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Update to v1.3.0
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‎docs/source/_static/versions.json

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"title": "main",
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"aliases": ["latest", "head"]
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}, {
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"version": "https://ipctk.xyz/v1.2.1",
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"title": "v1.2.1",
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"version": "https://ipctk.xyz/v1.3.0",
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"title": "v1.3.0",
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"aliases": ["stable"]
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}, {
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"version": "https://ipctk.xyz/v1.2.1",
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"title": "v1.2.1"
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}, {
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"version": "https://ipctk.xyz/v1.2.0",
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"title": "v1.2.0",
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"aliases": ["stable"]
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"title": "v1.2.0"
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}, {
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"version": "https://ipctk.xyz/v1.1.1",
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"title": "v1.1.1",
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"aliases": ["stable"]
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"title": "v1.1.1"
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}, {
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"version": "https://ipctk.xyz/v1.1.0",
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"title": "v1.1.0"

‎docs/source/changelog.rst

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.. role:: cmake(code)
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:language: cmake
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v1.3.0 (Aug 03, 2024)
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---------------------
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- Separated the collision set and potential computations. This allows us to more easily add new potentials in the future. This will require updating calls to ``compute_potential_*``. See the `tutorial <https://ipctk.xyz/tutorial/getting_started.html>`__ for details.
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- Add a ``Barrier`` class to enable dynamic selection of barrier function.
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- Add a ``NarrowPhaseCCD`` class to enable dynamic selection of narrow-phase CCD method.
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.. _details-4:
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Details
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~~~~~~~
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- Refactor potentials in `#83 <https://github.com/ipc-sim/ipc-toolkit/pull/83>`__
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- Replace "constraint" and "contact" names with "collision"
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- Removed ``compute_potential_*`` from ``Collision`` and ``Collisions``
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- Add a new class hierarchy ``Potential`` which represents computing the sum of individual potentials per collision
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- Implement the barrier potential and friction dissipative potential as Potentials: ``BarrierPotential`` and ``FrictionPotential``
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- Now, ``Collisions`` serve solely as the set of active collisions
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- Add the distance mollifier to all collisions with a ``is_mollified()`` function
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- The default mollifier is $m(x) = 1$, and only ``EdgeEdgeCollision`` overrides this
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- Remove versions of ``compute_distance`` and ``ccd`` from ``CollisionStencil`` which take the full mesh as input
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- Instead, expose the versions that take the collision stencil's vertex positions directly
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- Polymorphic barrier in `#84 <https://github.com/ipc-sim/ipc-toolkit/pull/84>`__
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- Make the barrier function an object so it can be changed at runtime
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- Add a virtual class ``Barrier`` as an interface for generic barriers
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- Add ``ClampedLogBarrier`` class which implements the smoothly clamped log barrier functions from [Li et al. 2020]
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- ``barrier_gradient`` and ``barrier_hessian`` renamed to ``barrier_first_derivative`` and ``barrier_second_derivative`` respectively
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- Co-authored by `@arvigj <https://github.com/arvigj>`__
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- Update compiler warnings in `#88 <https://github.com/ipc-sim/ipc-toolkit/pull/88>`__
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- Add ``-Werror=enum-conversion`` and ``-Wfloat-conversion``
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- Fix 🐛 hash when not using Abseil in `#90 <https://github.com/ipc-sim/ipc-toolkit/pull/90>`__
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- Clean-up SpatialHash Broad Phase in `#91 <https://github.com/ipc-sim/ipc-toolkit/pull/91>`__
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- Replace ``IPC_TOOLKIT_WITH_CORRECT_CCD`` with ``IPC_TOOLKIT_WITH_INEXACT_CCD``
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- Always include Tight Inclusion CCD because it is used by Nonlinear CCD
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- Add support for face-face collision (not used anywhere but for completeness and future-proof nonlinear face-face)
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- Add and use generic functions to ``SpatialHash``
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- Replace ``camelCase`` with ``snake_case`` in ``SpatialHash`` and ``HashGrid``
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- Update Scalable CCD in `#92 <https://github.com/ipc-sim/ipc-toolkit/pull/92>`__
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- Updated Scalable CCD (i.e., Sweep and Tiniest Queue and CUDA Tight Inclusion CCD) to the `unified repository <https://github.com/Continuous-Collision-Detection/Scalable-CCD>`__ with support for generic collision pairs.
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- Renamed ``SWEEP_AND_TINIEST_QUEUE`` to ``SWEEP_AND_PRUNE`` to reflect that it is a standard implementation of the sweep and prune algorithm (see, e.g., "Real-Time Collision Detection" [Ericson 2004])
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- Renamed ``SWEEP_AND_TINIEST_QUEUE_GPU`` to ``SWEEP_AND_TINIEST_QUEUE`` to reflect that it is the only existing implementation of the sweep and tiniest queue algorithm
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- Mark single argument constructors explicit in `#93 <https://github.com/ipc-sim/ipc-toolkit/pull/93>`__
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- Mark ``BarrierPotential(double)`` and ``FrictionPotential(double)`` as explicit constructors to avoid implicit conversions from double
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- Fix compatibility with the latest Eigen by `@teseoch <https://github.com/teseoch>`__ in `#94 <https://github.com/ipc-sim/ipc-toolkit/pull/94>`__
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- Add clang-format check action in `#96 <https://github.com/ipc-sim/ipc-toolkit/pull/96>`__
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- Add new project PSD option by `@Huangzizhou <https://github.com/Huangzizhou>`__ in `#95 <https://github.com/ipc-sim/ipc-toolkit/pull/95>`__
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- Instead of clamping the negative eigenvalues to zero, add the option to flips the sign of negative eigenvalues according to `[Chen et al. 2024] <https://github.com/honglin-c/abs-psd>`__
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- Fix 🐛 Python bindings for Numpy 2 in `#100 <https://github.com/ipc-sim/ipc-toolkit/pull/100>`__
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- Make faces an optional parameter to ``CollisionMesh`` in `#105 <https://github.com/ipc-sim/ipc-toolkit/pull/105>`__
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- Fix Python documentation by @rc in `#108 <https://github.com/ipc-sim/ipc-toolkit/pull/108>`__
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- Polymorphic CCD in `#110 <https://github.com/ipc-sim/ipc-toolkit/pull/110>`__
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- Add narrow phase CCD parent class; pass CCD object to choose method
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- Replace ``tolerance`` and ``max_iterations`` parameters with ``const NarrowPhaseCCD& narrow_phase_ccd`` parameter
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- ``NarrowPhaseCCD`` is a virtual class containing the CCD methods for point-point, point-edge, edge-edge, and point-triangle CCD
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- ``NarrowPhaseCCD`` is implemented by ``InexactCCD``, ``TightInclusionCCD``, and ``AdditiveCCD`` classes
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- **[Breaking]** The optional parameter order to ``is_step_collision_free`` and ``compute_collision_free_stepsize`` is changed from
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.. code:: cpp
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const BroadPhaseMethod broad_phase_method = DEFAULT_BROAD_PHASE_METHOD,
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const double min_distance = 0.0,
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const double tolerance = DEFAULT_CCD_TOLERANCE,
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const long max_iterations = DEFAULT_CCD_MAX_ITERATIONS);
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to
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.. code:: cpp
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const double min_distance = 0.0,
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const BroadPhaseMethod broad_phase_method = DEFAULT_BROAD_PHASE_METHOD,
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const NarrowPhaseCCD& narrow_phase_ccd = DEFAULT_NARROW_PHASE_CCD);
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- The inexact floating-point CCD can be enabled beside the Tight Inclusion CCD rather than replacing it
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v1.2.1 (Jul 12, 2024)
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---------------------
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v1.1.1 (Aug 18, 2023)
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---------------------
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* Logo by @zfergus in `#52 <https://github.com/ipc-sim/ipc-toolkit/pull/52>`__
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* Logo by `@zfergus <https://github.com/zfergus>`__ in `#52 <https://github.com/ipc-sim/ipc-toolkit/pull/52>`__
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* Fix vertex-vertex :cpp:`==` and :cpp:`<` functions to be order independent
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* This allows vertex-vertex constraints merge correctly

‎docs/source/cpp.rst

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:end-before: <!--- BEGIN C++ README 2 --->
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.. tip::
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If your :cmake:`IPC_TOOLKIT_GIT_TAG` is a tag (e.g. ``v1.2.1``), then you can use the :cmake:`FetchContent_Declare` argument :cmake:`GIT_SHALLOW TRUE` to download only a single commit. Otherwise, you should use the default :cmake:`GIT_SHALLOW FALSE`.
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If your :cmake:`IPC_TOOLKIT_GIT_TAG` is a tag (e.g. ``v1.3.0``), then you can use the :cmake:`FetchContent_Declare` argument :cmake:`GIT_SHALLOW TRUE` to download only a single commit. Otherwise, you should use the default :cmake:`GIT_SHALLOW FALSE`.
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.. include:: ../../README.md
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:parser: myst_parser.sphinx_

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