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antoinebou12antoinebou12
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Merge branch 'ipc-sim-main' into frictions
2 parents de07836 + 425a3bc commit 391b1af

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‎.devcontainer/Dockerfile

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FROM ubuntu:22.04
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# Set environment variables
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ENV DEBIAN_FRONTEND=noninteractive
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ENV CCACHE_DIR=/home/devuser/.ccache
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ENV CCACHE_MAXSIZE=1G
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ENV CXX_STANDARD=17
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# Update package lists
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RUN apt-get update
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# Install essential packages
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RUN apt-get install -y --no-install-recommends \
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build-essential \
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git \
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wget \
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curl \
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fish \
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zsh \
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ninja-build \
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ccache \
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libeigen3-dev \
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libtbb-dev \
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libspdlog-dev \
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python3 \
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python3-pip \
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python3-dev \
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libgmp-dev \
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libssl-dev \
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libncurses5-dev \
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libncursesw5-dev \
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libxml2-dev \
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libjsoncpp-dev \
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libz3-dev \
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sudo \
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software-properties-common \
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lsb-release \
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gnupg \
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&& rm -rf /var/lib/apt/lists/*
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# Create a new user with sudo privileges
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RUN useradd -m devuser \
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&& echo "devuser:password" | chpasswd \
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&& usermod -aG sudo devuser \
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&& echo "devuser ALL=(ALL) NOPASSWD:ALL" >> /etc/sudoers \
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&& mkdir -p $CCACHE_DIR \
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&& chown devuser:devuser $CCACHE_DIR
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# Set up Python tools
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RUN pip3 install --upgrade pip setuptools wheel pre-commit
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# Add Kitware APT repository for CMake
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RUN wget -qO- https://apt.kitware.com/keys/kitware-archive-latest.asc | \
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gpg --dearmor -o /usr/share/keyrings/kitware-archive-keyring.gpg
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RUN echo "deb [signed-by=/usr/share/keyrings/kitware-archive-keyring.gpg] https://apt.kitware.com/ubuntu/ $(lsb_release -cs) main" | \
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tee /etc/apt/sources.list.d/kitware.list > /dev/null
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# Update package lists and install CMake
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RUN apt-get update
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RUN apt-get install -y cmake
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# Verify CMake installation
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RUN cmake --version
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# Install LLVM/Clang and Clang-Format version 18
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RUN wget -q https://apt.llvm.org/llvm.sh -O /tmp/llvm.sh
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RUN chmod +x /tmp/llvm.sh
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RUN /tmp/llvm.sh 18 || true
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RUN apt-get update && apt-get install -y clang-18 clang-tools-18 clang-format-18
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RUN clang-18 --version
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RUN clang++-18 --version
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RUN clang-format-18 --version
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# 12. Set the default user and working directory
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USER devuser
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WORKDIR /home/devuser/workspace
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CMD ["bash"]

‎.devcontainer/devcontainer.json

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{
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"$schema": "https://raw.githubusercontent.com/devcontainers/spec/main/schemas/devContainer.schema.json",
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"name": "IPCToolkit C++ Development Container",
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"build": {
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"dockerfile": "Dockerfile",
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"context": ".."
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},
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"customizations": {
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"vscode": {
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"settings": {
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"terminal.integrated.shell.linux": "/bin/fish",
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"C_Cpp.default.configurationProvider": "ms-vscode.cmake-tools",
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"C_Cpp.default.intelliSenseMode": "gcc-x64",
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"C_Cpp.default.compilerPath": "/usr/bin/clang++-18",
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"C_Cpp.clang_format_path": "/usr/bin/clang-format-18",
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"C_Cpp.clang_format_style": "file",
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"cmake.configureOnOpen": true,
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"cmake.buildDirectory": "${workspaceFolder}/build",
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"python.pythonPath": "/usr/bin/python3",
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"python.linting.enabled": true,
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"python.linting.pylintEnabled": true,
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"python.formatting.provider": "black",
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"prettier.requireConfig": true
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},
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"extensions": [
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"ms-vscode.cpptools",
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"ms-vscode.cmake-tools",
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"xaver.clang-format",
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"ms-python.python",
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"ms-azuretools.vscode-docker",
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"eamodio.gitlens",
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"esbenp.prettier-vscode",
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"mhutchie.git-graph",
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"twxs.cmake",
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"jeff-hykin.better-cpp-syntax",
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"vadimcn.vscode-lldb",
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"cschlosser.doxdocgen",
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"ms-python.vscode-pylance",
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"mutantdino.resourcemonitor",
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"randomfractalsinc.vscode-data-preview",
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"oderwat.indent-rainbow",
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"formulahendry.code-runner",
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"donjayamanne.git-extension-pack"
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]
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}
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},
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"postCreateCommand": "pre-commit install",
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"remoteUser": "devuser",
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"mounts": [
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"source=${localWorkspaceFolder}/.ccache,target=/home/devuser/.ccache,type=bind,consistency=cached"
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],
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"forwardPorts": [],
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"remoteEnv": {
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"CCACHE_DIR": "/home/devuser/.ccache",
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"CCACHE_MAXSIZE": "1G"
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},
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"workspaceFolder": "/home/devuser/workspace",
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"workspaceMount": "source=${localWorkspaceFolder},target=/home/devuser/workspace,type=bind,consistency=cached"
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}

‎.pre-commit-config.yaml

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args:
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- --style=file
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- --verbose
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files: '\.(c|cc|cpp|h|hpp|cxx|hh|inl|ipp)$'
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files: '\.(c|cc|cpp|h|hpp|tpp|cxx|hh|inl|ipp)$'

‎CMakePresets.json

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{
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"version": 3,
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"cmakeMinimumRequired": {
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"major": 3,
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"minor":
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},
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"configurePresets": [
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{
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"name": "base-release",
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"hidden": true,
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"description": "Base preset for release builds",
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"cacheVariables": {
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"CMAKE_BUILD_TYPE": "Release",
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"CMAKE_CXX_STANDARD": "17"
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}
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},
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{
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"name": "base-debug",
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"hidden": true,
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"description": "Base preset for debug builds",
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"cacheVariables": {
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"CMAKE_BUILD_TYPE": "Debug",
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"CMAKE_CXX_STANDARD": "17"
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}
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},
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{
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"name": "default",
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"inherits": "base-release",
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"displayName": "Default Configuration",
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"description": "Default build configuration",
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"binaryDir": "${sourceDir}/build/default"
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},
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{
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"name": "cuda",
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"inherits": "base-release",
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"displayName": "CUDA Enabled",
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"description": "Build with CUDA support",
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"binaryDir": "${sourceDir}/build/cuda",
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"cacheVariables": {
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"IPC_TOOLKIT_WITH_CUDA": "ON"
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}
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},
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{
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"name": "simd",
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"inherits": "base-release",
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"displayName": "SIMD Enabled",
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"description": "Build with SIMD optimizations",
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"binaryDir": "${sourceDir}/build/simd",
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"cacheVariables": {
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"IPC_TOOLKIT_WITH_SIMD": "ON"
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}
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},
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{
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"name": "test",
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"inherits": "base-debug",
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"displayName": "Build for Testing",
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"description": "Build with unit tests enabled",
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"binaryDir": "${sourceDir}/build/test",
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"cacheVariables": {
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"IPC_TOOLKIT_WITH_CUDA": "ON",
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"IPC_TOOLKIT_BUILD_TESTS": "ON",
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"IPC_TOOLKIT_BUILD_PYTHON": "OFF"
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}
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},
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{
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"name": "python",
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"inherits": "base-release",
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"displayName": "Python Bindings",
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"description": "Build with Python bindings enabled",
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"binaryDir": "${sourceDir}/build/python",
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"cacheVariables": {
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"IPC_TOOLKIT_BUILD_PYTHON": "ON",
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"IPC_TOOLKIT_BUILD_TESTS": "OFF",
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"IPC_TOOLKIT_WITH_SIMD": "OFF",
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"IPC_TOOLKIT_WITH_CUDA": "OFF"
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}
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},
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{
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"name": "coverage",
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"inherits": "base-debug",
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"displayName": "Code Coverage",
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"description": "Build for code coverage",
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"binaryDir": "${sourceDir}/build/coverage",
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"cacheVariables": {
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"IPC_TOOLKIT_WITH_CODE_COVERAGE": "ON",
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"IPC_TOOLKIT_BUILD_TESTS": "ON",
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}
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},
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{
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"name": "debug-cuda",
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"inherits": [ "base-debug", "cuda" ],
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"displayName": "CUDA Debug",
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"description": "Debug build with CUDA support",
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"binaryDir": "${sourceDir}/build/debug-cuda"
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},
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],
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"buildPresets": [
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{
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"name": "default-build",
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"configurePreset": "default",
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"description": "Build using default configuration"
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},
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{
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"name": "cuda-build",
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"configurePreset": "cuda",
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"description": "Build with CUDA support"
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},
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{
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"name": "test-build",
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"configurePreset": "test",
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"description": "Build for running tests"
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},
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{
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"name": "python-build",
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"configurePreset": "python",
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"description": "Build with Python bindings enabled"
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},
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{
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"name": "debug-cuda-build",
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"configurePreset": "debug-cuda",
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"description": "Debug build with CUDA support"
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},
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],
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"testPresets": [
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{
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"name": "default-tests",
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"description": "Run default tests",
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"configurePreset": "test",
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"execution": {
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"stopOnFailure": true
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}
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},
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{
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"name": "cuda-tests",
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"description": "Run tests with CUDA enabled",
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"configurePreset": "cuda",
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"execution": {
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"stopOnFailure": true
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}
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},
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{
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"name": "debug-cuda-tests",
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"description": "Run tests with CUDA Debug configuration",
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"configurePreset": "debug-cuda",
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"execution": {
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"stopOnFailure": true
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}
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}
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]
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}

‎python/src/ccd/additive_ccd.cpp

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{
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py::class_<AdditiveCCD, NarrowPhaseCCD>(m, "AdditiveCCD")
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.def(
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py::init<const double>(),
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py::init<const double, const double>(),
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R"ipc_Qu8mg5v7(
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Construct a new AdditiveCCD object.
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Parameters:
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conservative_rescaling: The conservative rescaling of the time of impact.
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)ipc_Qu8mg5v7",
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py::arg("max_iterations") = AdditiveCCD::DEFAULT_MAX_ITERATIONS,
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py::arg("conservative_rescaling") =
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AdditiveCCD::DEFAULT_CONSERVATIVE_RESCALING)
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.def_readonly_static(

‎src/ipc/candidates/candidates.cpp

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// If alpha_F < 0.5 * alpha_C, then we should do full CCD.
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if (alpha_F < 0.5 * alpha_C) {
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return ipc::compute_collision_free_stepsize(
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mesh, vertices_t0, vertices_t1, min_distance, //
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broad_phase_method, narrow_phase_ccd);
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mesh, vertices_t0, vertices_t1, min_distance, broad_phase_method,
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narrow_phase_ccd);
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}
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return std::min(alpha_C, alpha_F);
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}

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