")
+        .def(
+            "detect_face_face_candidates",
+            [](const BroadPhase& self) {
+                std::vector<FaceFaceCandidate> candidates;
+                self.detect_face_face_candidates(candidates);
+                return candidates;
+            },
+            R"ipc_Qu8mg5v7(
+            Find the candidate face-face collisions.
+
+            Returns:
+                The candidate face-face collisions.
+            )ipc_Qu8mg5v7")
         .def(
             "detect_collision_candidates",
             [](const BroadPhase& self, int dim) {