A Cubic Barrier with Elasticity-Inclusive Dynamic Stiffness

[zfergus]

Description

• Implement the cubic barrier and elasticity-inclusive dynamic stiffness from [Ando 2024]
• Implement $log^2$-barrier from GIPC [Huang et al. 2024]
• Add compute_coefficients() to CollisionStencil – computes the coefficients $\vec{c}$ s.t. $d(x) = \Vert \sum c_i x_i\Vert^2$
• Add compute_distance() to CollisionStencil taking $V$, $E$, $F$ directly

ToDo:

• Add semi_implicit_stiffness to Python bindings
• Add per collision stencil stiffness support

Type of change

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

How Has This Been Tested?

• New unit tests

Test Configuration:

• OS and Version: macOS 15.2
• Compiler and Version: Apple clang version 16.0.0

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

Attention: Patch coverage is 97.32620% with 5 lines in your changes missing coverage. Please review.

Project coverage is 96.32%. Comparing base (c79a67a) to head (f54a627).
Report is 1 commits behind head on main.

Files with missing lines	Patch %	Lines
src/ipc/barrier/barrier.hpp	0.00%	4 Missing ⚠️
src/ipc/barrier/adaptive_stiffness.cpp	97.56%	1 Missing ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##             main     #148      +/-   ##
==========================================
+ Coverage   96.11%   96.32%   +0.20%     
==========================================
  Files         103      103              
  Lines        7600     7780     +180     
==========================================
+ Hits         7305     7494     +189     
+ Misses        295      286       -9     

Flag	Coverage Δ
unittests	96.32% <97.32%> (+0.20%)	⬆️

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