Rigid and Affine Body Dynamics

CMakeLists.txt

@@ -210,6 +210,10 @@ include(tinyad)
 # TODO: Make this a private dependency once we stop exposing TinyAD types in the public API.
 target_link_libraries(ipc_toolkit PUBLIC TinyAD::TinyAD)
 
+# TinyGLTF
+include(tinygltf)
+target_link_libraries(ipc_toolkit PRIVATE tinygltf::tinygltf)
+
 # CCD
 if(IPC_TOOLKIT_WITH_INEXACT_CCD)
   # Etienne Vouga's CTCD Library for the floating point root finding algorithm

cmake/ipc_toolkit/ipc_toolkit_tests_data.cmake

@@ -30,7 +30,7 @@ else()
         SOURCE_DIR ${IPC_TOOLKIT_TESTS_DATA_DIR}
 
         GIT_REPOSITORY https://github.com/ipc-sim/ipc-toolkit-tests-data.git
-        GIT_TAG c7eba549d9a80d15569a013c473f0aff104ac44a
+        GIT_TAG 9061bb85b30b7e410db736f6e16de234d5b0555a
 
         CONFIGURE_COMMAND ""
         BUILD_COMMAND ""

cmake/recipes/finite_diff.cmake

@@ -7,7 +7,7 @@ endif()
 message(STATUS "Third-party: creating target 'finitediff::finitediff'")
 
 include(CPM)
-CPMAddPackage("gh:zfergus/finite-diff@1.0.3")
+CPMAddPackage("gh:zfergus/finite-diff@1.0.4")
 
 # Folder name for IDE
 set_target_properties(finitediff_finitediff PROPERTIES FOLDER "ThirdParty")

cmake/recipes/tinygltf.cmake

@@ -0,0 +1,21 @@
+# TinyGLTF (https://github.com/syoyo/tinygltf)
+# License: MIT
+if(TARGET tinygltf::tinygltf)
+    return()
+endif()
+
+message(STATUS "Third-party: creating target 'tinygltf::tinygltf'")
+
+include(CPM)
+CPMAddPackage(
+    URI "gh:syoyo/tinygltf@2.9.6"
+    DOWNLOAD_ONLY TRUE
+)
+
+add_library(tinygltf)
+add_library(tinygltf::tinygltf ALIAS tinygltf)
+target_sources(tinygltf PRIVATE ${tinygltf_SOURCE_DIR}/tiny_gltf.cc)
+target_include_directories(tinygltf INTERFACE
+    $<BUILD_INTERFACE:${tinygltf_SOURCE_DIR}>
+    $<INSTALL_INTERFACE:${CMAKE_INSTALL_INCLUDEDIR}>
+)

docs/source/cpp-api/tangent.rst

@@ -28,18 +28,18 @@ Relative Velocity
 Relative Velocity as Multiplier Matricies
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
-.. doxygenfunction:: ipc::point_point_relative_velocity_matrix
-.. doxygenfunction:: ipc::point_edge_relative_velocity_matrix
-.. doxygenfunction:: ipc::edge_edge_relative_velocity_matrix
-.. doxygenfunction:: ipc::point_triangle_relative_velocity_matrix
+.. doxygenfunction:: ipc::point_point_relative_velocity_jacobian
+.. doxygenfunction:: ipc::point_edge_relative_velocity_jacobian
+.. doxygenfunction:: ipc::edge_edge_relative_velocity_jacobian
+.. doxygenfunction:: ipc::point_triangle_relative_velocity_jacobian
 
 Relative Velocity Matrix Jacobians
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
-.. doxygenfunction:: ipc::point_point_relative_velocity_matrix_jacobian
-.. doxygenfunction:: ipc::point_edge_relative_velocity_matrix_jacobian
-.. doxygenfunction:: ipc::edge_edge_relative_velocity_matrix_jacobian
-.. doxygenfunction:: ipc::point_triangle_relative_velocity_matrix_jacobian
+.. doxygenfunction:: ipc::point_point_relative_velocity_dx_dbeta
+.. doxygenfunction:: ipc::point_edge_relative_velocity_dx_dbeta
+.. doxygenfunction:: ipc::edge_edge_relative_velocity_dx_dbeta
+.. doxygenfunction:: ipc::point_triangle_relative_velocity_dx_dbeta
 
 Closet Points
 -------------

docs/source/python-api/tangent.rst

@@ -28,18 +28,18 @@ Relative Velocity
 Relative Velocity as Multiplier Matricies
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
-.. autofunction:: ipctk.point_point_relative_velocity_matrix
-.. autofunction:: ipctk.point_edge_relative_velocity_matrix
-.. autofunction:: ipctk.edge_edge_relative_velocity_matrix
-.. autofunction:: ipctk.point_triangle_relative_velocity_matrix
+.. autofunction:: ipctk.point_point_relative_velocity_jacobian
+.. autofunction:: ipctk.point_edge_relative_velocity_jacobian
+.. autofunction:: ipctk.edge_edge_relative_velocity_jacobian
+.. autofunction:: ipctk.point_triangle_relative_velocity_jacobian
 
 Relative Velocity Matrix Jacobians
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
-.. autofunction:: ipctk.point_point_relative_velocity_matrix_jacobian
-.. autofunction:: ipctk.point_edge_relative_velocity_matrix_jacobian
-.. autofunction:: ipctk.edge_edge_relative_velocity_matrix_jacobian
-.. autofunction:: ipctk.point_triangle_relative_velocity_matrix_jacobian
+.. autofunction:: ipctk.point_point_relative_velocity_dx_dbeta
+.. autofunction:: ipctk.point_edge_relative_velocity_dx_dbeta
+.. autofunction:: ipctk.edge_edge_relative_velocity_dx_dbeta
+.. autofunction:: ipctk.point_triangle_relative_velocity_dx_dbeta
 
 Closet Points
 -------------

docs/source/tutorials/nonlinear_ccd.rst

@@ -199,13 +199,13 @@ The following code snippet shows an example of how to use interval arithmetic to
 
         .. code-block:: cpp
 
-            #include <ipc/utils/interval.hpp>
+            #include <ipc/math/interval.hpp>
 
             using namespace ipc;
 
             Vector2I position(
-                const VectorMax3d& center,
-                const VectorMax3d& point,
+                Eigen::ConstRef<VectorMax3d> center,
+                Eigen::ConstRef<VectorMax3d> point,
                 const double omega,
                 const Interval& t)
             {