Update Scalable CCD (#92)

* Add scalable CCD library and remove GPU CCD and Sweep and Tiniest Queue libraries * Add CUDA_ARCHITECTURES in CMakeLists.txt * Update SweepAndTiniestQueue to new API * Add all candidate types to SweepAndTiniestQueue * Rename STQ to SAP * Update Aabb name * Refactor Python module structure
ipc-sim · Feb 20, 2024 · 7474c7c · 7474c7c
1 parent 913409a
commit 7474c7c
Show file tree

Hide file tree

Showing 51 changed files with 856 additions and 619 deletions.
diff --git a/.gitignore b/.gitignore
@@ -265,5 +265,5 @@ tests/src/tests/config.hpp
 docs/_doxygen
 
 notebooks/*.[ch]pp
-tests/data/cloth_ball_bf_ccd_candidated.json
+tests/data/cloth_ball_bf_ccd_candidates.json
 python/update_bindings.py
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -146,6 +146,10 @@ target_link_libraries(ipc_toolkit PUBLIC TBB::tbb)
 include(tight_inclusion)
 target_link_libraries(ipc_toolkit PUBLIC tight_inclusion::tight_inclusion)
 
+# Scalable CCD (STQ broad phase and GPU Tight Inclusion)
+include(scalable_ccd)
+target_link_libraries(ipc_toolkit PUBLIC scalable_ccd::scalable_ccd)
+
 # CCD
 if(IPC_TOOLKIT_WITH_INEXACT_CCD)
   # Etienne Vouga's CTCD Library for the floating point root finding algorithm
@@ -167,17 +171,6 @@ if(IPC_TOOLKIT_WITH_RATIONAL_INTERSECTION)
   target_link_libraries(ipc_toolkit PUBLIC rational::rational)
 endif()
 
-# Sweep and Tiniest Queue and CCD
-if(IPC_TOOLKIT_WITH_CUDA)
-  include(gpu_ccd)
-  target_link_libraries(ipc_toolkit PUBLIC gpu_ccd::gpu_ccd)
-  target_link_libraries(ipc_toolkit PUBLIC STQ::CPU)
-else()
-  set(STQ_WITH_CUDA OFF CACHE BOOL "Enable CUDA Implementation" FORCE)
-  include(sweep_and_tiniest_queue)
-  target_link_libraries(ipc_toolkit PUBLIC STQ::CPU)
-endif()
-
 # Faster unordered map
 if(IPC_TOOLKIT_WITH_ROBIN_MAP)
   include(robin_map)
@@ -239,27 +232,15 @@ if(IPC_TOOLKIT_WITH_CUDA)
 
   if(${CMAKE_VERSION} VERSION_GREATER_EQUAL "3.24.0")
     set(CMAKE_CUDA_ARCHITECTURES "native")
-    set_target_properties(ipc_toolkit PROPERTIES CUDA_ARCHITECTURES "native")
   else()
     include(FindCUDA/select_compute_arch)
     CUDA_DETECT_INSTALLED_GPUS(CUDA_ARCH_LIST)
     string(STRIP "${CUDA_ARCH_LIST}" CUDA_ARCH_LIST)
     string(REPLACE " " ";" CUDA_ARCH_LIST "${CUDA_ARCH_LIST}")
     string(REPLACE "." "" CUDA_ARCH_LIST "${CUDA_ARCH_LIST}")
     set(CMAKE_CUDA_ARCHITECTURES ${CUDA_ARCH_LIST})
-    set_target_properties(ipc_toolkit PROPERTIES CUDA_ARCHITECTURES "${CUDA_ARCH_LIST}")
-  endif()
-
-  if(APPLE)
-    # We need to add the path to the driver (libcuda.dylib) as an rpath,
-    # so that the static cuda runtime can find it at runtime.
-    set_property(TARGET ipc_toolkit
-                 PROPERTY
-                 BUILD_RPATH ${CMAKE_CUDA_IMPLICIT_LINK_DIRECTORIES})
   endif()
-
-  find_package(CUDAToolkit)
-  target_link_libraries(ipc_toolkit PRIVATE CUDA::cudart)
+  set_target_properties(scalable_ccd PROPERTIES CUDA_ARCHITECTURES "${CMAKE_CUDA_ARCHITECTURES}")
 endif()
 
 ################################################################################

diff --git a/README.md b/README.md
@@ -68,6 +68,7 @@ The following libraries are used in this project:
 * [oneTBB](https://github.com/oneapi-src/oneTBB): parallelism
 * [Tight-Inclusion](https://github.com/Continuous-Collision-Detection/Tight-Inclusion): provably conservative CCD of [Wang and Ferguson et al. 2021]
 * [SimpleBVH](https://github.com/ipc-sim/SimpleBVH): a simple bounding volume hierarchy data structure
+* [Scalable-CCD](https://github.com/Continuous-Collision-Detection/Scalable-CCD): scalable (GPU) CCD of [Belgrod et al. 2023]
 * [spdlog](https://github.com/gabime/spdlog): logging information
 
 #### Optional

diff --git a/cmake/recipes/gpu_ccd.cmake b/cmake/recipes/gpu_ccd.cmake
diff --git a/cmake/recipes/json.cmake b/cmake/recipes/json.cmake
@@ -21,7 +21,7 @@ add_library(nlohmann_json INTERFACE)
 add_library(nlohmann_json::nlohmann_json ALIAS nlohmann_json)
 
 include(GNUInstallDirs)
-target_include_directories(nlohmann_json INTERFACE
+target_include_directories(nlohmann_json SYSTEM INTERFACE
     "$<BUILD_INTERFACE:${nlohmann_json_SOURCE_DIR}>/include"
     "$<INSTALL_INTERFACE:${CMAKE_INSTALL_INCLUDEDIR}>"
 )

diff --git a/cmake/recipes/scalable_ccd.cmake b/cmake/recipes/scalable_ccd.cmake
@@ -0,0 +1,12 @@
+# Abseil (https://github.com/continuous-collision-detection/scalable-ccd)
+# License: Apache 2.0
+if(TARGET scalable_ccd::scalable_ccd)
+    return()
+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#c03efa095173b44c13d8440bbc859eeaa0ec550b")
diff --git a/cmake/recipes/sweep_and_tiniest_queue.cmake b/cmake/recipes/sweep_and_tiniest_queue.cmake
diff --git a/docs/source/cpp-api/broad_phase.rst b/docs/source/cpp-api/broad_phase.rst
@@ -30,10 +30,13 @@ BVH
 
 .. doxygenclass:: ipc::BVH
 
-Sweep and Tiniest Queue
+Sweep and Prune
 -----------------------
 
-.. doxygenclass:: ipc::SweepAndTiniestQueue
+.. doxygenclass:: ipc::SweepAndPrune
+
+Sweep and Tiniest Queue
+-----------------------
 
 .. .. doxygenclass:: ipc::SweepAndTiniestQueueGPU
 

diff --git a/docs/source/python-api/broad_phase.rst b/docs/source/python-api/broad_phase.rst
@@ -42,13 +42,16 @@ BVH
 
     .. autoclasstoc::
 
-Sweep and Tiniest Queue
------------------------
+Sweep and Prune
+---------------
 
-.. autoclass:: ipctk.SweepAndTiniestQueue
+.. autoclass:: ipctk.SweepAndPrune
 
     .. autoclasstoc::
 
+Sweep and Tiniest Queue
+-----------------------
+
 .. .. autoclass:: ipctk.SweepAndTiniestQueueGPU
 ..     :members:
 

diff --git a/docs/source/tutorial/getting_started.rst b/docs/source/tutorial/getting_started.rst
@@ -522,7 +522,7 @@ The ``Candidates`` class represents the culled set of candidate pairs and is bui
                 broad_phase_method=ipctk.BroadPhaseMethod.HASH_GRID)
 
 Possible values for ``broad_phase_method`` are: ``BRUTE_FORCE`` (parallel brute force culling), ``HASH_GRID`` (default), ``SPATIAL_HASH`` (implementation from the original IPC codebase),
-``BVH`` (`SimpleBVH <https://github.com/geometryprocessing/SimpleBVH>`_), ``SWEEP_AND_TINIEST_QUEUE`` (method of :cite:t:`Belgrod2023Time`), or ``SWEEP_AND_TINIEST_QUEUE_GPU`` (requires CUDA).
+``BVH`` (`SimpleBVH <https://github.com/geometryprocessing/SimpleBVH>`_), ``SWEEP_AND_PRUNE`` (method of :cite:t:`Belgrod2023Time`), or ``SWEEP_AND_TINIEST_QUEUE`` (requires CUDA).
 
 Narrow-Phase
 ^^^^^^^^^^^^

diff --git a/python/CMakeLists.txt b/python/CMakeLists.txt
@@ -2,91 +2,12 @@
 # Create Python module for IPC Toolkit
 include(pybind11)
 
-pybind11_add_module(ipctk
-  src/bindings.cpp
+pybind11_add_module(ipctk)
 
-  src/barrier/adaptive_stiffness.cpp
-  src/barrier/barrier.cpp
-
-  src/broad_phase/aabb.cpp
-  src/broad_phase/broad_phase.cpp
-  src/broad_phase/brute_force.cpp
-  src/broad_phase/bvh.cpp
-  src/broad_phase/hash_grid.cpp
-  src/broad_phase/spatial_hash.cpp
-  src/broad_phase/sweep_and_tiniest_queue.cpp
-  src/broad_phase/voxel_size_heuristic.cpp
-
-  src/candidates/candidates.cpp
-  src/candidates/collision_stencil.cpp
-  src/candidates/continuous_collision_candidate.cpp
-  src/candidates/edge_edge.cpp
-  src/candidates/edge_face.cpp
-  src/candidates/edge_vertex.cpp
-  src/candidates/face_vertex.cpp
-  src/candidates/vertex_vertex.cpp
-
-  src/ccd/aabb.cpp
-  src/ccd/ccd.cpp
-  src/ccd/additive_ccd.cpp
-  src/ccd/inexact_point_edge.cpp
-  src/ccd/nonlinear_ccd.cpp
-  src/ccd/point_static_plane.cpp
-
-  src/collisions/collision.cpp
-  src/collisions/collisions.cpp
-  src/collisions/edge_edge.cpp
-  src/collisions/edge_vertex.cpp
-  src/collisions/face_vertex.cpp
-  src/collisions/plane_vertex.cpp
-  src/collisions/vertex_vertex.cpp
-
-  src/distance/distance_type.cpp
-  src/distance/edge_edge.cpp
-  src/distance/edge_edge_mollifier.cpp
-  src/distance/line_line.cpp
-  src/distance/point_edge.cpp
-  src/distance/point_line.cpp
-  src/distance/point_plane.cpp
-  src/distance/point_point.cpp
-  src/distance/point_triangle.cpp
-
-  src/friction/closest_point.cpp
-  src/friction/friction_collisions.cpp
-  src/friction/normal_force_magnitude.cpp
-  src/friction/relative_velocity.cpp
-  src/friction/smooth_friction_mollifier.cpp
-  src/friction/tangent_basis.cpp
-
-  src/friction/collisions/edge_edge.cpp
-  src/friction/collisions/edge_vertex.cpp
-  src/friction/collisions/face_vertex.cpp
-  src/friction/collisions/friction_collision.cpp
-  src/friction/collisions/vertex_vertex.cpp
-
-  src/implicits/plane.cpp
-
-  src/potentials/barrier_potential.cpp
-  src/potentials/friction_potential.cpp
-
-  src/utils/area_gradient.cpp
-  src/utils/eigen_ext.cpp
-  src/utils/interval.cpp
-  src/utils/intersection.cpp
-  src/utils/logger.cpp
-  src/utils/thread_limiter.cpp
-  src/utils/vertex_to_min_edge.cpp
-  src/utils/world_bbox_diagonal_length.cpp
-
-  src/collision_mesh.cpp
-  src/ipc.cpp
-)
+add_subdirectory(src) # Add sources to ipctk
+target_include_directories(ipctk PRIVATE "${CMAKE_CURRENT_SOURCE_DIR}/src")
 
 target_link_libraries(ipctk PRIVATE ipc::toolkit)
-target_include_directories(ipctk PRIVATE "${CMAKE_CURRENT_SOURCE_DIR}/src")
 
 # Extra warnings
-# target_link_libraries(ipctk PRIVATE IPCToolkit::warnings)
-
-# Move Python library to build root
-set_target_properties(ipctk PROPERTIES LIBRARY_OUTPUT_PATH "${CMAKE_BINARY_DIR}")
+# target_link_libraries(ipctk PRIVATE IPCToolkit::warnings)
diff --git a/python/src/CMakeLists.txt b/python/src/CMakeLists.txt
@@ -0,0 +1,23 @@
+set(SOURCES
+  bindings.cpp
+  collision_mesh.cpp
+  ipc.cpp
+)
+
+source_group(TREE "${CMAKE_CURRENT_SOURCE_DIR}" PREFIX "Source Files" FILES ${SOURCES})
+target_sources(ipctk PRIVATE ${SOURCES})
+
+################################################################################
+# Subfolders
+################################################################################
+
+add_subdirectory(barrier)
+add_subdirectory(broad_phase)
+add_subdirectory(candidates)
+add_subdirectory(ccd)
+add_subdirectory(collisions)
+add_subdirectory(distance)
+add_subdirectory(friction)
+add_subdirectory(implicits)
+add_subdirectory(potentials)
+add_subdirectory(utils)
diff --git a/python/src/barrier/CMakeLists.txt b/python/src/barrier/CMakeLists.txt
@@ -0,0 +1,7 @@
+set(SOURCES
+  barrier.cpp
+  adaptive_stiffness.cpp
+)
+
+source_group(TREE "${CMAKE_CURRENT_SOURCE_DIR}" PREFIX "Source Files" FILES ${SOURCES})
+target_sources(ipctk PRIVATE ${SOURCES})
diff --git a/python/src/bindings.cpp b/python/src/bindings.cpp
@@ -21,6 +21,7 @@ PYBIND11_MODULE(ipctk, m)
     define_bvh(m);
     define_hash_grid(m);
     define_spatial_hash(m);
+    define_sweep_and_prune(m);
     define_sweep_and_tiniest_queue(m);
     define_voxel_size_heuristic(m);
 

diff --git a/python/src/broad_phase/CMakeLists.txt b/python/src/broad_phase/CMakeLists.txt
@@ -0,0 +1,14 @@
+set(SOURCES
+  aabb.cpp
+  broad_phase.cpp
+  brute_force.cpp
+  bvh.cpp
+  hash_grid.cpp
+  spatial_hash.cpp
+  sweep_and_prune.cpp
+  sweep_and_tiniest_queue.cpp
+  voxel_size_heuristic.cpp
+)
+
+source_group(TREE "${CMAKE_CURRENT_SOURCE_DIR}" PREFIX "Source Files" FILES ${SOURCES})
+target_sources(ipctk PRIVATE ${SOURCES})
diff --git a/python/src/broad_phase/bindings.hpp b/python/src/broad_phase/bindings.hpp
@@ -10,5 +10,6 @@ void define_brute_force(py::module_& m);
 void define_bvh(py::module_& m);
 void define_hash_grid(py::module_& m);
 void define_spatial_hash(py::module_& m);
+void define_sweep_and_prune(py::module_& m);
 void define_sweep_and_tiniest_queue(py::module_& m);
 void define_voxel_size_heuristic(py::module_& m);
diff --git a/python/src/broad_phase/broad_phase.cpp b/python/src/broad_phase/broad_phase.cpp
@@ -11,20 +11,19 @@ void define_broad_phase(py::module_& m)
     py::enum_<BroadPhaseMethod>(
         m, "BroadPhaseMethod",
         "Enumeration of implemented broad phase methods.")
-        .value("BRUTE_FORCE", BroadPhaseMethod::BRUTE_FORCE, "Brute force.")
-        .value("HASH_GRID", BroadPhaseMethod::HASH_GRID, "Hash grid.")
-        .value("SPATIAL_HASH", BroadPhaseMethod::SPATIAL_HASH, "Spatial hash.")
+        .value("BRUTE_FORCE", BroadPhaseMethod::BRUTE_FORCE, "Brute force")
+        .value("HASH_GRID", BroadPhaseMethod::HASH_GRID, "Hash grid")
+        .value("SPATIAL_HASH", BroadPhaseMethod::SPATIAL_HASH, "Spatial hash")
         .value(
             "BOUNDING_VOLUME_HIERARCHY", BroadPhaseMethod::BVH,
-            "Bounding volume hierarchy.")
+            "Bounding volume hierarchy")
+        .value(
+            "SWEEP_AND_PRUNE", BroadPhaseMethod::SWEEP_AND_PRUNE,
+            "Sweep and prune")
         .value(
             "SWEEP_AND_TINIEST_QUEUE",
             BroadPhaseMethod::SWEEP_AND_TINIEST_QUEUE,
-            "Sweep and tiniest queue.")
-        .value(
-            "SWEEP_AND_TINIEST_QUEUE_GPU",
-            BroadPhaseMethod::SWEEP_AND_TINIEST_QUEUE_GPU,
-            "Sweep and tiniest queue (GPU).")
+            "Sweep and tiniest queue (GPU)")
         .export_values();
 
     py::class_<BroadPhase>(m, "BroadPhase")

diff --git a/python/src/broad_phase/sweep_and_prune.cpp b/python/src/broad_phase/sweep_and_prune.cpp
@@ -0,0 +1,11 @@
+#include <common.hpp>
+
+#include <ipc/broad_phase/sweep_and_prune.hpp>
+
+namespace py = pybind11;
+using namespace ipc;
+
+void define_sweep_and_prune(py::module_& m)
+{
+    py::class_<SweepAndPrune, BroadPhase>(m, "SweepAndPrune");
+}