Update dependencies

CMakeLists.txt

@@ -72,13 +72,14 @@ 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
@@ -193,10 +194,6 @@ 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(onetbb)
 target_link_libraries(ipc_rigid PUBLIC TBB::tbb)

src/SimState.cpp

@@ -153,14 +153,7 @@ bool SimState::init(const nlohmann::json& args_in)
             "energy_conv_tol": null,
             "velocity_conv_tol": null,
             "is_velocity_conv_tol_abs": false,
-            "line_search_lower_bound": null,
-            "linear_solver": {
-                "name": "Eigen::SimplicialLDLT",
-                "max_iter": 1000,
-                "tolerance": 1e-10,
-                "pre_max_iter": 1,
-                "mtype": 2
-            }
+            "line_search_lower_bound": null
         },
         "ipc_solver": {
             "dhat_epsilon": 1e-9,

src/ccd/rigid/rigid_body_bvh.hpp

@@ -30,7 +30,7 @@ inline AABB vertex_aabb(const VectorMax3I& v, double inflation_radius = 0)
     VectorMax3d min(v.size());
     VectorMax3d max(v.size());
     for (int i = 0; i < v.size(); i++) {
-        if (empty(v(i))) {
+        if (v(i).is_empty()) {
             throw "interval is empty";
         }
         min(i) = (v(i) - inflation_radius).lower();

src/ccd/rigid/rigid_body_hash_grid.cpp

@@ -221,7 +221,7 @@ int RigidBodyHashGrid::compute_vertices_intervals(
 
     // If the vertices' intervals are outside the scene bbox, then split t in
     // hopes that a smaller interval will be more accurate.
-    std::pair<Interval, Interval> t_halves = bisect(t);
+    std::pair<Interval, Interval> t_halves = t.bisect();
     MatrixXI V_first, V_second;
     int n_subs0 = compute_vertices_intervals(
         body, pose_t0, pose_t1, V_first, inflation_radius, t_halves.first,
@@ -236,7 +236,7 @@ int RigidBodyHashGrid::compute_vertices_intervals(
     // Take the hull of the two halves of the vertices' trajectories
     for (int i = 0; i < vertices.rows(); i++) {
         for (int j = 0; j < vertices.cols(); j++) {
-            vertices(i, j) = hull(V_first(i, j), V_second(i, j));
+            vertices(i, j) = V_first(i, j) | V_second(i, j);
             assert(vertices(i, j).lower() - inflation_radius >= m_domainMin(j));
             assert(vertices(i, j).upper() + inflation_radius <= m_domainMax(j));
         }
@@ -253,7 +253,7 @@ intervals_to_AABB(const Eigen::MatrixBase<Derived>& x, double inflation_radius)
     VectorMax3d min(x.size());
     VectorMax3d max(x.size());
     for (int i = 0; i < x.size(); i++) {
-        if (empty(x(i))) {
+        if (x(i).is_empty()) {
             throw "interval is empty";
         }
         min(i) = x(i).lower() - inflation_radius;

src/ccd/rigid/time_of_impact.cpp

@@ -276,7 +276,7 @@ bool compute_face_vertex_time_of_impact(
     const auto is_domain_valid = [&](const VectorMax3I& params) {
         const Interval &t = params[0], &u = params[1], &v = params[2];
         // 0 ≤ t, u, v ≤ 1 is satisfied by the initial domain of the solve
-        return overlap(u + v, Interval(0, 1));
+        return (u + v).overlaps(Interval(0, 1));
     };
 
     Eigen::Vector3d tol = compute_face_vertex_tolerance(

src/geometry/intersection.cpp

@@ -16,10 +16,10 @@ bool is_point_along_edge(
 
     Interval alpha = point_edge_closest_point(p, e0, e1);
     // Check this in case empty intervals are not allowed
-    if (!overlap(alpha, Interval(0, 1))) {
+    if (!alpha.overlaps(Interval(0, 1))) {
         return false;
     }
-    Interval valid_alpha = boost::numeric::intersect(alpha, Interval(0, 1));
+    Interval valid_alpha = alpha & Interval(0, 1);
 
     // Check the distance to the closest point is small
     VectorMax3I edge_to_point = e0 + valid_alpha * e - p;