Refactor BroadPhase to Build from Vertex Boxes Directly

CMakeLists.txt

@@ -168,13 +168,6 @@ target_link_libraries(ipc_toolkit PRIVATE tight_inclusion::tight_inclusion)
 include(scalable_ccd)
 target_link_libraries(ipc_toolkit PRIVATE scalable_ccd::scalable_ccd)
 
-# CCD
-if(IPC_TOOLKIT_WITH_INEXACT_CCD)
-  # Etienne Vouga's CTCD Library for the floating point root finding algorithm
-  include(evouga_ccd)
-  target_link_libraries(ipc_toolkit PRIVATE evouga::ccd)
-endif()
-
 # SimpleBVH
 include(simple_bvh)
 target_link_libraries(ipc_toolkit PRIVATE simple_bvh::simple_bvh)
@@ -183,6 +176,13 @@ target_link_libraries(ipc_toolkit PRIVATE simple_bvh::simple_bvh)
 include(spdlog)
 target_link_libraries(ipc_toolkit PUBLIC spdlog::spdlog)
 
+# CCD
+if(IPC_TOOLKIT_WITH_INEXACT_CCD)
+  # Etienne Vouga's CTCD Library for the floating point root finding algorithm
+  include(evouga_ccd)
+  target_link_libraries(ipc_toolkit PRIVATE evouga::ccd)
+endif()
+
 # rational-cpp (requires GMP)
 if(IPC_TOOLKIT_WITH_RATIONAL_INTERSECTION)
   include(rational_cpp)

cmake/recipes/CPM.cmake

@@ -1,4 +1,4 @@
-set(CPM_DOWNLOAD_VERSION 0.40.2)
+set(CPM_DOWNLOAD_VERSION 0.42.0)
 
 if(CPM_SOURCE_CACHE)
   set(CPM_DOWNLOAD_LOCATION "${CPM_SOURCE_CACHE}/cpm/CPM_${CPM_DOWNLOAD_VERSION}.cmake")

cmake/recipes/ccd_query_io.cmake

@@ -8,8 +8,9 @@ message(STATUS "Third-party: creating target 'ccd_io::ccd_io'")
 
 include(ipc_toolkit_tests_data)
 
-set(CCD_IO_DOWNLOAD_SAMPLE_QUERIES ON CACHE BOOL "Download sample CCD queries" FORCE)
-set(CCD_IO_SAMPLE_QUERIES_DIR "${IPC_TOOLKIT_TESTS_DATA_DIR}/ccd-queries/" CACHE PATH "Where should we download sample queries?")
-
 include(CPM)
-CPMAddPackage("gh:Continuous-Collision-Detection/CCD-Query-IO#36f6093af81a65acc27d9f05ad32d6b5729e8d15")
+CPMAddPackage(
+    URI "gh:Continuous-Collision-Detection/CCD-Query-IO#36f6093af81a65acc27d9f05ad32d6b5729e8d15"
+    OPTIONS "CCD_IO_DOWNLOAD_SAMPLE_QUERIES ON"
+            "CCD_IO_SAMPLE_QUERIES_DIR ${IPC_TOOLKIT_TESTS_DATA_DIR}/ccd-queries/"
+)

cmake/recipes/finite_diff.cmake

@@ -7,7 +7,7 @@ endif()
 message(STATUS "Third-party: creating target 'finitediff::finitediff'")
 
 include(CPM)
-CPMAddPackage("gh:zfergus/[email protected].1")
+CPMAddPackage("gh:zfergus/[email protected].3")
 
 # Folder name for IDE
 set_target_properties(finitediff_finitediff PROPERTIES FOLDER "ThirdParty")

cmake/recipes/libigl.cmake

@@ -6,12 +6,13 @@ endif()
 
 message(STATUS "Third-party: creating target 'igl::core'")
 
-set(LIBIGL_PREDICATES ON CACHE BOOL "Use exact predicates" FORCE)
-
 include(eigen)
 
 include(CPM)
-CPMAddPackage("gh:libigl/libigl#89267b4a80b1904de3f6f2812a2053e5e9332b7e")
+CPMAddPackage(
+    URI "gh:libigl/libigl#89267b4a80b1904de3f6f2812a2053e5e9332b7e"
+    OPTIONS "LIBIGL_PREDICATES ON"
+)
 
 # Folder name for IDE
 foreach(target_name IN ITEMS core predicates)

cmake/recipes/scalable_ccd.cmake

@@ -6,10 +6,11 @@ endif()
 
 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#4fa806f533b19132e696a2dddeab16537025b5f9")
+CPMAddPackage(
+    URI "gh:continuous-collision-detection/scalable-ccd#4fa806f533b19132e696a2dddeab16537025b5f9"
+    OPTIONS "SCALABLE_CCD_WITH_CUDA ${IPC_TOOLKIT_WITH_CUDA}"
+)
 
 # Folder name for IDE
 set_target_properties(scalable_ccd PROPERTIES FOLDER "ThirdParty")

src/ipc/broad_phase/broad_phase.cpp

@@ -11,12 +11,9 @@ void BroadPhase::build(
     Eigen::ConstRef<Eigen::MatrixXi> faces,
     const double inflation_radius)
 {
-    assert(edges.size() == 0 || edges.cols() == 2);
-    assert(faces.size() == 0 || faces.cols() == 3);
     clear();
     build_vertex_boxes(vertices, vertex_boxes, inflation_radius);
-    build_edge_boxes(vertex_boxes, edges, edge_boxes);
-    build_face_boxes(vertex_boxes, faces, face_boxes);
+    build(edges, faces);
 }
 
 void BroadPhase::build(
@@ -26,11 +23,32 @@ void BroadPhase::build(
     Eigen::ConstRef<Eigen::MatrixXi> faces,
     const double inflation_radius)
 {
-    assert(edges.size() == 0 || edges.cols() == 2);
-    assert(faces.size() == 0 || faces.cols() == 3);
     clear();
     build_vertex_boxes(
         vertices_t0, vertices_t1, vertex_boxes, inflation_radius);
+    build(edges, faces);
+}
+
+void BroadPhase::build(
+    const std::vector<AABB>& _vertex_boxes,
+    Eigen::ConstRef<Eigen::MatrixXi> edges,
+    Eigen::ConstRef<Eigen::MatrixXi> faces)
+{
+    clear();
+
+    assert(&(this->vertex_boxes) != &_vertex_boxes);
+    this->vertex_boxes = _vertex_boxes;
+
+    build(edges, faces);
+}
+
+void BroadPhase::build(
+    Eigen::ConstRef<Eigen::MatrixXi> edges,
+    Eigen::ConstRef<Eigen::MatrixXi> faces)
+{
+    assert(vertex_boxes.size() > 0);
+    assert(edges.size() == 0 || edges.cols() == 2);
+    assert(faces.size() == 0 || faces.cols() == 3);
     build_edge_boxes(vertex_boxes, edges, edge_boxes);
     build_face_boxes(vertex_boxes, faces, face_boxes);
 }

src/ipc/broad_phase/broad_phase.hpp

@@ -48,6 +48,15 @@ class BroadPhase {
         Eigen::ConstRef<Eigen::MatrixXi> faces,
         const double inflation_radius = 0);
 
+    /// @brief Build the broad phase for collision detection.
+    /// @param vertex_boxes AABBs for the vertices.
+    /// @param edges Collision mesh edges
+    /// @param faces Collision mesh faces
+    virtual void build(
+        const std::vector<AABB>& vertex_boxes,
+        Eigen::ConstRef<Eigen::MatrixXi> edges,
+        Eigen::ConstRef<Eigen::MatrixXi> faces);
+
     /// @brief Clear any built data.
     virtual void clear();
 
@@ -91,6 +100,14 @@ class BroadPhase {
         default_can_vertices_collide;
 
 protected:
+    /// @brief Build the broad phase for collision detection.
+    /// @note Assumes the vertex_boxes have been built.
+    /// @param edges Collision mesh edges
+    /// @param faces Collision mesh faces
+    virtual void build(
+        Eigen::ConstRef<Eigen::MatrixXi> edges,
+        Eigen::ConstRef<Eigen::MatrixXi> faces);
+
     virtual bool can_edge_vertex_collide(size_t ei, size_t vi) const;
     virtual bool can_edges_collide(size_t eai, size_t ebi) const;
     virtual bool can_face_vertex_collide(size_t fi, size_t vi) const;

src/ipc/broad_phase/bvh.cpp

@@ -22,25 +22,10 @@ BVH::BVH()
 BVH::~BVH() = default;
 
 void BVH::build(
-    Eigen::ConstRef<Eigen::MatrixXd> vertices,
     Eigen::ConstRef<Eigen::MatrixXi> edges,
-    Eigen::ConstRef<Eigen::MatrixXi> faces,
-    const double inflation_radius)
+    Eigen::ConstRef<Eigen::MatrixXi> faces)
 {
-    BroadPhase::build(vertices, edges, faces, inflation_radius);
-    init_bvh(vertex_boxes, *vertex_bvh);
-    init_bvh(edge_boxes, *edge_bvh);
-    init_bvh(face_boxes, *face_bvh);
-}
-
-void BVH::build(
-    Eigen::ConstRef<Eigen::MatrixXd> vertices_t0,
-    Eigen::ConstRef<Eigen::MatrixXd> vertices_t1,
-    Eigen::ConstRef<Eigen::MatrixXi> edges,
-    Eigen::ConstRef<Eigen::MatrixXi> faces,
-    const double inflation_radius)
-{
-    BroadPhase::build(vertices_t0, vertices_t1, edges, faces, inflation_radius);
+    BroadPhase::build(edges, faces); // Build edge_boxes and face_boxes
     init_bvh(vertex_boxes, *vertex_bvh);
     init_bvh(edge_boxes, *edge_bvh);
     init_bvh(face_boxes, *face_bvh);
@@ -74,9 +59,9 @@ void BVH::detect_candidates(
     const std::function<bool(size_t, size_t)>& can_collide,
     std::vector<Candidate>& candidates)
 {
-    // O(n^2) or O(n^3) to build
-    // O(klog(n)) to do a single look up
-    // O(knlog(n)) to do all look ups
+    // O(n) or O(n⋅log(n)) to build
+    // O(k⋅log(n)) to do a single look up
+    // O(k⋅n⋅log(n)) to do all look ups
 
     tbb::enumerable_thread_specific<std::vector<Candidate>> storage;
 

src/ipc/broad_phase/bvh.hpp

@@ -20,29 +20,7 @@ class BVH : public BroadPhase {
     /// @return The name of the broad phase method.
     std::string name() const override { return "BVH"; }
 
-    /// @brief Build the broad phase for static collision detection.
-    /// @param vertices Vertex positions
-    /// @param edges Collision mesh edges
-    /// @param faces Collision mesh faces
-    /// @param inflation_radius Radius of inflation around all elements.
-    void build(
-        Eigen::ConstRef<Eigen::MatrixXd> vertices,
-        Eigen::ConstRef<Eigen::MatrixXi> edges,
-        Eigen::ConstRef<Eigen::MatrixXi> faces,
-        const double inflation_radius = 0) override;
-
-    /// @brief Build the broad phase for continuous collision detection.
-    /// @param vertices_t0 Starting vertices of the vertices.
-    /// @param vertices_t1 Ending vertices of the vertices.
-    /// @param edges Collision mesh edges
-    /// @param faces Collision mesh faces
-    /// @param inflation_radius Radius of inflation around all elements.
-    void build(
-        Eigen::ConstRef<Eigen::MatrixXd> vertices_t0,
-        Eigen::ConstRef<Eigen::MatrixXd> vertices_t1,
-        Eigen::ConstRef<Eigen::MatrixXi> edges,
-        Eigen::ConstRef<Eigen::MatrixXi> faces,
-        const double inflation_radius = 0) override;
+    using BroadPhase::build;
 
     /// @brief Clear any built data.
     void clear() override;
@@ -78,6 +56,14 @@ class BVH : public BroadPhase {
         std::vector<FaceFaceCandidate>& candidates) const override;
 
 protected:
+    /// @brief Build the broad phase for collision detection.
+    /// @note Assumes the vertex_boxes have been built.
+    /// @param edges Collision mesh edges
+    /// @param faces Collision mesh faces
+    void build(
+        Eigen::ConstRef<Eigen::MatrixXi> edges,
+        Eigen::ConstRef<Eigen::MatrixXi> faces) override;
+
     /// @brief Initialize a BVH from a set of boxes.
     /// @param[in] boxes Set of boxes to initialize the BVH with.
     /// @param[out] bvh The BVH to initialize.

src/ipc/broad_phase/hash_grid.cpp

@@ -18,46 +18,20 @@ using namespace std::placeholders;
 namespace ipc {
 
 void HashGrid::build(
-    Eigen::ConstRef<Eigen::MatrixXd> vertices,
     Eigen::ConstRef<Eigen::MatrixXi> edges,
-    Eigen::ConstRef<Eigen::MatrixXi> faces,
-    const double inflation_radius)
+    Eigen::ConstRef<Eigen::MatrixXi> faces)
 {
-    BroadPhase::build(vertices, edges, faces, inflation_radius);
-    // BroadPhase::build also calls clear()
+    BroadPhase::build(edges, faces);
 
-    ArrayMax3d mesh_min = vertices.colwise().minCoeff().array();
-    ArrayMax3d mesh_max = vertices.colwise().maxCoeff().array();
-    AABB::conservative_inflation(mesh_min, mesh_max, inflation_radius);
+    ArrayMax3d mesh_min = vertex_boxes[0].min;
+    ArrayMax3d mesh_max = vertex_boxes[0].max;
+    for (const auto& box : vertex_boxes) {
+        mesh_min = mesh_min.min(box.min);
+        mesh_max = mesh_max.max(box.max);
+    }
 
     const double cell_size =
-        suggest_good_voxel_size(vertices, edges, inflation_radius);
-    resize(mesh_min, mesh_max, cell_size);
-
-    insert_boxes();
-}
-
-void HashGrid::build(
-    Eigen::ConstRef<Eigen::MatrixXd> vertices_t0,
-    Eigen::ConstRef<Eigen::MatrixXd> vertices_t1,
-    Eigen::ConstRef<Eigen::MatrixXi> edges,
-    Eigen::ConstRef<Eigen::MatrixXi> faces,
-    const double inflation_radius)
-{
-    BroadPhase::build(vertices_t0, vertices_t1, edges, faces, inflation_radius);
-    // BroadPhase::build also calls clear()
-
-    const ArrayMax3d mesh_min_t0 = vertices_t0.colwise().minCoeff();
-    const ArrayMax3d mesh_max_t0 = vertices_t0.colwise().maxCoeff();
-    const ArrayMax3d mesh_min_t1 = vertices_t1.colwise().minCoeff();
-    const ArrayMax3d mesh_max_t1 = vertices_t1.colwise().maxCoeff();
-
-    ArrayMax3d mesh_min = mesh_min_t0.min(mesh_min_t1);
-    ArrayMax3d mesh_max = mesh_max_t0.max(mesh_max_t1);
-    AABB::conservative_inflation(mesh_min, mesh_max, inflation_radius);
-
-    const double cell_size = suggest_good_voxel_size(
-        vertices_t0, vertices_t1, edges, inflation_radius);
+        suggest_good_voxel_size(edges.rows() > 0 ? edge_boxes : vertex_boxes);
     resize(mesh_min, mesh_max, cell_size);
 
     insert_boxes();
@@ -66,9 +40,9 @@ void HashGrid::build(
 void HashGrid::resize(
     Eigen::ConstRef<ArrayMax3d> domain_min,
     Eigen::ConstRef<ArrayMax3d> domain_max,
-    double cell_size)
+    const double cell_size)
 {
-    assert(cell_size != 0.0);
+    assert(cell_size > 0.0);
     assert(std::isfinite(cell_size));
 
     m_domain_min = domain_min;

src/ipc/broad_phase/hash_grid.hpp

@@ -33,29 +33,7 @@ class HashGrid : public BroadPhase {
     /// @return The name of the broad phase method.
     std::string name() const override { return "HashGrid"; }
 
-    /// @brief Build the broad phase for static collision detection.
-    /// @param vertices Vertex positions
-    /// @param edges Collision mesh edges
-    /// @param faces Collision mesh faces
-    /// @param inflation_radius Radius of inflation around all elements.
-    void build(
-        Eigen::ConstRef<Eigen::MatrixXd> vertices,
-        Eigen::ConstRef<Eigen::MatrixXi> edges,
-        Eigen::ConstRef<Eigen::MatrixXi> faces,
-        double inflation_radius = 0) override;
-
-    /// @brief Build the broad phase for continuous collision detection.
-    /// @param vertices_t0 Starting vertices of the vertices.
-    /// @param vertices_t1 Ending vertices of the vertices.
-    /// @param edges Collision mesh edges
-    /// @param faces Collision mesh faces
-    /// @param inflation_radius Radius of inflation around all elements.
-    void build(
-        Eigen::ConstRef<Eigen::MatrixXd> vertices_t0,
-        Eigen::ConstRef<Eigen::MatrixXd> vertices_t1,
-        Eigen::ConstRef<Eigen::MatrixXi> edges,
-        Eigen::ConstRef<Eigen::MatrixXi> faces,
-        double inflation_radius = 0) override;
+    using BroadPhase::build;
 
     /// @brief Clear the hash grid.
     void clear() override
@@ -101,6 +79,14 @@ class HashGrid : public BroadPhase {
     const ArrayMax3d& domain_max() const { return m_domain_max; }
 
 protected:
+    /// @brief Build the broad phase for collision detection.
+    /// @note Assumes the vertex_boxes have been built.
+    /// @param edges Collision mesh edges
+    /// @param faces Collision mesh faces
+    void build(
+        Eigen::ConstRef<Eigen::MatrixXi> edges,
+        Eigen::ConstRef<Eigen::MatrixXi> faces) override;
+
     void resize(
         Eigen::ConstRef<ArrayMax3d> domain_min,
         Eigen::ConstRef<ArrayMax3d> domain_max,