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Merged
merged 383 commits into from
Oct 21, 2025
Merged

Geometric Contact Potential #191

merged 383 commits into from
Oct 21, 2025

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Huangzizhou
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@Huangzizhou Huangzizhou commented Sep 26, 2025 •
edited by zfergus
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Description

Implementation of Siggraph 2025 paper Geometric Contact Potential. The implementation includes the collision and friction potential, their gradient and Hessian.

Type of change

Please delete options that are not relevant.

  • New feature (non-breaking change which adds functionality)

Checklist

  • I have followed the project style guide
  • My code follows the clang-format style guidelines of this project
  • I have performed a self-review of my code
  • I have commented my code, particularly in hard-to-understand areas
  • I have made corresponding changes to the documentation
  • My changes generate no new warnings
  • I have added tests that prove my fix is effective or that my feature works
  • New and existing unit tests pass locally with my changes
  • Any dependent changes have been merged and published in downstream modules

@Huangzizhou
more meaningful log
39e4aa6
@Huangzizhou
change hashing
96f9b99
@Huangzizhou
fix bug in edge-edge 3d
372e56b
@Huangzizhou
fix adaptive dhat
d0872f3
@Huangzizhou
add project_to_psd
b0dcae5
@Huangzizhou
2d vertex-edge potential
c9e88a0
@Huangzizhou
edge_mollifier
993d47a
@Huangzizhou
fix bug in edge-vertex potential
a2abd37
@Huangzizhou
simpler mollifier
3dfdc51
@Huangzizhou
change to 3d formulation
8020b63
@Huangzizhou
optimize code
5a16978
@Huangzizhou
fix wrong type check
26952a0
@Huangzizhou
try to fix edge-vertex in 2D
31edf09
@Huangzizhou
change adaptive dhat
d3429f8
@Huangzizhou
fix discontinuity in energy
35b264a
@Huangzizhou
fix bug in face_vertex
ae11c38
@Huangzizhou
smoother potential
b3ad2bb
@Huangzizhou
fix bug in wrong number of vertices
f2cb5a0
@Huangzizhou
fix bug
8cda392
@Huangzizhou
fix mollifier, change heaviside
a74b901
@Huangzizhou
better scaled contact weights
6d19d14
@Huangzizhou
clean code, change eps to dhat
486aef2
@Huangzizhou
move files around
a70afad
@Huangzizhou
fix bug in triangle area
e52c175
@Huangzizhou
add autodiff lib, not used
5a11138
@Huangzizhou
fixed-size matrix for autodiff
a928856
@Huangzizhou
clean functions
0973df9
@Huangzizhou
acceleration of edge-edge by caching
668af7c
@Huangzizhou
clean function
9ac3bc8
@Huangzizhou
make tests pass
3979683
@Huangzizhou Huangzizhou mentioned this pull request Oct 17, 2025
Open
Huangzizhou and others added 24 commits October 17, 2025 10:43
@Huangzizhou
more tests
25549a7
@Huangzizhou
more tests
62d364b
@Huangzizhou
more tests
c78085b
@Huangzizhou
more tests
d45b3a8
@Huangzizhou
try to increase coverage
ee46188
@Huangzizhou
try to increase coverage
a59eb2f
@Huangzizhou
move from tpp to cpp
9675831
@Huangzizhou
more tests
0c23e45
@Huangzizhou
change test
6e501f9
@Huangzizhou
fix bug in point edge direction hessian
3f9d421
@Huangzizhou
Revert "fix bug in point edge direction hessian"
b9d9d1a 
This reverts commit 3f9d421.
@Huangzizhou
fix tests
88d2833
@Huangzizhou
fix clang
df76e6a
@zfergus
Refactor distance types and update potential calculations to use STEN…
166016b 
…CIL_SIZE instead of ELEMENT_SIZE; improve documentation for developer tools.
@zfergus
Refactor include statements for consistency and clarity across distan…
798a765 
…ce test files; remove redundant includes and adjust order.
@zfergus
Remove unused util types
35c21d6
@zfergus
Refactor potential and matrix cache classes:
a929072 
- Introduce `set_triplets` function for better triplet handling in `Potential`.
- Replace `maybe_parallel_for` with `tbb::parallel_for` and `tbb::parallel_for_each` for improved clarity.
- Update `hessian` method signature in `Potential` class to remove `virtual`.
- Remove unused operator overloads in `SparseMatrixCache` and clean up related tests.
@zfergus
Clean-up
1b09e8f 
- Remove const& double and int
- Rename DERIVATIVES_WITH_AUTODIFF to IPC_TOOLKIT_DEBUG_AUTODIFF
- Remove Eigen alias that already exist in Eigen
@zfergus
Remove empty .tpp
caf8e55
@zfergus
Fix clang-tidy errors
17ed2f9
@zfergus
Remove readability-function-size check from clang-tidy configuration
c81f4b1
@zfergus
Revert Edge2::potential to non-static
be8d691
@zfergus
Remove readability-convert-member-functions-to-static
2e4aae1
@zfergus
Fix formatting of pointer declarations in SparseMatrixCache::get_matrix
0999188
zfergus
zfergus approved these changes Oct 20, 2025
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This looks good to merge now.

If you could write a small tutorial in docs/source/tutorials after this is merged, that would be very helpful. 🙏

In the future, I would like to make some structural changes to remove duplicated code. Hopefully, you can help me review them at that time.

@zfergus zfergus merged commit f369a94 into ipc-sim:main Oct 21, 2025
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@zfergus zfergus zfergus approved these changes

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3 participants

@Huangzizhou @zfergus @daniel-zint