Fix CCD documentation (#140)

Author: zfergus

docs/source/_static/css/custom.css

@@ -1,44 +1,51 @@
+.md-grid {
+    max-width: max(1250px, 75vw) !important;
+}
+
 span.colon {
     margin-left: -1em;
 }
 
-dl.cpp.objdesc, dl.py.objdesc {
+dl.cpp.objdesc,
+dl.py.objdesc {
     /* border: 0.05rem solid var(--md-primary-fg-color); */
     border: 0.05rem solid rgb(68, 138, 255);
     box-shadow: var(--md-shadow-z1);
     border-radius: 0.4rem;
     overflow: hidden;
 }
 
-dl.cpp.objdesc > dt, dl.py.objdesc > dt {
+dl.cpp.objdesc>dt,
+dl.py.objdesc>dt {
     padding-left: 0.5rem;
     padding-right: 0.5rem;
 }
 
-dl.cpp.objdesc > dd, dl.py.objdesc > dd {
+dl.cpp.objdesc>dd,
+dl.py.objdesc>dd {
     margin: 0 1.875em;
 }
 
-dl.py.objdesc > dd > details.toggle-details {
+dl.py.objdesc>dd>details.toggle-details {
     border: 0.05rem solid var(--md-primary-fg-color);
     box-shadow: var(--md-shadow-z1);
     border-radius: 0.4rem;
     overflow: hidden;
 }
 
-dl.py.objdesc > dd > details.toggle-details > summary {
+dl.py.objdesc>dd>details.toggle-details>summary {
     border: 0;
     font-size: 0.8rem;
 }
 
-dl.py.objdesc > dd > details.toggle-details > summary::before,
-dl.py.objdesc > dd > details.toggle-details > summary::after {
+dl.py.objdesc>dd>details.toggle-details>summary::before,
+dl.py.objdesc>dd>details.toggle-details>summary::after {
     background-color: var(--md-primary-fg-color--light);
     /* background-color: currentcolor; */
     top: auto;
 }
 
-dl.py.objdesc > dd > details.toggle-details > summary > svg.tb-icon {
+dl.py.objdesc>dd>details.toggle-details>summary>svg.tb-icon {
     display: none;
 }
 
@@ -77,4 +84,4 @@ margin: 0 !important;
 dl.api-field > dd > p {
 padding: 0 !important;
 margin: 0 !important;
-} */
+} */

docs/source/cpp-api/broad_phase.rst

@@ -9,31 +9,37 @@ Broad Phase
 -----------
 
 .. doxygenclass:: ipc::BroadPhase
+    :allow-dot-graphs:
 
 Brute Force
 -----------
 
 .. doxygenclass:: ipc::BruteForce
+    :allow-dot-graphs:
 
 Hash Grid
 ---------
 
 .. doxygenclass:: ipc::HashGrid
+    :allow-dot-graphs:
 
 Spatial Hash
 ------------
 
 .. doxygenclass:: ipc::SpatialHash
+    :allow-dot-graphs:
 
 BVH
 ---
 
 .. doxygenclass:: ipc::BVH
+    :allow-dot-graphs:
 
 Sweep and Prune
 -----------------------
 
 .. doxygenclass:: ipc::SweepAndPrune
+    :allow-dot-graphs:
 
 Sweep and Tiniest Queue
 -----------------------
@@ -43,4 +49,5 @@ Sweep and Tiniest Queue
 AABB
 ----
 
-.. doxygenclass:: ipc::AABB
+.. doxygenclass:: ipc::AABB
+    :allow-dot-graphs:

docs/source/cpp-api/candidates.rst

@@ -5,43 +5,51 @@ Candidates
 ----------
 
 .. doxygenclass:: ipc::Candidates
+    :allow-dot-graphs:
 
 Collision Stencil
 -----------------
 
 .. doxygenclass:: ipc::CollisionStencil
+    :allow-dot-graphs:
 
 
 Continuous Collision Candidate
 ------------------------------
 
 .. doxygenclass:: ipc::ContinuousCollisionCandidate
+    :allow-dot-graphs:
 
 
 Vertex-Vertex Candidate
 -----------------------
 
 .. doxygenclass:: ipc::VertexVertexCandidate
+    :allow-dot-graphs:
 
 
 Edge-Vertex Candidate
 ---------------------
 
 .. doxygenclass:: ipc::EdgeVertexCandidate
+    :allow-dot-graphs:
 
 
 Edge-Edge Candidate
 -------------------
 
 .. doxygenclass:: ipc::EdgeEdgeCandidate
+    :allow-dot-graphs:
 
 
 Edge-Face Candidate
 -------------------
 
 .. doxygenclass:: ipc::EdgeFaceCandidate
+    :allow-dot-graphs:
 
 Face-Vertex Candidate
 ---------------------
 
-.. doxygenclass:: ipc::FaceVertexCandidate
+.. doxygenclass:: ipc::FaceVertexCandidate
+    :allow-dot-graphs:

docs/source/cpp-api/ccd.rst

@@ -5,41 +5,45 @@ Continuous Collision Detection
 
 .. doxygenfunction:: ipc::compute_collision_free_stepsize
 
-.. doxygenvariable:: ipc::DEFAULT_CCD_TOLERANCE
-.. doxygenvariable:: ipc::DEFAULT_CCD_MAX_ITERATIONS
-.. doxygenvariable:: ipc::DEFAULT_CCD_CONSERVATIVE_RESCALING
+Narrow Phase CCD
+----------------
 
-Individual CCD Functions
-------------------------
+.. doxygenclass:: ipc::NarrowPhaseCCD
+    :allow-dot-graphs:
 
-.. doxygenfunction:: ipc::point_point_ccd
-.. doxygenfunction:: ipc::point_edge_ccd
-.. doxygenfunction:: ipc::edge_edge_ccd
-.. doxygenfunction:: ipc::point_triangle_ccd
+Tight Inclusion CCD
+^^^^^^^^^^^^^^^^^^^
 
-Generic Interface
-^^^^^^^^^^^^^^^^^
-
-.. doxygenfunction:: ipc::ccd_strategy
+.. doxygenclass:: ipc::TightInclusionCCD
+    :allow-dot-graphs:
 
 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
+.. doxygenclass:: ipc::AdditiveCCD
+    :allow-dot-graphs:
 
-Generic Interface
-^^^^^^^^^^^^^^^^^
+Inexact CCD
+^^^^^^^^^^^
+
+.. note::
+    This method is disabled by default. To enable it, set the
+    ``IPC_TOOLKIT_WITH_INEXACT_CCD`` CMake option to ``ON``.
 
-.. doxygenfunction:: ipc::additive_ccd::additive_ccd
+.. .. doxygenclass:: ipc::InexactCCD
+..     :allow-dot-graphs:
+
+.. doxygenfunction:: ipc::inexact_point_edge_ccd_2D
 
 Nonlinear CCD
 -------------
 
 .. doxygenclass:: ipc::NonlinearTrajectory
+    :allow-dot-graphs:
+
 .. doxygenclass:: ipc::IntervalNonlinearTrajectory
+    :allow-dot-graphs:
+
 
 .. doxygenfunction:: ipc::point_point_nonlinear_ccd
 .. doxygenfunction:: ipc::point_edge_nonlinear_ccd
@@ -49,4 +53,9 @@ Nonlinear CCD
 Generic Interface
 ^^^^^^^^^^^^^^^^^
 
-.. doxygenfunction:: ipc::conservative_piecewise_linear_ccd
+.. doxygenfunction:: ipc::conservative_piecewise_linear_ccd
+
+Miscellaneous
+-------------
+
+.. doxygenfunction:: ipc::point_static_plane_ccd

docs/source/cpp-api/collision_mesh.rst

@@ -1,4 +1,5 @@
 Collision Mesh
 ==============
 
-.. doxygenclass:: ipc::CollisionMesh
+.. doxygenclass:: ipc::CollisionMesh
+    :allow-dot-graphs:

docs/source/cpp-api/normal_collisions.rst

@@ -14,25 +14,25 @@ Normal Collision
     :allow-dot-graphs:
 
 Vertex-Vertex Normal Collision
------------------------------
+------------------------------
 
 .. doxygenclass:: ipc::VertexVertexNormalCollision
     :allow-dot-graphs:
 
 Edge-Vertex Normal Collision
------------------------------
+----------------------------
 
 .. doxygenclass:: ipc::EdgeVertexNormalCollision
     :allow-dot-graphs:
 
 Edge-Edge Normal Collision
------------------------------
+--------------------------
 
 .. doxygenclass:: ipc::EdgeEdgeNormalCollision
     :allow-dot-graphs:
 
 Face-Vertex Normal Collision
------------------------------
+----------------------------
 
 .. doxygenclass:: ipc::FaceVertexNormalCollision
     :allow-dot-graphs:

docs/source/python-api/ccd.rst

@@ -5,43 +5,37 @@ Continuous Collision Detection
 
 .. autofunction:: ipctk.compute_collision_free_stepsize
 
-Individual CCD Functions
-------------------------
+Narrow Phase CCD
+----------------
 
-.. .. autovariable:: ipctk.DEFAULT_CCD_TOLERANCE
-.. .. autovariable:: ipctk.DEFAULT_CCD_MAX_ITERATIONS
-.. .. autovariable:: ipctk.DEFAULT_CCD_CONSERVATIVE_RESCALING
+.. autoclass:: ipctk.NarrowPhaseCCD
 
-.. autofunction:: ipctk.point_point_ccd
-.. autofunction:: ipctk.point_edge_ccd
-.. autofunction:: ipctk.edge_edge_ccd
-.. autofunction:: ipctk.point_triangle_ccd
-
-Generic Interface
-^^^^^^^^^^^^^^^^^
-
-.. autofunction:: ipctk.ccd_strategy
+   .. autoclasstoc::
 
 Tight Inclusion CCD
--------------------
+^^^^^^^^^^^^^^^^^^^
 
-.. autofunction:: ipctk.tight_inclusion.edge_edge_ccd
-.. autofunction:: ipctk.tight_inclusion.point_triangle_ccd
+.. autoclass:: ipctk.TightInclusionCCD
 
-.. autofunction:: ipctk.tight_inclusion.compute_ccd_filters
+   .. autoclasstoc::
 
 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
+.. autoclass:: ipctk.AdditiveCCD
 
-Generic Interface
-^^^^^^^^^^^^^^^^^
+   .. autoclasstoc::
 
-.. autofunction:: ipctk.additive_ccd.additive_ccd
+Inexact CCD
+^^^^^^^^^^^
+
+.. note::
+    This method is disabled by default. To enable it, set the
+    ``IPC_TOOLKIT_WITH_INEXACT_CCD`` CMake option to ``ON``.
+
+.. .. autoclass:: ipctk.InexactCCD
+
+.. autofunction:: ipctk.inexact_point_edge_ccd_2D
 
 Nonlinear CCD
 -------------
@@ -59,7 +53,7 @@ Nonlinear CCD
 .. autofunction:: ipctk.edge_edge_nonlinear_ccd
 .. autofunction:: ipctk.point_triangle_nonlinear_ccd
 
-Generic Interface
-^^^^^^^^^^^^^^^^^
+Miscellaneous
+-------------
 
-.. autofunction:: ipctk.conservative_piecewise_linear_ccd
+.. autofunction:: ipctk.point_static_plane_ccd

python/src/ccd/inexact_point_edge.cpp

@@ -19,6 +19,23 @@ void define_inexact_point_edge(py::module_& m)
                 conservative_rescaling);
             return std::make_tuple(r, toi);
         },
+        R"ipc_Qu8mg5v7(
+        Inexact continuous collision detection between a point and an edge in 2D.
+
+        Parameters:
+            p_t0: Initial position of the point
+            e0_t0: Initial position of the first endpoint of the edge
+            e1_t0: Initial position of the second endpoint of the edge
+            p_t1: Final position of the point
+            e0_t1: Final position of the first endpoint of the edge
+            e1_t1: Final position of the second endpoint of the edge
+            conservative_rescaling: Conservative rescaling of the time of impact
+
+        Returns:
+            Tuple of:
+            True if a collision was detected, false otherwise.
+            Output time of impact
+        )ipc_Qu8mg5v7",
         py::arg("p_t0"), py::arg("e0_t0"), py::arg("e1_t0"), py::arg("p_t1"),
         py::arg("e0_t1"), py::arg("e1_t1"), py::arg("conservative_rescaling"));
 }