downlgrade cuda in ci; fix warnings; update scalable_ccd

Author: zfergus

.github/workflows/cuda.yml

@@ -40,7 +40,7 @@ jobs:
       - uses: Jimver/[email protected]
         id: cuda-toolkit
         with:
-          cuda: '12.5.0'
+          cuda: '12.3.2'
 
       - name: Get number of CPU cores
         uses: SimenB/[email protected]

cmake/recipes/scalable_ccd.cmake

@@ -9,4 +9,4 @@ message(STATUS "Third-party: creating target 'scalable_ccd::scalable_ccd'")
 set(SCALABLE_CCD_WITH_CUDA ${IPC_TOOLKIT_WITH_CUDA} CACHE BOOL "Enable CUDA CCD" FORCE)
 
 include(CPM)
-CPMAddPackage("gh:continuous-collision-detection/scalable-ccd#318352e6aa3c1008a67c80547c6fa21bf18fb1a5")
+CPMAddPackage("gh:continuous-collision-detection/scalable-ccd#95a078bbaf9659f2e1b4285d51475deff163bfa0")

src/ipc/ccd/additive_ccd.cpp

@@ -60,8 +60,8 @@ namespace {
     }
 } // namespace
 
-AdditiveCCD::AdditiveCCD(const double conservative_rescaling)
-    : conservative_rescaling(conservative_rescaling)
+AdditiveCCD::AdditiveCCD(const double _conservative_rescaling)
+    : conservative_rescaling(_conservative_rescaling)
 {
 }
 

src/ipc/ccd/tight_inclusion_ccd.cpp

@@ -21,12 +21,12 @@ static constexpr double INITIAL_DISTANCE_TOLERANCE_SCALE = 0.5;
 static constexpr long TIGHT_INCLUSION_UNLIMITED_ITERATIONS = -1;
 
 TightInclusionCCD::TightInclusionCCD(
-    const double tolerance,
-    const long max_iterations,
-    const double conservative_rescaling)
-    : tolerance(tolerance)
-    , max_iterations(max_iterations)
-    , conservative_rescaling(conservative_rescaling)
+    const double _tolerance,
+    const long _max_iterations,
+    const double _conservative_rescaling)
+    : tolerance(_tolerance)
+    , max_iterations(_max_iterations)
+    , conservative_rescaling(_conservative_rescaling)
 {
 }
 

src/ipc/implicits/plane.cpp

@@ -100,7 +100,7 @@ double compute_point_plane_collision_free_stepsize(
     const double earliest_toi = tbb::parallel_reduce(
         tbb::blocked_range<size_t>(0, points_t0.rows()),
         /*inital_step_size=*/1.0,
-        [&](tbb::blocked_range<size_t> r, double earliest_toi) {
+        [&](tbb::blocked_range<size_t> r, double current_toi) {
             for (size_t vi = r.begin(); vi < r.end(); vi++) {
                 for (size_t pi = 0; pi < n_planes; pi++) {
                     if (!can_collide(vi, pi)) {
@@ -116,13 +116,13 @@ double compute_point_plane_collision_free_stepsize(
                         plane_normal, toi);
 
                     if (are_colliding) {
-                        if (toi < earliest_toi) {
-                            earliest_toi = toi;
+                        if (toi < current_toi) {
+                            current_toi = toi;
                         }
                     }
                 }
             }
-            return earliest_toi;
+            return current_toi;
         },
         [&](double a, double b) { return std::min(a, b); });
 

src/ipc/ipc.cpp

@@ -56,8 +56,10 @@ double compute_collision_free_stepsize(
                 "Sweep and Tiniest Queue is only supported in 3D!");
         }
         // TODO: Use correct min_distance
-        const double tolerance = TightInclusionCCD::DEFAULT_TOLERANCE;
-        const long max_iterations = TightInclusionCCD::DEFAULT_MAX_ITERATIONS;
+        // TODO: Expose tolerance and max_iterations
+        constexpr double tolerance = TightInclusionCCD::DEFAULT_TOLERANCE;
+        constexpr long max_iterations =
+            TightInclusionCCD::DEFAULT_MAX_ITERATIONS;
         const double step_size = scalable_ccd::cuda::ipc_ccd_strategy(
             vertices_t0, vertices_t1, mesh.edges(), mesh.faces(),
             /*min_distance=*/0.0, max_iterations, tolerance);

tests/src/tests/barrier/test_barrier.cpp

@@ -59,7 +59,7 @@ class NormalizedClampedLogBarrier : public ipc::Barrier {
 /// @warning This implementation will not work with dmin > 0
 class PhysicalBarrier : public ipc::NormalizedClampedLogBarrier {
 public:
-    PhysicalBarrier(const bool use_dist_sqr) : use_dist_sqr(use_dist_sqr) { }
+    PhysicalBarrier(const bool _use_dist_sqr) : use_dist_sqr(_use_dist_sqr) { }
 
     double operator()(const double d, const double dhat) const override
     {

tests/src/tests/ccd/test_gpu_ccd.cpp

@@ -43,15 +43,15 @@ TEST_CASE("GPU CCD", "[ccd][gpu]")
     const double min_distance = 0;
 
     const double toi_cpu = compute_collision_free_stepsize(
-        mesh, V0, V1, BroadPhaseMethod::SWEEP_AND_PRUNE, min_distance,
-        tolerance, max_iterations);
+        mesh, V0, V1, min_distance, BroadPhaseMethod::SWEEP_AND_PRUNE,
+        TightInclusionCCD(tolerance, max_iterations));
 
     // Got this value from running the code
     CHECK(toi_cpu == Catch::Approx(4.76837158203125000e-06));
 
     const double toi_gpu = compute_collision_free_stepsize(
-        mesh, V0, V1, BroadPhaseMethod::SWEEP_AND_TINIEST_QUEUE, min_distance,
-        tolerance, max_iterations);
+        mesh, V0, V1, min_distance, BroadPhaseMethod::SWEEP_AND_TINIEST_QUEUE,
+        TightInclusionCCD(tolerance, max_iterations));
 
     // Got this value from running the code
     CHECK(toi_gpu == Catch::Approx(3.05175781250000017e-6));