Geometric Contact Potential

[Huangzizhou]

Description

Implementation of Siggraph 2025 paper Geometric Contact Potential. The implementation includes the collision and friction potential, their gradient and Hessian.

Type of change

Please delete options that are not relevant.

• New feature (non-breaking change which adds functionality)

Checklist

• I have followed the project style guide
• My code follows the clang-format style guidelines of this project
• I have performed a self-review of my code
• I have commented my code, particularly in hard-to-understand areas
• I have made corresponding changes to the documentation
• My changes generate no new warnings
• I have added tests that prove my fix is effective or that my feature works
• New and existing unit tests pass locally with my changes
• Any dependent changes have been merged and published in downstream modules

[codecov]

Codecov Report

❌ Patch coverage is 75.92202% with 914 lines in your changes missing coverage. Please review.
✅ Project coverage is 89.49%. Comparing base (764f6d0) to head (b746117).

Files with missing lines	Patch %	Lines
src/ipc/utils/MatrixCache.cpp	17.24%	192 Missing ⚠️
...ipc/smooth_contact/distance/primitive_distance.cpp	40.12%	97 Missing ⚠️
src/ipc/smooth_contact/primitives/point3.cpp	77.84%	72 Missing ⚠️
src/ipc/potentials/tangential_potential.cpp	69.81%	67 Missing ⚠️
src/ipc/smooth_contact/distance/point_face.cpp	58.50%	61 Missing ⚠️
src/ipc/smooth_contact/distance/point_edge.cpp	49.55%	57 Missing ⚠️
src/ipc/smooth_contact/primitives/point2.cpp	48.64%	57 Missing ⚠️
src/ipc/smooth_contact/smooth_collisions.cpp	70.68%	51 Missing ⚠️
src/ipc/collision_mesh.cpp	53.75%	37 Missing ⚠️
src/ipc/smooth_contact/distance/edge_edge.cpp	83.20%	22 Missing ⚠️
... and 23 more

Additional details and impacted files

@@            Coverage Diff             @@
##             main     #191      +/-   ##
==========================================
- Coverage   96.03%   89.49%   -6.55%     
==========================================
  Files         105      144      +39     
  Lines        8100    25597   +17497     
==========================================
+ Hits         7779    22907   +15128     
- Misses        321     2690    +2369     

Flag	Coverage Δ
unittests	89.49% <75.92%> (-6.55%)	⬇️

Flags with carried forward coverage won't be shown. Click here to find out more.

☔ View full report in Codecov by Sentry.
📢 Have feedback on the report? Share it here.

🚀 New features to boost your workflow:

• ❄️ Test Analytics: Detect flaky tests, report on failures, and find test suite problems.