v1.6.1

[zfergus]

This patch release backports non-API-breaking fixes and additions from main.

Highlights

• Add ipc::CollisionMesh::set_vertex_areas and ipc::CollisionMesh::set_edge_areas (the vertex_areas and edge_areas properties in Python) to supply custom collision weights, e.g., $2\pi R , ds$ for axisymmetric models (Allow user-provided vertex and edge areas in CollisionMesh #273, requested by @chemiskyy in # Allow user-provided vertex/edge areas in CollisionMesh (e.g. for axisymmetric models) #266).
  • Areas must be finite and non-negative. Collisions with zero weight are dropped, so primitives with no area exert no force.
  • Custom areas do not support shape derivatives: setting them after init_area_jacobians() throws, and so does calling init_area_jacobians() afterwards.
• Fix missing PSD projection of mollified $m \le 0$ Hessian blocks (Fix missing PSD projection of mollified m≤0 hessian blocks #244).
• Expose the $u$, $v$, and $t$ coordinates of an edge–triangle intersection and add ipc::CollisionMesh::face_normals (Expose the uv/t coordinates of an edge–triangle intersection #245).
• Fix a memory leak in the CUDA code by updating Scalable CCD (Update scalable_ccd.cmake #261).

CUDA

• Fix CUDA architecture selection and optimize the LBVH Morton codes (Fix CUDA architecture selection and optimize LBVH Morton codes #252).

Build and CI

• Fall back to the GitHub mirror when cloning Eigen from GitLab fails (Fall back to the GitHub mirror when cloning Eigen fails #277).
• Fix CMake options being forced in the cache (Fix CMake options being forced in the cache #268).
• Key the CUDA, Python, and coverage ccaches on the CPU (Key CUDA, Python, and coverage ccaches on the CPU #267).
• Drop ccache from the docs build (Fix docs SIGILL by dropping ccache from the docs build #270).
• Publish to PyPI with Trusted Publishing for provenance attestations (Publish to PyPI with Trusted Publishing for provenance #278).

Full Changelog: v1.6.0...v1.6.1

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This discussion was created from the release v1.6.1.