C++¶

Build¶

The easiest way to add the toolkit to an existing CMake project is to download it through CMake. CMake provides functionality for doing this called FetchContent (requires CMake ≥ 3.14). We use a very similar process to download all external dependencies (using CPM).

For example,

include(FetchContent)
FetchContent_Declare(
    ipc_toolkit
    GIT_REPOSITORY https://github.com/ipc-sim/ipc-toolkit.git
    GIT_TAG ${IPC_TOOLKIT_GIT_TAG}
)
FetchContent_MakeAvailable(ipc_toolkit)

where IPC_TOOLKIT_GIT_TAG is set to the version of the toolkit you want to use. This will download and add the toolkit to CMake. The toolkit can then be linked against using

# Link against the IPC Toolkit
target_link_libraries(${PROJECT_NAME} PUBLIC ipc::toolkit)

where PROJECT_NAME is the name of your library/binary.

Dependencies¶

All required dependencies are downloaded through CMake depending on the build options.

The following libraries are used in this project:

• Eigen: linear algebra

• libigl: basic geometry functions and predicates

• oneTBB: parallelism

• Tight-Inclusion: provably conservative CCD of [Wang and Ferguson et al. 2021]

• SimpleBVH: a simple bounding volume hierarchy data structure

• Scalable-CCD: scalable (GPU) CCD of [Belgrod et al. 2023]

• spdlog: logging information

Optional¶

The following dependencies are optionally used based on CMake options:

• robin-map: faster hash set/map than std::unordered_set/std::unordered_map

  • Enable by using the CMake option IPC_TOOLKIT_WITH_ROBIN_MAP

  • Enabled by default

• Abseil: hashing utilities

  • Enable by using the CMake option IPC_TOOLKIT_WITH_ABSEIL

  • Enabled by default

• filib: interval arithmetic for nonlinear trajectories/CCD

  • Enable by using the CMake option IPC_TOOLKIT_WITH_FILIB

  • Enabled by default

• rational-cpp: rational arithmetic used for exact intersection checks

  • Enable by using the CMake option IPC_TOOLKIT_WITH_RATIONAL_INTERSECTION

  • Requires GMP to be installed at a system level

• Etienne Vouga’s Collision Detection Library: inexact CCD

  • Included for comparison with the original IPC library

  • Enable by using the CMake option IPC_TOOLKIT_WITH_INEXACT_CCD

  • Replaces the default Tight-Inclusion CCD

Usage¶

See the tutorial for a quick introduction to the toolkit, or the documentation for a full reference.

Unit Tests¶

We provide unit tests to ensure the correctness of our algorithmic pieces. To enable the unit tests use the CMake option IPC_TOOLKIT_BUILD_TESTS.

Dependencies¶

The following are downloaded when unit tests are enabled:

• Catch2: testing framework

• finite-diff: finite-difference comparisons

• Nlohman’s JSON library: loading test data from JSON files