Update Tight Inclusion to 1.1.0 (bucket DFS root finding)

[zfergus]

Summary

Bumps Tight-Inclusion from 1.0.6 to 1.1.0, which adds a third root-finding method, BUCKET_DEPTH_FIRST_SEARCH — DFS with a dedicated traversal stack per time lower bound — and makes it the default for ticcd::edgeEdgeCCD / ticcd::vertexFaceCCD.

Because ipc::TightInclusionCCD never passes ccd_method, this changes the narrow-phase root finder for every C++ query in the library. Comparing the two tags, the default enum value is the only behavioral change: interval_root_finder_BFS itself is byte-identical between 1.0.6 and 1.1.0.

Changes

Python bindings — CCDRootFindingMethod only bound DEPTH_FIRST_SEARCH and BREADTH_FIRST_SEARCH, and the two free functions hard-coded BFS as their default. Without this, BUCKET_DEPTH_FIRST_SEARCH would be unnameable from Python, and ipctk.tight_inclusion.edge_edge_ccd(...) would silently use a different algorithm than ipctk.TightInclusionCCD(...). Now the enumerator is exposed and both edge_edge_ccd and point_triangle_ccd default to bucket DFS.

CCD benchmark test case — the dataset SECTIONs inside run_benchmark() were siblings of the CCD-selection SECTIONs in the test case body, so Catch2 never entered both in a single run: on runs where ccd was non-null csv_dirs was empty, and on runs where a dataset section was entered ccd was null and the function returned early at its nullptr guard. The benchmark loop was dead code. run_benchmark() is now called from inside each section so the dataset sections nest properly.

Earliest-toi benchmark — added the [Belgrod et al. 2023] scenes (cloth-funnel, armadillo-rollers, n-body-simulation, rod-twist) and made the skip message name the meshes that failed to load, rather than always claiming they are private.

CMake — the IPC_TOOLKIT_TESTS_CCD_BENCHMARK status messages referenced IPC_TOOLKIT_CCD_BENCHMARK_DIR / IPC_TOOLKIT_CCD_NEW_BENCHMARK_DIR, which are defined nowhere; the actual cache variables are IPC_TOOLKIT_TESTS_CCD_BENCHMARK_DIR / IPC_TOOLKIT_TESTS_NEW_CCD_BENCHMARK_DIR. The messages never printed.

🤖 Generated with Claude Code

[Copilot]

Pull request overview

This PR bumps the Tight-Inclusion dependency to v1.1.0 (introducing BUCKET_DEPTH_FIRST_SEARCH and making it the default root finder) and updates the toolkit’s Python API and benchmarks to stay consistent with the new default behavior.

Changes:

• Update Tight-Inclusion to v1.1.0 and expose/select BUCKET_DEPTH_FIRST_SEARCH as the default in Python bindings.
• Fix CCD benchmark execution structure so dataset SECTIONs properly nest under the selected CCD implementation.
• Expand/clarify benchmark coverage and messages (earliest-toi datasets, CMake status output).

Reviewed changes

Copilot reviewed 5 out of 5 changed files in this pull request and generated 2 comments.

Show a summary per file

File	Description
cmake/recipes/tight_inclusion.cmake	Bumps Tight-Inclusion CPM dependency to 1.1.0.
python/src/ccd/tight_inclusion_ccd.cpp	Exposes the new root-finding enum value to Python and updates defaults/docs to match the new library default.
tests/src/tests/ccd/test_ccd_benchmark.cpp	Calls run_benchmark() inside CCD-selection sections so nested dataset sections execute.
tests/src/tests/ccd/benchmark_ccd.cpp	Adds additional benchmark scenes and improves skip messaging to report which meshes failed to load.
tests/CMakeLists.txt	Fixes status messages to reference the correct CCD benchmark cache variable names.

Suppressed comments (1)

tests/CMakeLists.txt:85

• Same issue as above: if the variable is empty, if(NOT (VAR STREQUAL "")) can evaluate incorrectly due to argument expansion. Quote the variable to ensure the comparison is well-formed.

  if(NOT (IPC_TOOLKIT_TESTS_NEW_CCD_BENCHMARK_DIR STREQUAL ""))

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