ipc-sim · zfergus · Oct 5, 2023 · Oct 4, 2023 · Oct 4, 2023 · Oct 4, 2023
diff --git a/.github/workflows/continuous.yml b/.github/workflows/continuous.yml
@@ -16,7 +16,7 @@ env:
   CTEST_PARALLEL_LEVEL: 2
 
 jobs:
-  Unix:
+  Build:
     name: ${{ matrix.name }} (${{ matrix.config }})
     runs-on: ${{ matrix.os }}
     strategy:

diff --git a/.github/workflows/docs.yml b/.github/workflows/docs.yml
@@ -66,6 +66,5 @@ jobs:
       - name: Deploy
         uses: JamesIves/github-pages-deploy-action@v4.4.1
         with:
-          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
-          BRANCH: gh-pages # The branch the action should deploy to.
-          FOLDER: docs/build/html # The folder the action should deploy.
+          branch: gh-pages # The branch the action should deploy to.
+          folder: docs/build/html # The folder the action should deploy.
diff --git a/.gitignore b/.gitignore
@@ -243,6 +243,7 @@ core*
 docs/source/doxyoutput
 docs/source/api
 !docs/Makefile
+tests/data/ccd-queries
 tests/data/slow-broadphase-ccd
 tests/data/ccd-failure
 tests/data/friction/chain

diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -70,6 +70,13 @@ 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)
 
+include(CMakeDependentOption)
+cmake_dependent_option(IPC_TOOLKIT_TEST_CCD_BENCHMARK "Enable CCD benchmark test" OFF "IPC_TOOLKIT_BUILD_TESTS" OFF)
+if(IPC_TOOLKIT_TEST_CCD_BENCHMARK)
+  set(IPC_TOOLKIT_CCD_BENCHMARK_DIR "" CACHE PATH "Path to the CCD benchmark directory")
+  set(IPC_TOOLKIT_CCD_NEW_BENCHMARK_DIR "" CACHE PATH "Path to the new CCD benchmark directory")
+endif()
+
 # Set default minimum C++ standard
 if(IPC_TOOLKIT_TOPLEVEL_PROJECT)
   set(CMAKE_CXX_STANDARD 17)
@@ -150,9 +157,10 @@ endif()
 include(spdlog)
 target_link_libraries(ipc_toolkit PUBLIC spdlog::spdlog)
 
+# rational-cpp (requires GMP)
 if(IPC_TOOLKIT_WITH_RATIONAL_INTERSECTION)
-  include(gmp)
-  target_link_libraries(ipc_toolkit PUBLIC GMP::GMP)
+  include(rational_cpp)
+  target_link_libraries(ipc_toolkit PUBLIC rational::rational)
 endif()
 
 # Sweep and Tiniest Queue and CCD

diff --git a/README.md b/README.md
@@ -72,9 +72,9 @@ The following libraries are used in this project:
 * [Abseil](https://abseil.io/): hashing utilities
     * Enable by using the CMake option `IPC_TOOLKIT_WITH_ABSEIL`
     * Enabled by default
-* [GMP](https://gmplib.org/): rational arithmetic used for exact intersection checks
+* [rational-cpp](https://github.io/zfergus/rational-cpp): rational arithmetic used for exact intersection checks
     * Enable by using the CMake option `IPC_TOOLKIT_WITH_RATIONAL_INTERSECTION`
-    * GMP must be installed at a system level
+    * Requires [GMP](https://gmplib.org/) to be installed at a system level
 * [Etienne Vouga's Collision Detection Library](https://github.com/evouga/collisiondetection): inexact CCD
     * Included for comparison with the original IPC library
     * Enable by disabling the CMake option `IPC_TOOLKIT_WITH_CORRECT_CCD`
@@ -145,4 +145,4 @@ Additionally, you can cite the original IPC paper:
 
 ## License
 
-MIT License © 2020, the IPC-Sim organization (See <a href="https://github.com/ipc-sim/ipc-toolkit/blob/main/LICENSE"><code>LICENSE</code></a> for details)
+MIT License © 2020, the IPC-Sim organization (See <a href="https://github.com/ipc-sim/ipc-toolkit/blob/main/LICENSE"><code>LICENSE</code></a> for details).
diff --git a/cmake/find/FindGMP.cmake b/cmake/find/FindGMP.cmake
diff --git a/cmake/recipes/abseil.cmake b/cmake/recipes/abseil.cmake
@@ -1,3 +1,5 @@
+# Abseil (https://github.com/abseil/abseil-cpp)
+# License: Apache 2.0
 if(TARGET absl::flat_hash_map)
     return()
 endif()

diff --git a/cmake/recipes/catch2.cmake b/cmake/recipes/catch2.cmake
@@ -1,14 +1,5 @@
-#
-# Copyright 2020 Adobe. All rights reserved.
-# This file is licensed to you under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License. You may obtain a copy
-# of the License at http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software distributed under
-# the License is distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR REPRESENTATIONS
-# OF ANY KIND, either express or implied. See the License for the specific language
-# governing permissions and limitations under the License.
-#
+# Catch2 (https://github.com/catchorg/Catch2)
+# License: BSL-1.0
 if(TARGET Catch2::Catch2)
     return()
 endif()

diff --git a/cmake/recipes/ccd_query_io.cmake b/cmake/recipes/ccd_query_io.cmake
@@ -0,0 +1,13 @@
+# CCD Query IO (https://github.com/Continuous-Collision-Detection/CCD-Query-IO)
+# License: MIT
+if(TARGET ccd_io::ccd_io)
+    return()
+endif()
+
+message(STATUS "Third-party: creating target 'ccd_io::ccd_io'")
+
+set(CCD_IO_DOWNLOAD_SAMPLE_QUERIES ON CACHE BOOL "Download sample CCD queries" FORCE)
+set(CCD_IO_SAMPLE_QUERIES_DIR "${PROJECT_SOURCE_DIR}/tests/data/ccd-queries/" CACHE PATH "Where should we download sample queries?")
+
+include(CPM)
+CPMAddPackage("gh:Continuous-Collision-Detection/CCD-Query-IO#36f6093af81a65acc27d9f05ad32d6b5729e8d15")
diff --git a/cmake/recipes/eigen.cmake b/cmake/recipes/eigen.cmake
@@ -1,14 +1,5 @@
-#
-# Copyright 2019 Adobe. All rights reserved.
-# This file is licensed to you under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License. You may obtain a copy
-# of the License at http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software distributed under
-# the License is distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR REPRESENTATIONS
-# OF ANY KIND, either express or implied. See the License for the specific language
-# governing permissions and limitations under the License.
-#
+# Eigen (https://gitlab.com/libeigen/eigen)
+# License: MPL 2.0
 if(TARGET Eigen3::Eigen)
     return()
 endif()

diff --git a/cmake/recipes/evouga_ccd.cmake b/cmake/recipes/evouga_ccd.cmake
@@ -1,4 +1,5 @@
-# Etienne Vouga's CCD Library
+# Etienne Vouga's CCD Library (https://github.com/evouga/collisiondetection.git)
+# License: ???
 if(TARGET evouga::ccd)
     return()
 endif()
@@ -15,11 +16,11 @@ CPMAddPackage(
 
 # file(GLOB EVOUGA_CCD_SOURCE_FILES "${evccd_SOURCE_DIR}/src/*.cpp")
 add_library(evouga_ccd
-    "${evccd_SOURCE_DIR}/src/CTCD.cpp"
+    "${collisiondetection_SOURCE_DIR}/src/CTCD.cpp"
 )
 add_library(evouga::ccd ALIAS evouga_ccd)
 
-target_include_directories(evouga_ccd PUBLIC "${evccd_SOURCE_DIR}/include")
+target_include_directories(evouga_ccd PUBLIC "${collisiondetection_SOURCE_DIR}/include")
 
 include(eigen)
 target_link_libraries(evouga_ccd PUBLIC Eigen3::Eigen)

diff --git a/cmake/recipes/finite_diff.cmake b/cmake/recipes/finite_diff.cmake
@@ -1,3 +1,5 @@
+# finite-diff (https://github.com/zfergus/finite-diff)
+# License: MIT
 if(TARGET finitediff::finitediff)
     return()
 endif()

diff --git a/cmake/recipes/gmp.cmake b/cmake/recipes/gmp.cmake
diff --git a/cmake/recipes/gpu_ccd.cmake b/cmake/recipes/gpu_ccd.cmake
@@ -1,3 +1,5 @@
+# CCD-GPU (https://github.com/dbelgrod/CCD-GPU)
+# License: MIT
 if(TARGET gpu_ccd::gpu_ccd)
     return()
 endif()

diff --git a/cmake/recipes/json.cmake b/cmake/recipes/json.cmake
@@ -1,14 +1,5 @@
-#
-# Copyright 2020 Adobe. All rights reserved.
-# This file is licensed to you under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License. You may obtain a copy
-# of the License at http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software distributed under
-# the License is distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR REPRESENTATIONS
-# OF ANY KIND, either express or implied. See the License for the specific language
-# governing permissions and limitations under the License.
-#
+# Nlohmann's JSON (https://github.com/nlohmann/json)
+# License: MIT
 if(TARGET nlohmann_json::nlohmann_json)
     return()
 endif()

diff --git a/cmake/recipes/libigl.cmake b/cmake/recipes/libigl.cmake
@@ -1,3 +1,5 @@
+# libigl (https://github.com/libigl/libigl)
+# License: MPL-2.0
 if(TARGET igl::core)
     return()
 endif()
@@ -9,4 +11,4 @@ set(LIBIGL_PREDICATES ON CACHE BOOL "Use exact predicates" FORCE)
 include(eigen)
 
 include(CPM)
-CPMAddPackage("gh:libigl/libigl@2.4.0")
+CPMAddPackage("gh:libigl/libigl@2.5.0")
diff --git a/cmake/recipes/onetbb.cmake b/cmake/recipes/onetbb.cmake
@@ -1,14 +1,5 @@
-#
-# Copyright 2021 Adobe. All rights reserved.
-# This file is licensed to you under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License. You may obtain a copy
-# of the License at http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software distributed under
-# the License is distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR REPRESENTATIONS
-# OF ANY KIND, either express or implied. See the License for the specific language
-# governing permissions and limitations under the License.
-#
+# oneTBB (https://github.com/oneapi-src/oneTBB)
+# License: Apache-2.0
 if(TARGET TBB::tbb)
     return()
 endif()

diff --git a/cmake/recipes/pybind11.cmake b/cmake/recipes/pybind11.cmake
@@ -1,14 +1,5 @@
-#
-# Copyright 2020 Adobe. All rights reserved.
-# This file is licensed to you under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License. You may obtain a copy
-# of the License at http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software distributed under
-# the License is distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR REPRESENTATIONS
-# OF ANY KIND, either express or implied. See the License for the specific language
-# governing permissions and limitations under the License.
-#
+# pybind11 (https://github.com/pybind/pybind11)
+# License: BSD-style
 if(TARGET pybind11::pybind11)
     return()
 endif()

diff --git a/cmake/recipes/rational_cpp.cmake b/cmake/recipes/rational_cpp.cmake
@@ -0,0 +1,10 @@
+# rational-cpp (https://github.com/zfergus/rational-cpp)
+# License: MIT
+if(TARGET rational::rational)
+    return()
+endif()
+
+message(STATUS "Third-party: creating target 'rational::rational'")
+
+include(CPM)
+CPMAddPackage("gh:zfergus/rational-cpp#687d4ea3436ada7231b8920f3cd5b02b438c21aa")
diff --git a/cmake/recipes/robin_map.cmake b/cmake/recipes/robin_map.cmake
@@ -1,3 +1,5 @@
+# robin-map (https://github.com/Tessil/robin-map)
+# License: MIT
 if(TARGET tsl::robin_map)
     return()
 endif()

diff --git a/cmake/recipes/spdlog.cmake b/cmake/recipes/spdlog.cmake
@@ -1,14 +1,5 @@
-#
-# Copyright 2020 Adobe. All rights reserved.
-# This file is licensed to you under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License. You may obtain a copy
-# of the License at http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software distributed under
-# the License is distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR REPRESENTATIONS
-# OF ANY KIND, either express or implied. See the License for the specific language
-# governing permissions and limitations under the License.
-#
+# spdlog (https://github.com/gabime/spdlog)
+# License: MIT
 if(TARGET spdlog::spdlog)
     return()
 endif()

diff --git a/cmake/recipes/sweep_and_tiniest_queue.cmake b/cmake/recipes/sweep_and_tiniest_queue.cmake
@@ -1,3 +1,5 @@
+# Broadphase GPU (https://github.com/dbelgrod/broadphase-gpu)
+# License: MIT
 if(TARGET STQ::CPU)
     return()
 endif()

diff --git a/cmake/recipes/tight_inclusion.cmake b/cmake/recipes/tight_inclusion.cmake
@@ -1,3 +1,5 @@
+# Tight Inclusion (https://github.com/Continuous-Collision-Detection/Tight-Inclusion)
+# License: MIT
 if(TARGET tight_inclusion::tight_inclusion)
     return()
 endif()

diff --git a/docs/source/cpp.rst b/docs/source/cpp.rst
@@ -73,10 +73,10 @@ Optional
   * Enable by using the CMake option :cmake:`IPC_TOOLKIT_WITH_ABSEIL`
   * Enabled by default
 
-* `GMP <https://gmplib.org/>`__: rational arithmetic used for exact intersection checks
+* `rational-cpp <https://github.io/zfergus/rational-cpp>`__: rational arithmetic used for exact intersection checks
 
-  * Enable by using the CMake option :cmake:`IPC_TOOLKIT_WITH_RATIONAL_INTERSECTION`
-  * GMP must be installed at a system level
+    * Enable by using the CMake option :cmake:`IPC_TOOLKIT_WITH_RATIONAL_INTERSECTION`
+    * Requires `GMP <https://gmplib.org/>`__ to be installed at a system level
 
 * `Etienne Vouga's Collision Detection Library <https://github.com/evouga/collisiondetection>`__: inexact CCD
 

diff --git a/python/CMakeLists.txt b/python/CMakeLists.txt
@@ -27,6 +27,7 @@ pybind11_add_module(ipctk
 
   src/ccd/aabb.cpp
   src/ccd/ccd.cpp
+  src/ccd/additive_ccd.cpp
   src/ccd/inexact_point_edge.cpp
   src/ccd/point_static_plane.cpp
 

diff --git a/python/src/bindings.cpp b/python/src/bindings.cpp
@@ -36,6 +36,7 @@ PYBIND11_MODULE(ipctk, m)
     // ccd
     define_ccd_aabb(m);
     define_ccd(m);
+    define_additive_ccd(m);
     define_inexact_point_edge(m);
     define_point_static_plane(m);