ipc-sim · zfergus · Feb 16, 2023 · Feb 16, 2023 · Feb 16, 2023 · Feb 17, 2023
diff --git a/.github/workflows/continuous.yml b/.github/workflows/continuous.yml
@@ -23,24 +23,23 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        os: [ubuntu-18.04, ubuntu-20.04, macos-latest]
+        os: [ubuntu-latest, macos-latest]
         config: [Debug, Release]
         include:
           - os: macos-latest
             name: macOS
-          - os: ubuntu-18.04
-            name: Linux
-          - os: ubuntu-20.04
+          - os: ubuntu-latest
             name: Linux
     steps:
       - name: Checkout repository
-        uses: actions/checkout@v1
+        uses: actions/checkout@v2.5.0
         with:
           fetch-depth: 10
 
       - name: Dependencies (Linux)
         if: runner.os == 'Linux'
         run: |
+            sudo apt-get update
             sudo apt-get install \
             ccache \
             xorg-dev \
@@ -83,54 +82,49 @@ jobs:
 
   Windows:
     runs-on: windows-latest
-    env:
-      CC: cl.exe
-      CXX: cl.exe
     strategy:
       fail-fast: false
       matrix:
         config: [Debug, Release]
     steps:
       - name: Checkout repository
-        uses: actions/checkout@v1
+        uses: actions/checkout@v2.5.0
         with:
           fetch-depth: 10
-      - uses: seanmiddleditch/gha-setup-ninja@master
 
-        # https://github.com/actions/cache/issues/101
-      - name: Set env
+      - name: Install Ninja
+        uses: seanmiddleditch/gha-setup-ninja@master
+
+      - name: Set env variable for sccache
         run: |
           echo "appdata=$env:LOCALAPPDATA" >> ${env:GITHUB_ENV}
 
       - name: Cache build
         id: cache-build
-        uses: actions/cache@v1
+        uses: actions/cache@v3.0.11
         with:
           path: ${{ env.appdata }}\Mozilla\sccache
           key: ${{ runner.os }}-${{ matrix.config }}-cache
 
       - name: Prepare sccache
         run: |
-          Invoke-Expression (New-Object System.Net.WebClient).DownloadString('https://get.scoop.sh')
+          iwr -useb 'https://raw.githubusercontent.com/scoopinstaller/install/master/install.ps1' -outfile 'install.ps1'
+          .\install.ps1 -RunAsAdmin
           scoop install sccache --global
           # Scoop modifies the PATH so we make it available for the next steps of the job
           echo "${env:PATH}" >> ${env:GITHUB_PATH}
 
-        # We run configure + build in the same step, since they both need to call VsDevCmd
-        # Also, cmd uses ^ to break commands into multiple lines (in powershell this is `)
       - name: Configure and build
         shell: cmd
         run: |
-          call "C:\Program Files (x86)\Microsoft Visual Studio\2019\Enterprise\Common7\Tools\VsDevCmd.bat" -arch=x64
-          cmake --version
+          call "C:\Program Files\Microsoft Visual Studio\2022\Enterprise\Common7\Tools\VsDevCmd.bat" -arch=x64
           cmake -G Ninja ^
             -DCMAKE_CXX_COMPILER_LAUNCHER=sccache ^
             -DCMAKE_BUILD_TYPE=${{ matrix.config }} ^
             -DRIGID_IPC_WITH_UNIT_TESTS=ON ^
             -B build ^
             -S .
-          cd build
-          ninja -j4
+          cmake --build build -j1
 
       - name: Tests
-        run: cd build; ctest --verbose
+        run: cd build; ctest --verbose -j2
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -41,7 +41,7 @@ option(RIGID_IPC_WITH_DERIVATIVE_CHECK      "Check derivatives using finite diff
 
 # Set default minimum C++ standard
 if(RIGID_IPC_TOPLEVEL_PROJECT)
-    set(CMAKE_CXX_STANDARD 14)
+    set(CMAKE_CXX_STANDARD 17)
     set(CMAKE_CXX_STANDARD_REQUIRED ON)
     set(CMAKE_CXX_EXTENSIONS OFF)
 endif()
@@ -55,29 +55,15 @@ include(rigid_ipc_use_colors)
 
 include(rigid_ipc_autogen)
 
-mark_as_advanced(CLEAR CMAKE_BUILD_TYPE)
-
 ################################################################################
 # External project settings
 ################################################################################
 
 # libigl options
-option(LIBIGL_USE_STATIC_LIBRARY "Use libigl as static library" OFF)
-option(LIBIGL_WITH_PREDICATES    "Use exact predicates"          ON)
-set(LIBIGL_WITH_OPENGL_GLFW_IMGUI ${RIGID_IPC_WITH_OPENGL} CACHE BOOL "Use OpenGL" FORCE)
-set(LIBIGL_WITH_OPENGL_GLFW       ${RIGID_IPC_WITH_OPENGL} CACHE BOOL "Use GLFW"   FORCE)
-set(LIBIGL_WITH_OPENGL            ${RIGID_IPC_WITH_OPENGL} CACHE BOOL "Use IMGUI"  FORCE)
-set(LIBIGL_WITH_PNG               ${RIGID_IPC_WITH_OPENGL} CACHE BOOL "Use PNG"    FORCE)
-
-# PolySolve settings
-option(POLYSOLVE_WITH_CHOLMOD          "Enable Cholmod library"            ON)
-option(POLYSOLVE_WITH_UMFPACK          "Enable UmfPack library"            OFF)
-option(POLYSOLVE_WITH_SUPERLU          "Enable SuperLU library"            OFF)
-option(POLYSOLVE_WITH_MKL              "Enable MKL library"                OFF)
-option(POLYSOLVE_WITH_PARDISO          "Enable Pardiso library"            OFF)
-option(POLYSOLVE_WITH_HYPRE            "Enable hypre"                      OFF)
-option(POLYSOLVE_WITH_AMGCL            "Use AMGCL"                         OFF)
-option(POLYSOLVE_WITH_SPECTRA          "Enable computing spectrum"         OFF)
+set(LIBIGL_GLFW   ${RIGID_IPC_WITH_OPENGL} CACHE BOOL "Build target igl::glfw"   FORCE)
+set(LIBIGL_IMGUI  ${RIGID_IPC_WITH_OPENGL} CACHE BOOL "Build target igl::imgui"  FORCE)
+set(LIBIGL_OPENGL ${RIGID_IPC_WITH_OPENGL} CACHE BOOL "Build target igl::opengl" FORCE)
+set(LIBIGL_PNG    ${RIGID_IPC_WITH_OPENGL} CACHE BOOL "Build target igl::png"    FORCE)
 
 set(TIGHT_INCLUSION_WITH_NO_ZERO_TOI OFF CACHE BOOL "Enable refinement if CCD produces a zero ToI" FORCE)
 
@@ -88,13 +74,14 @@ set(TIGHT_INCLUSION_WITH_NO_ZERO_TOI OFF CACHE BOOL "Enable refinement if CCD pr
 add_library(ipc_rigid
   src/autodiff/autodiff.cpp
 
+
   src/utils/sinc.cpp
 
   src/ccd/impact.cpp
   src/ccd/ccd.cpp
   src/ccd/linear/broad_phase.cpp
   src/ccd/piecewise_linear/time_of_impact.cpp
-  src/interval/filib_rounding.cpp
+  src/interval/interval.cpp
   src/interval/interval_root_finder.cpp
   src/ccd/rigid/broad_phase.cpp
   src/ccd/rigid/rigid_body_hash_grid.cpp
@@ -199,7 +186,7 @@ target_link_libraries(ipc_rigid PUBLIC
 
 # JSON Parser
 include(json)
-target_link_libraries(ipc_rigid PUBLIC nlohmann::json)
+target_link_libraries(ipc_rigid PUBLIC nlohmann_json::nlohmann_json)
 
 # Logger
 include(spdlog)
@@ -209,10 +196,6 @@ target_link_libraries(ipc_rigid PUBLIC spdlog::spdlog)
 include(finite_diff)
 target_link_libraries(ipc_rigid PUBLIC finitediff::finitediff)
 
-# Boost
-include(boost)
-target_link_libraries(ipc_rigid PUBLIC Boost::boost)
-
 # TBB
 include(tbb)
 target_link_libraries(ipc_rigid PUBLIC TBB::tbb)
@@ -221,10 +204,6 @@ target_link_libraries(ipc_rigid PUBLIC TBB::tbb)
 include(tight_inclusion)
 target_link_libraries(ipc_rigid PUBLIC tight_inclusion::tight_inclusion)
 
-# PolySolve for wrapping linear solvers
-include(polysolve)
-target_link_libraries(ipc_rigid PUBLIC PolyFEM::polysolve)
-
 # IPC Toolkit
 include(ipc_toolkit)
 target_link_libraries(ipc_rigid PUBLIC ipc::toolkit)
@@ -241,10 +220,6 @@ target_link_libraries(ipc_rigid PUBLIC simple_bvh::simple_bvh)
 include(tinygltf)
 target_link_libraries(ipc_rigid PUBLIC tinygltf::tinygltf)
 
-# Filesystem
-include(filesystem)
-target_link_libraries(ipc_rigid PUBLIC ghc::filesystem)
-
 ################################################################################
 # Compiler options
 ################################################################################
@@ -296,9 +271,8 @@ target_link_libraries(rigid_ipc_sim PUBLIC CLI11::CLI11)
 if(RIGID_IPC_WITH_OPENGL)
     target_compile_definitions(rigid_ipc_sim PUBLIC RIGID_IPC_WITH_OPENGL)
 
-    include(libigl)
     target_link_libraries(rigid_ipc_sim PUBLIC
-        igl::opengl igl::opengl_glfw igl::opengl_glfw_imgui igl::png)
+        igl::opengl igl::glfw igl::imgui igl::png)
 
     # Charlie Tangora's gif-h library
     include(gif_h)

diff --git a/cmake/recipes/boost.cmake b/cmake/recipes/boost.cmake
diff --git a/cmake/recipes/eigen.cmake b/cmake/recipes/eigen.cmake
@@ -13,7 +13,7 @@ if(TARGET Eigen3::Eigen)
     return()
 endif()
 
-option(EIGEN_WITH_MKL "Use Eigen with MKL" OFF)
+# option(EIGEN_WITH_MKL "Use Eigen with MKL" OFF)
 
 if(EIGEN_ROOT)
     message(STATUS "Third-party: creating target 'Eigen3::Eigen' for external path: ${EIGEN_ROOT}")
@@ -25,7 +25,7 @@ else()
     FetchContent_Declare(
         eigen
         GIT_REPOSITORY https://gitlab.com/libeigen/eigen.git
-        GIT_TAG tags/3.3.7
+        GIT_TAG tags/3.4.0
         GIT_SHALLOW TRUE
     )
     FetchContent_GetProperties(eigen)
@@ -49,16 +49,16 @@ target_include_directories(Eigen3_Eigen SYSTEM INTERFACE
 )
 # target_compile_definitions(Eigen3_Eigen INTERFACE EIGEN_MPL2_ONLY)
 
-if(EIGEN_WITH_MKL)
-    # TODO: Checks that, on 64bits systems, `mkl::mkl` is using the LP64 interface
-    # (by looking at the compile definition of the target)
-    include(mkl)
-    target_link_libraries(Eigen3_Eigen INTERFACE mkl::mkl)
-    target_compile_definitions(Eigen3_Eigen INTERFACE
-        EIGEN_USE_MKL_ALL
-        EIGEN_USE_LAPACKE_STRICT
-    )
-endif()
+# if(EIGEN_WITH_MKL)
+#     # TODO: Checks that, on 64bits systems, `mkl::mkl` is using the LP64 interface
+#     # (by looking at the compile definition of the target)
+#     include(mkl)
+#     target_link_libraries(Eigen3_Eigen INTERFACE mkl::mkl)
+#     target_compile_definitions(Eigen3_Eigen INTERFACE
+#         EIGEN_USE_MKL_ALL
+#         EIGEN_USE_LAPACKE_STRICT
+#     )
+# endif()
 
 # On Windows, enable natvis files to improve debugging experience
 if(WIN32 AND eigen_SOURCE_DIR)

diff --git a/cmake/recipes/filesystem.cmake b/cmake/recipes/filesystem.cmake
diff --git a/cmake/recipes/json.cmake b/cmake/recipes/json.cmake
@@ -9,11 +9,13 @@
 # OF ANY KIND, either express or implied. See the License for the specific language
 # governing permissions and limitations under the License.
 #
-if(TARGET nlohmann::json)
+
+# JSON MIT
+if(TARGET nlohmann_json::nlohmann_json)
     return()
 endif()
 
-message(STATUS "Third-party: creating target 'nlohmann::json'")
+message(STATUS "Third-party: creating target 'nlohmann_json::nlohmann_json'")
 
 # nlohmann_json is a big repo for a single header, so we just download the release archive
 set(NLOHMANNJSON_VERSION "v3.10.2")
@@ -27,7 +29,7 @@ FetchContent_Declare(
 FetchContent_MakeAvailable(nlohmann_json)
 
 add_library(nlohmann_json INTERFACE)
-add_library(nlohmann::json ALIAS nlohmann_json)
+add_library(nlohmann_json::nlohmann_json ALIAS nlohmann_json)
 
 include(GNUInstallDirs)
 target_include_directories(nlohmann_json INTERFACE