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Merged
zfergus merged 1 commit into from
Oct 18, 2023
Merged

Check distance when no motion in CCD #71

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66 changes: 35 additions & 31 deletions src/ipc/ccd/ccd.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -26,6 +26,22 @@ namespace {
assert(v.size() == 2 || v.size() == 3);
return v.size() == 2 ? Eigen::Vector3d(v.x(), v.y(), 0) : v.head<3>();
}

inline bool check_initial_distance(
const double initial_distance, const double min_distance, double& toi)
{
if (initial_distance > min_distance) {
return false;
}

logger().warn(
"Initial distance {} ≤ d_min={}, returning toi=0!",
initial_distance, min_distance);

toi = 0; // Initially touching

return true;
}
} // namespace

/// @brief Scale the distance tolerance to be at most this fraction of the initial distance.
Expand All @@ -49,11 +65,7 @@ bool ccd_strategy(
const double conservative_rescaling,
double& toi)
{
if (initial_distance <= min_distance) {
logger().warn(
"Initial distance {} ≤ d_min={}, returning toi=0!",
initial_distance, min_distance);
toi = 0;
if (check_initial_distance(initial_distance, min_distance, toi)) {
return true;
}

Expand Down Expand Up @@ -111,12 +123,12 @@ bool point_point_ccd_3D(
{
assert(tmax >= 0 && tmax <= 1.0);

if (p0_t0 == p0_t1 && p1_t0 == p1_t1) {
return false; // No motion
}

const double initial_distance = sqrt(point_point_distance(p0_t0, p1_t0));

if (p0_t0 == p0_t1 && p1_t0 == p1_t1) { // No motion
return check_initial_distance(initial_distance, min_distance, toi);
}

const double adjusted_tolerance = std::min(
INITIAL_DISTANCE_TOLERANCE_SCALE * initial_distance, tolerance);

Expand Down Expand Up @@ -182,13 +194,13 @@ bool point_edge_ccd_3D(
{
assert(tmax >= 0 && tmax <= 1.0);

if (p_t0 == p_t1 && e0_t0 == e0_t1 && e1_t0 == e1_t1) {
return false; // No motion
}

const double initial_distance =
sqrt(point_edge_distance(p_t0, e0_t0, e1_t0));

if (p_t0 == p_t1 && e0_t0 == e0_t1 && e1_t0 == e1_t1) { // No motion
return check_initial_distance(initial_distance, min_distance, toi);
}

const double adjusted_tolerance = std::min(
INITIAL_DISTANCE_TOLERANCE_SCALE * initial_distance, tolerance);

Expand Down Expand Up @@ -244,15 +256,6 @@ bool point_edge_ccd(
assert(p_t1.size() == dim);
assert(e0_t0.size() == dim && e1_t0.size() == dim);
assert(e0_t1.size() == dim && e1_t1.size() == dim);

#ifndef IPC_TOOLKIT_WITH_CORRECT_CCD
if (dim == 2) {
return inexact_point_edge_ccd_2D(
p_t0, e0_t0, e1_t0, p_t1, e0_t1, e1_t1, toi,
conservative_rescaling);
}
#endif

return point_edge_ccd_3D(
to_3D(p_t0), to_3D(e0_t0), to_3D(e1_t0), to_3D(p_t1), to_3D(e0_t1),
to_3D(e1_t1), toi, min_distance, tmax, tolerance, max_iterations,
Expand All @@ -277,14 +280,14 @@ bool edge_edge_ccd(
{
assert(tmax >= 0 && tmax <= 1.0);

if (ea0_t0 == ea0_t1 && ea1_t0 == ea1_t1 && eb0_t0 == eb0_t1
&& eb1_t0 == eb1_t1) {
return false; // No motion
}

const double initial_distance =
sqrt(edge_edge_distance(ea0_t0, ea1_t0, eb0_t0, eb1_t0));

if (ea0_t0 == ea0_t1 && ea1_t0 == ea1_t1 && eb0_t0 == eb0_t1
&& eb1_t0 == eb1_t1) { // No motion
return check_initial_distance(initial_distance, min_distance, toi);
}

const double adjusted_tolerance = std::min(
INITIAL_DISTANCE_TOLERANCE_SCALE * initial_distance, tolerance);

Expand Down Expand Up @@ -340,13 +343,14 @@ bool point_triangle_ccd(
{
assert(tmax >= 0 && tmax <= 1.0);

if (p_t0 == p_t1 && t0_t0 == t0_t1 && t1_t0 == t1_t1 && t2_t0 == t2_t1) {
return false; // No motion
}

const double initial_distance =
sqrt(point_triangle_distance(p_t0, t0_t0, t1_t0, t2_t0));

if (p_t0 == p_t1 && t0_t0 == t0_t1 && t1_t0 == t1_t1 && t2_t0 == t2_t1) {
// No motion
return check_initial_distance(initial_distance, min_distance, toi);
}

const double adjusted_tolerance = std::min(
INITIAL_DISTANCE_TOLERANCE_SCALE * initial_distance, tolerance);

Expand Down
7 changes: 7 additions & 0 deletions src/ipc/ccd/inexact_point_edge.cpp
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Original file line number Diff line number Diff line change
@@ -1,3 +1,10 @@
//
// NOTE: This method is provided for reference comparison and is not utilized by
// the high-level functionality. In compairson to Tight Inclusion CCD, this CCD
// method is not provably conservative and so can potentially produce false
// negatives (i.e., miss collisions) due to floating-point rounding error.
//

#include "inexact_point_edge.hpp"

#include <ipc/distance/distance_type.hpp>
Expand Down
7 changes: 7 additions & 0 deletions src/ipc/ccd/inexact_point_edge.hpp
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Original file line number Diff line number Diff line change
@@ -1,3 +1,10 @@
//
// NOTE: This method is provided for reference comparison and is not utilized by
// the high-level functionality. In compairson to Tight Inclusion CCD, this CCD
// method is not provably conservative and so can potentially produce false
// negatives (i.e., miss collisions) due to floating-point rounding error.
//

#pragma once

#include <Eigen/Core>
Expand Down
39 changes: 23 additions & 16 deletions tests/src/tests/ccd/test_ccd_benchmark.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -256,30 +256,37 @@ TEST_CASE(
// TEST_CASE("Failing Benchmark Cases", "[ccd]")
// {
// using Matrix8x3 = Eigen::Matrix<double, 8, 3, Eigen::RowMajor>;

// const static std::vector<std::string> paths;
// const static std::vector<std::vector<int>> qids;

//
// const static std::vector<std::filesystem::path> paths = { {
// tests::NEW_CCD_BENCHMARK_DIR / "n-body-simulation/queries/42ee.csv",
// } };
// const static std::vector<std::vector<int>> qids { {
// 2647,
// 2648,
// } };
//
// for (int i = 0; i < paths.size(); i++) {
// const std::vector<ccd_io::CCDQuery> queries =
// ccd_io::read_ccd_queries(
// std::string(CCD_IO_SAMPLE_QUERIES_DIR) + paths[i]);
// paths[i].string(),
// paths[i].parent_path().parent_path() / "mma_bool"
// / (paths[i].stem().string() + "_mma_bool.json"));
// for (const auto& qi : qids[i]) {
// Eigen::Map<const Matrix8x3> V(&queries[qi].vertices[0][0]);
// const bool expected_result = queries[qi].ground_truth;

//
// bool result;
// double toi;
// // if (subfolder == "edge-edge") {
// // result = edge_edge_ccd(
// // V.row(0), V.row(1), V.row(2), V.row(3), V.row(4),
// // V.row(5), V.row(6), V.row(7), toi);
// // } else {
// result = additive_ccd::point_triangle_ccd(
// V.row(0), V.row(1), V.row(2), V.row(3), V.row(4), V.row(5),
// V.row(6), V.row(7), toi);
// // }
// CHECK(result || !expected_result); // false positive is ok
// if (paths[i].stem().string().find("ee") != std::string::npos) {
// result = edge_edge_ccd(
// V.row(0), V.row(1), V.row(2), V.row(3), V.row(4),
// V.row(5), V.row(6), V.row(7), toi);
// } else {
// result = point_triangle_ccd(
// V.row(0), V.row(1), V.row(2), V.row(3), V.row(4),
// V.row(5), V.row(6), V.row(7), toi);
// }
// CHECK((result || !expected_result)); // false positive is ok
// }
// }
// }
Expand Down