ipc-sim · zfergus · Nov 1, 2023 · Oct 30, 2023 · Oct 30, 2023 · Oct 30, 2023
diff --git a/.github/workflows/python.yml b/.github/workflows/python.yml
@@ -2,12 +2,8 @@ name: Python
 
 on:
   push:
-    branches:
-      - main
-      - python
+    branches: [main]
   pull_request:
-    branches:
-      - main
     paths:
       - '.github/workflows/python.yml'
       - 'cmake/**'

diff --git a/.gitignore b/.gitignore
@@ -266,3 +266,4 @@ docs/_doxygen
 
 notebooks/*.[ch]pp
 tests/data/cloth_ball_bf_ccd_candidated.json
+python/update_bindings.py
diff --git a/cmake/recipes/filib.cmake b/cmake/recipes/filib.cmake
@@ -7,4 +7,4 @@ endif()
 message(STATUS "Third-party: creating target 'filib::filib'")
 
 include(CPM)
-CPMAddPackage("gh:zfergus/filib#63acb1f78dcdf7667ca2d214f7a3fa3505fdf339")
+CPMAddPackage("gh:zfergus/filib#1cd377a7c833a68dc47217829e333f4886c5c46d")
diff --git a/cmake/recipes/pybind11.cmake b/cmake/recipes/pybind11.cmake
@@ -26,4 +26,4 @@ find_package(Python COMPONENTS Interpreter Development.Module REQUIRED)
 set(PYTHON_EXECUTABLE ${Python_EXECUTABLE})
 
 include(CPM)
-CPMAddPackage("gh:pybind/pybind11@2.10.3")
+CPMAddPackage("gh:pybind/pybind11@2.11.1")
diff --git a/docs/source/Doxyfile b/docs/source/Doxyfile
@@ -2332,7 +2332,7 @@ INCLUDE_FILE_PATTERNS  =
 # recursively expanded use the := operator instead of the = operator.
 # This tag requires that the tag ENABLE_PREPROCESSING is set to YES.
 
-PREDEFINED             =
+PREDEFINED             = IPC_TOOLKIT_WITH_CORRECT_CCD IPC_TOOLKIT_WITH_ROBIN_MAP IPC_TOOLKIT_WITH_ABSEIL IPC_TOOLKIT_WITH_FILIB
 
 # If the MACRO_EXPANSION and EXPAND_ONLY_PREDEF tags are set to YES then this
 # tag can be used to specify a list of macro names that should be expanded. The

diff --git a/docs/source/cpp-api/ccd.rst b/docs/source/cpp-api/ccd.rst
@@ -9,7 +9,44 @@ Continuous Collision Detection
 .. doxygenvariable:: ipc::DEFAULT_CCD_MAX_ITERATIONS
 .. doxygenvariable:: ipc::DEFAULT_CCD_CONSERVATIVE_RESCALING
 
+Individual CCD Functions
+------------------------
+
 .. doxygenfunction:: ipc::point_point_ccd
 .. doxygenfunction:: ipc::point_edge_ccd
 .. doxygenfunction:: ipc::edge_edge_ccd
-.. doxygenfunction:: ipc::point_triangle_ccd
+.. doxygenfunction:: ipc::point_triangle_ccd
+
+Generic Interface
+^^^^^^^^^^^^^^^^^
+
+.. doxygenfunction:: ipc::ccd_strategy
+
+Additive CCD
+------------
+
+.. doxygenfunction:: ipc::additive_ccd::point_point_ccd
+.. doxygenfunction:: ipc::additive_ccd::point_edge_ccd
+.. doxygenfunction:: ipc::additive_ccd::edge_edge_ccd
+.. doxygenfunction:: ipc::additive_ccd::point_triangle_ccd
+
+Generic Interface
+^^^^^^^^^^^^^^^^^
+
+.. doxygenfunction:: ipc::additive_ccd::additive_ccd
+
+Nonlinear CCD
+-------------
+
+.. doxygenclass:: ipc::NonlinearTrajectory
+.. doxygenclass:: ipc::IntervalNonlinearTrajectory
+
+.. doxygenfunction:: ipc::point_point_nonlinear_ccd
+.. doxygenfunction:: ipc::point_edge_nonlinear_ccd
+.. doxygenfunction:: ipc::edge_edge_nonlinear_ccd
+.. doxygenfunction:: ipc::point_triangle_nonlinear_ccd
+
+Generic Interface
+^^^^^^^^^^^^^^^^^
+
+.. doxygenfunction:: ipc::conservative_piecewise_linear_ccd
diff --git a/docs/source/cpp-api/intersections.rst b/docs/source/cpp-api/intersections.rst
@@ -0,0 +1,5 @@
+Intersections
+=============
+
+.. doxygenfunction:: ipc::has_intersections
+.. doxygenfunction:: ipc::is_edge_intersecting_triangle
diff --git a/docs/source/cpp-api/utils.rst b/docs/source/cpp-api/utils.rst
@@ -1,5 +1,14 @@
 Utils
 =====
 
-.. doxygenfunction:: compute_minimum_distance
-.. doxygenfunction:: has_intersections
+Logger
+------
+
+.. doxygenfunction:: ipc::logger
+.. doxygenfunction:: ipc::set_logger
+
+Positive Semi-Definite Projection
+---------------------------------
+
+.. doxygenfunction:: ipc::project_to_psd
+.. doxygenfunction:: ipc::project_to_pd
diff --git a/docs/source/index.rst b/docs/source/index.rst
@@ -28,6 +28,7 @@
     cpp-api/ccd.rst
     cpp-api/distance.rst
     cpp-api/barrier.rst
+    cpp-api/intersections.rst
     cpp-api/utils.rst
 
 .. toctree::
@@ -43,6 +44,7 @@
     python-api/ccd.rst
     python-api/distance.rst
     python-api/barrier.rst
+    python-api/intersections.rst
     python-api/utils.rst
 
 .. toctree::

diff --git a/docs/source/python-api/ccd.rst b/docs/source/python-api/ccd.rst
@@ -5,11 +5,53 @@ Continuous Collision Detection
 
 .. autofunction:: ipctk.compute_collision_free_stepsize
 
+Individual CCD Functions
+------------------------
+
 .. .. autovariable:: ipctk.DEFAULT_CCD_TOLERANCE
 .. .. autovariable:: ipctk.DEFAULT_CCD_MAX_ITERATIONS
 .. .. autovariable:: ipctk.DEFAULT_CCD_CONSERVATIVE_RESCALING
 
 .. autofunction:: ipctk.point_point_ccd
 .. autofunction:: ipctk.point_edge_ccd
 .. autofunction:: ipctk.edge_edge_ccd
-.. autofunction:: ipctk.point_triangle_ccd
+.. autofunction:: ipctk.point_triangle_ccd
+
+Generic Interface
+^^^^^^^^^^^^^^^^^
+
+.. autofunction:: ipctk.ccd_strategy
+
+Additive CCD
+------------
+
+.. autofunction:: ipctk.additive_ccd.point_point_ccd
+.. autofunction:: ipctk.additive_ccd.point_edge_ccd
+.. autofunction:: ipctk.additive_ccd.edge_edge_ccd
+.. autofunction:: ipctk.additive_ccd.point_triangle_ccd
+
+Generic Interface
+^^^^^^^^^^^^^^^^^
+
+.. autofunction:: ipctk.additive_ccd.additive_ccd
+
+Nonlinear CCD
+-------------
+
+.. autoclass:: ipctk.NonlinearTrajectory
+
+   .. autoclasstoc::
+
+.. autoclass:: ipctk.IntervalNonlinearTrajectory
+
+    .. autoclasstoc::
+
+.. autofunction:: ipctk.point_point_nonlinear_ccd
+.. autofunction:: ipctk.point_edge_nonlinear_ccd
+.. autofunction:: ipctk.edge_edge_nonlinear_ccd
+.. autofunction:: ipctk.point_triangle_nonlinear_ccd
+
+Generic Interface
+^^^^^^^^^^^^^^^^^
+
+.. autofunction:: ipctk.conservative_piecewise_linear_ccd
diff --git a/docs/source/python-api/intersections.rst b/docs/source/python-api/intersections.rst
@@ -0,0 +1,6 @@
+Intersections
+=============
+
+.. autofunction:: ipctk.has_intersections
+.. autofunction:: ipctk.is_edge_intersecting_triangle
+.. autofunction:: ipctk.segment_segment_intersect
diff --git a/docs/source/python-api/utils.rst b/docs/source/python-api/utils.rst
@@ -12,3 +12,9 @@ Multi-Threading
 
 .. autofunction:: ipctk.get_num_threads
 .. autofunction:: ipctk.set_num_threads
+
+Positive Semi-Definite Projection
+---------------------------------
+
+.. autofunction:: ipctk.project_to_psd
+.. autofunction:: ipctk.project_to_pd
diff --git a/python/CMakeLists.txt b/python/CMakeLists.txt
@@ -30,6 +30,7 @@ pybind11_add_module(ipctk
   src/ccd/ccd.cpp
   src/ccd/additive_ccd.cpp
   src/ccd/inexact_point_edge.cpp
+  src/ccd/nonlinear_ccd.cpp
   src/ccd/point_static_plane.cpp
 
   src/collisions/collision_constraint.cpp
@@ -67,6 +68,7 @@ pybind11_add_module(ipctk
 
   src/utils/area_gradient.cpp
   src/utils/eigen_ext.cpp
+  src/utils/interval.cpp
   src/utils/intersection.cpp
   src/utils/logger.cpp
   src/utils/thread_limiter.cpp

diff --git a/python/src/barrier/barrier.cpp b/python/src/barrier/barrier.cpp
@@ -12,15 +12,16 @@ void define_barrier(py::module_& m)
         R"ipc_Qu8mg5v7(
         Function that grows to infinity as d approaches 0 from the right.
 
-        .. math:: b(d) = -(d-\hat{d})^2\ln\left(\frac{d}{\hat{d}}\right)
+        .. math::
+
+            b(d) = -(d-\hat{d})^2\ln\left(\frac{d}{\hat{d}}\right)
 
         Parameters:
-            d: distance
-            dhat: activation distance of the barrier
+            d: The distance.
+            dhat: Activation distance of the barrier.
 
         Returns:
             The value of the barrier function at d.
-
         )ipc_Qu8mg5v7",
         py::arg("d"), py::arg("dhat"));
 
@@ -29,11 +30,14 @@ void define_barrier(py::module_& m)
         R"ipc_Qu8mg5v7(
         Derivative of the barrier function.
 
-        .. math:: b'(d) = (\hat{d}-d) \left( 2\ln\left( \frac{d}{\hat{d}} \right) - \frac{\hat{d}}{d} + 1\right)
+        .. math::
+
+            b'(d) = (\hat{d}-d) \left( 2\ln\left( \frac{d}{\hat{d}} \right) -
+            \frac{\hat{d}}{d} + 1\right)
 
         Parameters:
-            d: distance
-            dhat: activation distance of the barrier
+            d: The distance.
+            dhat: Activation distance of the barrier.
 
         Returns:
             The derivative of the barrier wrt d.
@@ -45,11 +49,14 @@ void define_barrier(py::module_& m)
         R"ipc_Qu8mg5v7(
         Second derivative of the barrier function.
 
-        .. math:: b''(d) = \left( \frac{\hat{d}}{d} + 2 \right) \frac{\hat{d}}{d} - 2\ln\left( \frac{d}{\hat{d}} \right) - 3
+        .. math::
+
+            b''(d) = \left( \frac{\hat{d}}{d} + 2 \right) \frac{\hat{d}}{d} -
+            2\ln\left( \frac{d}{\hat{d}} \right) - 3
 
         Parameters:
-            d: distance
-            dhat: activation distance of the barrier
+            d: The distance.
+            dhat: Activation distance of the barrier.
 
         Returns:
             The second derivative of the barrier wrt d.

diff --git a/python/src/bindings.cpp b/python/src/bindings.cpp
@@ -21,7 +21,7 @@ PYBIND11_MODULE(ipctk, m)
     define_bvh(m);
     define_hash_grid(m);
     define_spatial_hash(m);
-    define_sweep(m);
+    define_sweep_and_tiniest_queue(m);
     define_voxel_size_heuristic(m);
 
     // candidates
@@ -39,6 +39,7 @@ PYBIND11_MODULE(ipctk, m)
     define_ccd(m);
     define_additive_ccd(m);
     define_inexact_point_edge(m);
+    define_nonlinear_ccd(m);
     define_point_static_plane(m);
 
     // collisions
@@ -83,6 +84,7 @@ PYBIND11_MODULE(ipctk, m)
     // utils
     define_area_gradient(m);
     define_eigen_ext(m);
+    define_interval(m);
     define_intersection(m);
     define_logger(m);
     define_thread_limiter(m);

diff --git a/python/src/broad_phase/aabb.cpp b/python/src/broad_phase/aabb.cpp
@@ -8,22 +8,22 @@ using namespace ipc;
 void define_aabb(py::module_& m)
 {
     py::class_<AABB>(m, "AABB")
-        .def(py::init(), "")
+        .def(py::init())
         .def(
-            py::init<const ArrayMax3d&, const ArrayMax3d&>(), "",
-            py::arg("min"), py::arg("max"))
+            py::init<const ArrayMax3d&, const ArrayMax3d&>(), py::arg("min"),
+            py::arg("max"))
         .def(
-            py::init<const AABB&, const AABB&>(), "", py::arg("aabb1"),
+            py::init<const AABB&, const AABB&>(), py::arg("aabb1"),
             py::arg("aabb2"))
         .def(
-            py::init<const AABB&, const AABB&, const AABB&>(), "",
-            py::arg("aabb1"), py::arg("aabb2"), py::arg("aabb3"))
+            py::init<const AABB&, const AABB&, const AABB&>(), py::arg("aabb1"),
+            py::arg("aabb2"), py::arg("aabb3"))
         .def_static(
             "from_point",
             py::overload_cast<const VectorMax3d&, const double>(
                 &AABB::from_point),
             R"ipc_Qu8mg5v7(
-            Compute a AABB for a static point.
+            Construct an AABB for a static point.
 
             Parameters:
                 p: The point's position.
@@ -39,7 +39,7 @@ void define_aabb(py::module_& m)
                 const VectorMax3d&, const VectorMax3d&, const double>(
                 &AABB::from_point),
             R"ipc_Qu8mg5v7(
-            Compute a AABB for a moving point (i.e. temporal edge).
+            Construct an AABB for a moving point (i.e. temporal edge).
 
             Parameters:
                 p_t0: The point's position at time t=0.
@@ -83,8 +83,17 @@ void define_aabb(py::module_& m)
             build_vertex_boxes(vertices, vertex_boxes, inflation_radius);
             return vertex_boxes;
         },
-        "Build one AABB per vertex position (row of V).", py::arg("vertices"),
-        py::arg("inflation_radius") = 0);
+        R"ipc_Qu8mg5v7(
+        Build one AABB per vertex position (row of V).
+
+        Parameters:
+            vertices: Vertex positions (rowwise).
+            inflation_radius: Radius of a sphere around the points which the AABBs enclose.
+
+        Returns:
+            Vertex AABBs.
+        )ipc_Qu8mg5v7",
+        py::arg("vertices"), py::arg("inflation_radius") = 0);
 
     m.def(
         "build_vertex_boxes",
@@ -96,7 +105,7 @@ void define_aabb(py::module_& m)
                 vertices_t0, vertices_t1, vertex_boxes, inflation_radius);
             return vertex_boxes;
         },
-        "", py::arg("vertices_t0"), py::arg("vertices_t1"),
+        py::arg("vertices_t0"), py::arg("vertices_t1"),
         py::arg("inflation_radius") = 0);
 
     m.def(
@@ -107,7 +116,7 @@ void define_aabb(py::module_& m)
             build_edge_boxes(vertex_boxes, edges, edge_boxes);
             return edge_boxes;
         },
-        "", py::arg("vertex_boxes"), py::arg("edges"));
+        py::arg("vertex_boxes"), py::arg("edges"));
 
     m.def(
         "build_face_boxes",
@@ -117,5 +126,5 @@ void define_aabb(py::module_& m)
             build_face_boxes(vertex_boxes, faces, face_boxes);
             return face_boxes;
         },
-        "", py::arg("vertex_boxes"), py::arg("faces"));
+        py::arg("vertex_boxes"), py::arg("faces"));
 }
diff --git a/python/src/broad_phase/bindings.hpp b/python/src/broad_phase/bindings.hpp
@@ -10,5 +10,5 @@ void define_brute_force(py::module_& m);
 void define_bvh(py::module_& m);
 void define_hash_grid(py::module_& m);
 void define_spatial_hash(py::module_& m);
-void define_sweep(py::module_& m);
+void define_sweep_and_tiniest_queue(py::module_& m);
 void define_voxel_size_heuristic(py::module_& m);
Original file line number	Diff line number	Diff line change
Expand Up		@@ -266,3 +266,4 @@ docs/_doxygen

		notebooks/*.[ch]pp
		tests/data/cloth_ball_bf_ccd_candidated.json
		python/update_bindings.py