├── .clang-format ├── .clang-tidy ├── .devcontainer ├── Dockerfile └── devcontainer.json ├── .gitattributes ├── .github ├── FUNDING.yml ├── ISSUE_TEMPLATE │ ├── all-other.yml │ └── bug-report.yml ├── pull_request_template.md └── workflows │ ├── clang-format-check.yml │ ├── clang-tidy-check.yml │ ├── continuous.yml │ ├── coverage.yml │ ├── cuda.yml │ ├── docs.yml │ ├── pypi.yml │ └── python.yml ├── .gitignore ├── .pre-commit-config.yaml ├── CMakeLists.txt ├── CMakePresets.json ├── IPCToolkitOptions.cmake.sample ├── LICENSE ├── MANIFEST.in ├── README.md ├── cmake ├── find │ └── FindSIMD.cmake ├── ipc_toolkit │ ├── ipc_toolkit_cpm_cache.cmake │ ├── ipc_toolkit_filter_flags.cmake │ ├── ipc_toolkit_tests_data.cmake │ ├── ipc_toolkit_use_colors.cmake │ └── ipc_toolkit_warnings.cmake └── recipes │ ├── CPM.cmake │ ├── abseil.cmake │ ├── catch2.cmake │ ├── ccd_query_io.cmake │ ├── eigen.cmake │ ├── evouga_ccd.cmake │ ├── filib.cmake │ ├── finite_diff.cmake │ ├── json.cmake │ ├── libigl.cmake │ ├── onetbb.cmake │ ├── pybind11.cmake │ ├── rational_cpp.cmake │ ├── robin_map.cmake │ ├── scalable_ccd.cmake │ ├── simple_bvh.cmake │ ├── spdlog.cmake │ ├── tight_inclusion.cmake │ └── tinyad.cmake ├── codecov.yml ├── docs ├── CODE_OF_CONDUCT.md ├── CONTRIBUTING.md ├── Makefile ├── PYPI_README.md ├── make.bat ├── requirements.txt └── source │ ├── Doxyfile │ ├── _static │ ├── css │ │ └── custom.css │ ├── favicon.ico │ ├── graphviz │ │ ├── dependencies.dot │ │ └── dependencies.svg │ ├── hammer-wrench.svg │ ├── img │ │ ├── f0.png │ │ ├── f0a.png │ │ ├── f1.png │ │ ├── f1a.png │ │ ├── improved_max_approx.png │ │ ├── int_mu_f1_dx.png │ │ ├── int_mu_f1a_dx.png │ │ ├── mu.png │ │ ├── mu_f1.png │ │ └── mu_f1a.png │ ├── logo.png │ └── versions.json │ ├── _templates │ └── 404.html │ ├── about │ ├── dependencies.rst │ ├── license.rst │ └── release_notes.rst │ ├── build │ ├── c++.rst │ └── python.rst │ ├── conf.py │ ├── cpp-api │ ├── adhesion.rst │ ├── barrier │ │ ├── Barrier.rst │ │ ├── ClampedLogBarrier.rst │ │ ├── ClampedLogSqBarrier.rst │ │ ├── CubicBarrier.rst │ │ ├── NormalizedBarrier.rst │ │ └── index.rst │ ├── broad_phase.rst │ ├── candidates.rst │ ├── ccd.rst │ ├── collision_mesh.rst │ ├── distance.rst │ ├── friction.rst │ ├── index.rst │ ├── intersections.rst │ ├── interval.rst │ ├── normal_collisions.rst │ ├── potentials │ │ ├── BarrierPotential.rst │ │ ├── FrictionPotential.rst │ │ ├── NormalAdhesionPotential.rst │ │ ├── NormalPotential.rst │ │ ├── Potential.rst │ │ ├── TangentialAdhesionPotential.rst │ │ ├── TangentialPotential.rst │ │ └── index.rst │ ├── tangent.rst │ ├── tangential_collisions.rst │ └── utils.rst │ ├── developers │ ├── code_of_conduct.rst │ ├── contributing.rst │ ├── style_guide.rst │ └── tools.rst │ ├── index.rst │ ├── python-api │ ├── adhesion.rst │ ├── barrier.rst │ ├── broad_phase.rst │ ├── candidates.rst │ ├── ccd.rst │ ├── collision_mesh.rst │ ├── distance.rst │ ├── friction.rst │ ├── index.rst │ ├── intersections.rst │ ├── interval.rst │ ├── normal_collisions.rst │ ├── potentials.rst │ ├── tangent.rst │ ├── tangential_collisions.rst │ └── utils.rst │ ├── references.bib │ └── tutorials │ ├── adhesion.rst │ ├── advanced_friction.rst │ ├── convergent.rst │ ├── faq.rst │ ├── gcp.rst │ ├── getting_started.rst │ ├── misc.rst │ ├── nonlinear_ccd.rst │ ├── references.rst │ └── simulation.rst ├── notebooks ├── adhesion.ipynb ├── area_weights.ipynb ├── closest_point_grad.ipynb ├── distances.ipynb ├── ee_mollifier_shape_derivative.ipynb ├── find_ipctk.py ├── generate_cpp_code.py ├── improved_max_approximator.ipynb ├── nonlinear_trajectories.ipynb ├── parula.py ├── physical_barrier.ipynb ├── separate_mu.ipynb ├── tangent_basis_grad.ipynb └── utils.py ├── pyproject.toml ├── python ├── .clang-format ├── CMakeLists.txt ├── README.md ├── _find_ipctk.py ├── example.ipynb ├── src │ ├── CMakeLists.txt │ ├── adhesion │ │ ├── CMakeLists.txt │ │ ├── adhesion.cpp │ │ └── bindings.hpp │ ├── barrier │ │ ├── CMakeLists.txt │ │ ├── adaptive_stiffness.cpp │ │ ├── barrier.cpp │ │ ├── barrier_force_magnitude.cpp │ │ └── bindings.hpp │ ├── bindings.cpp │ ├── bindings.hpp │ ├── broad_phase │ │ ├── CMakeLists.txt │ │ ├── aabb.cpp │ │ ├── bindings.hpp │ │ ├── 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 │ ├── candidates │ │ ├── CMakeLists.txt │ │ ├── bindings.hpp │ │ ├── candidates.cpp │ │ ├── collision_stencil.cpp │ │ ├── edge_edge.cpp │ │ ├── edge_face.cpp │ │ ├── edge_vertex.cpp │ │ ├── face_face.cpp │ │ ├── face_vertex.cpp │ │ └── vertex_vertex.cpp │ ├── ccd │ │ ├── CMakeLists.txt │ │ ├── aabb.cpp │ │ ├── additive_ccd.cpp │ │ ├── bindings.hpp │ │ ├── check_initial_distance.cpp │ │ ├── inexact_ccd.cpp │ │ ├── inexact_point_edge.cpp │ │ ├── narrow_phase_ccd.cpp │ │ ├── nonlinear_ccd.cpp │ │ ├── point_static_plane.cpp │ │ └── tight_inclusion_ccd.cpp │ ├── collision_mesh.cpp │ ├── collisions │ │ ├── CMakeLists.txt │ │ ├── bindings.hpp │ │ ├── normal │ │ │ ├── CMakeLists.txt │ │ │ ├── bindings.hpp │ │ │ ├── edge_edge.cpp │ │ │ ├── edge_vertex.cpp │ │ │ ├── face_vertex.cpp │ │ │ ├── normal_collision.cpp │ │ │ ├── normal_collisions.cpp │ │ │ ├── plane_vertex.cpp │ │ │ └── vertex_vertex.cpp │ │ └── tangential │ │ │ ├── CMakeLists.txt │ │ │ ├── bindings.hpp │ │ │ ├── edge_edge.cpp │ │ │ ├── edge_vertex.cpp │ │ │ ├── face_vertex.cpp │ │ │ ├── tangential_collision.cpp │ │ │ ├── tangential_collisions.cpp │ │ │ └── vertex_vertex.cpp │ ├── common.hpp │ ├── distance │ │ ├── CMakeLists.txt │ │ ├── bindings.hpp │ │ ├── distance_type.cpp │ │ ├── edge_edge.cpp │ │ ├── edge_edge_mollifier.cpp │ │ ├── line_line.cpp │ │ ├── point_edge.cpp │ │ ├── point_line.cpp │ │ ├── point_plane.cpp │ │ ├── point_point.cpp │ │ └── point_triangle.cpp │ ├── friction │ │ ├── CMakeLists.txt │ │ ├── bindings.hpp │ │ ├── smooth_friction_mollifier.cpp │ │ └── smooth_mu.cpp │ ├── geometry │ │ ├── CMakeLists.txt │ │ ├── angle.cpp │ │ ├── area.cpp │ │ ├── bindings.hpp │ │ ├── intersection.cpp │ │ └── normal.cpp │ ├── implicits │ │ ├── CMakeLists.txt │ │ ├── bindings.hpp │ │ └── plane.cpp │ ├── ipc.cpp │ ├── math │ │ ├── CMakeLists.txt │ │ ├── bindings.hpp │ │ └── interval.cpp │ ├── potentials │ │ ├── CMakeLists.txt │ │ ├── barrier_potential.cpp │ │ ├── bindings.hpp │ │ ├── friction_potential.cpp │ │ ├── normal_adhesion_potential.cpp │ │ ├── normal_potential.cpp │ │ ├── potential.hpp │ │ ├── tangential_adhesion_potential.cpp │ │ └── tangential_potential.cpp │ ├── tangent │ │ ├── CMakeLists.txt │ │ ├── bindings.hpp │ │ ├── closest_point.cpp │ │ ├── relative_velocity.cpp │ │ └── tangent_basis.cpp │ └── utils │ │ ├── CMakeLists.txt │ │ ├── bindings.hpp │ │ ├── eigen_ext.cpp │ │ ├── logger.cpp │ │ ├── thread_limiter.cpp │ │ ├── vertex_to_min_edge.cpp │ │ └── world_bbox_diagonal_length.cpp └── tests │ ├── find_ipctk.py │ ├── requirements.txt │ ├── test_candidates.py │ ├── test_ccd.py │ ├── test_collision_mesh.py │ ├── test_constraints.py │ ├── test_intersections.py │ ├── test_interval.py │ ├── test_ipc.py │ └── utils.py ├── setup.py ├── src └── ipc │ ├── CMakeLists.txt │ ├── adhesion │ ├── CMakeLists.txt │ ├── adhesion.cpp │ └── adhesion.hpp │ ├── barrier │ ├── CMakeLists.txt │ ├── adaptive_stiffness.cpp │ ├── adaptive_stiffness.hpp │ ├── barrier.cpp │ ├── barrier.hpp │ ├── barrier_force_magnitude.cpp │ └── barrier_force_magnitude.hpp │ ├── broad_phase │ ├── CMakeLists.txt │ ├── aabb.cpp │ ├── aabb.hpp │ ├── broad_phase.cpp │ ├── broad_phase.hpp │ ├── brute_force.cpp │ ├── brute_force.hpp │ ├── bvh.cpp │ ├── bvh.hpp │ ├── create_broad_phase.cpp │ ├── create_broad_phase.hpp │ ├── default_broad_phase.hpp │ ├── hash_grid.cpp │ ├── hash_grid.hpp │ ├── spatial_hash.cpp │ ├── spatial_hash.hpp │ ├── sweep_and_prune.cpp │ ├── sweep_and_prune.hpp │ ├── sweep_and_tiniest_queue.cpp │ ├── sweep_and_tiniest_queue.hpp │ ├── voxel_size_heuristic.cpp │ └── voxel_size_heuristic.hpp │ ├── candidates │ ├── CMakeLists.txt │ ├── candidates.cpp │ ├── candidates.hpp │ ├── collision_stencil.cpp │ ├── collision_stencil.hpp │ ├── edge_edge.cpp │ ├── edge_edge.hpp │ ├── edge_face.cpp │ ├── edge_face.hpp │ ├── edge_vertex.cpp │ ├── edge_vertex.hpp │ ├── face_face.cpp │ ├── face_face.hpp │ ├── face_vertex.cpp │ ├── face_vertex.hpp │ ├── vertex_vertex.cpp │ └── vertex_vertex.hpp │ ├── ccd │ ├── CMakeLists.txt │ ├── aabb.cpp │ ├── aabb.hpp │ ├── additive_ccd.cpp │ ├── additive_ccd.hpp │ ├── check_initial_distance.hpp │ ├── default_narrow_phase_ccd.cpp │ ├── default_narrow_phase_ccd.hpp │ ├── inexact_ccd.cpp │ ├── inexact_ccd.hpp │ ├── inexact_point_edge.cpp │ ├── inexact_point_edge.hpp │ ├── narrow_phase_ccd.hpp │ ├── nonlinear_ccd.cpp │ ├── nonlinear_ccd.hpp │ ├── point_static_plane.cpp │ ├── point_static_plane.hpp │ ├── tight_inclusion_ccd.cpp │ └── tight_inclusion_ccd.hpp │ ├── collision_mesh.cpp │ ├── collision_mesh.hpp │ ├── collisions │ ├── CMakeLists.txt │ ├── normal │ │ ├── CMakeLists.txt │ │ ├── edge_edge.cpp │ │ ├── edge_edge.hpp │ │ ├── edge_vertex.hpp │ │ ├── face_vertex.hpp │ │ ├── normal_collision.cpp │ │ ├── normal_collision.hpp │ │ ├── normal_collisions.cpp │ │ ├── normal_collisions.hpp │ │ ├── normal_collisions_builder.cpp │ │ ├── normal_collisions_builder.hpp │ │ ├── plane_vertex.cpp │ │ ├── plane_vertex.hpp │ │ └── vertex_vertex.hpp │ └── tangential │ │ ├── CMakeLists.txt │ │ ├── edge_edge.cpp │ │ ├── edge_edge.hpp │ │ ├── edge_vertex.cpp │ │ ├── edge_vertex.hpp │ │ ├── face_vertex.cpp │ │ ├── face_vertex.hpp │ │ ├── tangential_collision.cpp │ │ ├── tangential_collision.hpp │ │ ├── tangential_collisions.cpp │ │ ├── tangential_collisions.hpp │ │ ├── vertex_vertex.cpp │ │ └── vertex_vertex.hpp │ ├── config.hpp.in │ ├── distance │ ├── CMakeLists.txt │ ├── distance_type.cpp │ ├── distance_type.hpp │ ├── edge_edge.cpp │ ├── edge_edge.hpp │ ├── edge_edge_mollifier.cpp │ ├── edge_edge_mollifier.hpp │ ├── line_line.cpp │ ├── line_line.hpp │ ├── point_edge.cpp │ ├── point_edge.hpp │ ├── point_line.cpp │ ├── point_line.hpp │ ├── point_plane.cpp │ ├── point_plane.hpp │ ├── point_point.cpp │ ├── point_point.hpp │ ├── point_triangle.cpp │ └── point_triangle.hpp │ ├── friction │ ├── CMakeLists.txt │ ├── smooth_friction_mollifier.cpp │ ├── smooth_friction_mollifier.hpp │ ├── smooth_mu.cpp │ └── smooth_mu.hpp │ ├── geometry │ ├── CMakeLists.txt │ ├── angle.cpp │ ├── angle.hpp │ ├── area.cpp │ ├── area.hpp │ ├── intersection.cpp │ ├── intersection.hpp │ ├── normal.cpp │ └── normal.hpp │ ├── implicits │ ├── CMakeLists.txt │ ├── plane.cpp │ └── plane.hpp │ ├── ipc.cpp │ ├── ipc.hpp │ ├── math │ ├── CMakeLists.txt │ ├── interval.cpp │ ├── interval.hpp │ ├── math.cpp │ ├── math.hpp │ └── math.tpp │ ├── potentials │ ├── CMakeLists.txt │ ├── barrier_potential.cpp │ ├── barrier_potential.hpp │ ├── friction_potential.cpp │ ├── friction_potential.hpp │ ├── normal_adhesion_potential.cpp │ ├── normal_adhesion_potential.hpp │ ├── normal_potential.cpp │ ├── normal_potential.hpp │ ├── potential.cpp │ ├── potential.hpp │ ├── tangential_adhesion_potential.cpp │ ├── tangential_adhesion_potential.hpp │ ├── tangential_potential.cpp │ └── tangential_potential.hpp │ ├── smooth_contact │ ├── CMakeLists.txt │ ├── collisions │ │ ├── CMakeLists.txt │ │ ├── smooth_collision.cpp │ │ └── smooth_collision.hpp │ ├── common.hpp │ ├── distance │ │ ├── CMakeLists.txt │ │ ├── autogen.cpp │ │ ├── autogen.hpp │ │ ├── edge_edge.cpp │ │ ├── edge_edge.hpp │ │ ├── mollifier.cpp │ │ ├── mollifier.hpp │ │ ├── mollifier.tpp │ │ ├── point_edge.cpp │ │ ├── point_edge.hpp │ │ ├── point_face.cpp │ │ ├── point_face.hpp │ │ ├── primitive_distance.cpp │ │ ├── primitive_distance.hpp │ │ └── primitive_distance.tpp │ ├── primitives │ │ ├── CMakeLists.txt │ │ ├── autogen.cpp │ │ ├── autogen.hpp │ │ ├── edge.cpp │ │ ├── edge.hpp │ │ ├── edge2.cpp │ │ ├── edge2.hpp │ │ ├── edge3.cpp │ │ ├── edge3.hpp │ │ ├── face.cpp │ │ ├── face.hpp │ │ ├── point2.cpp │ │ ├── point2.hpp │ │ ├── point3.cpp │ │ ├── point3.hpp │ │ └── primitive.hpp │ ├── smooth_collisions.cpp │ ├── smooth_collisions.hpp │ ├── smooth_collisions_builder.cpp │ ├── smooth_collisions_builder.hpp │ ├── smooth_contact_potential.cpp │ └── smooth_contact_potential.hpp │ ├── tangent │ ├── CMakeLists.txt │ ├── closest_point.cpp │ ├── closest_point.hpp │ ├── relative_velocity.cpp │ ├── relative_velocity.hpp │ ├── tangent_basis.cpp │ └── tangent_basis.hpp │ └── utils │ ├── CMakeLists.txt │ ├── autodiff_types.hpp │ ├── eigen_ext.hpp │ ├── eigen_ext.tpp │ ├── local_to_global.hpp │ ├── logger.cpp │ ├── logger.hpp │ ├── matrix_cache.cpp │ ├── matrix_cache.hpp │ ├── maybe_parallel_for.hpp │ ├── maybe_parallel_for.tpp │ ├── merge_thread_local.hpp │ ├── save_obj.cpp │ ├── save_obj.hpp │ ├── unordered_map_and_set.cpp │ ├── unordered_map_and_set.hpp │ ├── vertex_to_min_edge.cpp │ ├── vertex_to_min_edge.hpp │ └── world_bbox_diagonal_length.hpp └── tests ├── .clang-format ├── CMakeLists.txt └── src └── tests ├── CMakeLists.txt ├── adhesion ├── CMakeLists.txt └── test_adhesion.cpp ├── barrier ├── CMakeLists.txt ├── test_adaptive_stiffness.cpp ├── test_barrier.cpp └── test_barrier_force_magnitude.cpp ├── benchmark_eigen.cpp ├── broad_phase ├── CMakeLists.txt ├── benchmark_broad_phase.cpp ├── brute_force_comparison.cpp ├── brute_force_comparison.hpp ├── test_aabb.cpp ├── test_broad_phase.cpp ├── test_spatial_hash.cpp ├── test_stq.cpp └── test_voxel_size_heuristic.cpp ├── candidates ├── CMakeLists.txt ├── test_candidates.cpp ├── test_coefficients.cpp └── test_normals.cpp ├── ccd ├── CMakeLists.txt ├── benchmark_ccd.cpp ├── collision_generator.cpp ├── collision_generator.hpp ├── test_ccd.cpp ├── test_ccd_benchmark.cpp ├── test_edge_edge_ccd.cpp ├── test_gpu_ccd.cpp ├── test_nonlinear_ccd.cpp ├── test_point_edge_ccd.cpp ├── test_point_point_ccd.cpp └── test_point_triangle_ccd.cpp ├── collisions ├── CMakeLists.txt └── test_normal_collisions.cpp ├── config.hpp.in ├── distance ├── CMakeLists.txt ├── test_distance_type.cpp ├── test_edge_edge.cpp ├── test_edge_edge_mollifier.cpp ├── test_line_line.cpp ├── test_point_edge.cpp ├── test_point_line.cpp ├── test_point_plane.cpp ├── test_point_point.cpp └── test_point_triangle.cpp ├── friction ├── CMakeLists.txt ├── friction_data_generator.cpp ├── friction_data_generator.hpp ├── test_force_jacobian.cpp ├── test_friction.cpp ├── test_smooth_friction_mollifier.cpp └── test_smooth_mu.cpp ├── geometry ├── CMakeLists.txt └── test_angle.cpp ├── main.cpp ├── math ├── CMakeLists.txt └── test_interval.cpp ├── potential ├── CMakeLists.txt ├── test_adhesion_potentials.cpp ├── test_barrier_potential.cpp ├── test_friction_potential.cpp └── test_smooth_potential.cpp ├── tangent ├── CMakeLists.txt ├── test_closest_point.cpp ├── test_relative_velocity.cpp └── test_tangent_basis.cpp ├── test_cfl.cpp ├── test_collision_mesh.cpp ├── test_has_intersections.cpp 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