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Merged
zfergus merged 3 commits into from
Jan 12, 2026
Merged

Remove const shared_ptr<T>& parameters #205

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f775b73
Remove const shared_ptr<T>& parameters
zfergus Jan 12, 2026
8bced0f
Fix test_stq.cpp
zfergus Jan 12, 2026
2696492
Refactor barrier potential constructors to use std::move for shared_p…
zfergus Jan 12, 2026
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4 changes: 2 additions & 2 deletions docs/source/tutorials/getting_started.rst
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Expand Up @@ -519,9 +519,9 @@ The ``Candidates`` class represents the culled set of candidate pairs and is bui
#include <ipc/candidates/candidates.hpp>

ipc::Candidates candidates;
ipc::HashGrid broad_phase;
candidates.build(
mesh, vertices_t0, vertices_t1, /*inflation_radius=*/0.0,
/*broad_phase=*/std::make_shared<ipc::HashGrid>());
mesh, vertices_t0, vertices_t1, /*inflation_radius=*/0.0, broad_phase);

.. md-tab-item:: Python

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15 changes: 6 additions & 9 deletions python/src/candidates/candidates.cpp
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Expand Up @@ -12,8 +12,7 @@ void define_candidates(py::module_& m)
"build",
py::overload_cast<
const CollisionMesh&, Eigen::ConstRef<Eigen::MatrixXd>,
const double, const std::shared_ptr<BroadPhase>&>(
&Candidates::build),
const double, BroadPhase*>(&Candidates::build),
R"ipc_Qu8mg5v7(
Initialize the set of discrete collision detection candidates.

Expand All @@ -24,13 +23,13 @@ void define_candidates(py::module_& m)
broad_phase: Broad phase to use.
)ipc_Qu8mg5v7",
"mesh"_a, "vertices"_a, "inflation_radius"_a = 0,
"broad_phase"_a = make_default_broad_phase())
"broad_phase"_a = nullptr)
.def(
"build",
py::overload_cast<
const CollisionMesh&, Eigen::ConstRef<Eigen::MatrixXd>,
Eigen::ConstRef<Eigen::MatrixXd>, const double,
const std::shared_ptr<BroadPhase>&>(&Candidates::build),
Eigen::ConstRef<Eigen::MatrixXd>, const double, BroadPhase*>(
&Candidates::build),
R"ipc_Qu8mg5v7(
Initialize the set of continuous collision detection candidates.

Expand All @@ -45,8 +44,7 @@ void define_candidates(py::module_& m)
broad_phase: Broad phase to use.
)ipc_Qu8mg5v7",
"mesh"_a, "vertices_t0"_a, "vertices_t1"_a,
"inflation_radius"_a = 0,
"broad_phase"_a = make_default_broad_phase())
"inflation_radius"_a = 0, "broad_phase"_a = nullptr)
.def("__len__", &Candidates::size)
.def("empty", &Candidates::empty)
.def("clear", &Candidates::clear)
Expand Down Expand Up @@ -124,8 +122,7 @@ void define_candidates(py::module_& m)
narrow_phase_ccd: Narrow phase CCD algorithm to use.
)ipc_Qu8mg5v7",
"mesh"_a, "vertices_t0"_a, "vertices_t1"_a, "dhat"_a,
"min_distance"_a = 0.0,
"broad_phase"_a = make_default_broad_phase(),
"min_distance"_a = 0.0, "broad_phase"_a = nullptr,
"narrow_phase_ccd"_a = DEFAULT_NARROW_PHASE_CCD)
.def(
"save_obj", &Candidates::save_obj, "filename"_a, "vertices"_a,
Expand Down
10 changes: 5 additions & 5 deletions python/src/collisions/normal/normal_collisions.cpp
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Expand Up @@ -23,8 +23,8 @@ void define_smooth_collisions(py::module_& m, std::string name)
"build",
py::overload_cast<
const CollisionMesh&, Eigen::ConstRef<Eigen::MatrixXd>,
const SmoothContactParameters, const bool,
const std::shared_ptr<BroadPhase>&>(&SmoothCollisions::build),
const SmoothContactParameters, const bool, BroadPhase*>(
&SmoothCollisions::build),
R"ipc_Qu8mg5v7(
Initialize the set of collisions used to compute the barrier potential.

Expand All @@ -37,7 +37,7 @@ void define_smooth_collisions(py::module_& m, std::string name)
)ipc_Qu8mg5v7",
py::arg("mesh"), py::arg("vertices"), py::arg("param"),
py::arg("use_adaptive_dhat") = false,
py::arg("broad_phase") = make_default_broad_phase())
py::arg("broad_phase") = nullptr)
.def(
"compute_minimum_distance",
&SmoothCollisions::compute_minimum_distance,
Expand Down Expand Up @@ -89,7 +89,7 @@ void define_normal_collisions(py::module_& m)
"build",
py::overload_cast<
const CollisionMesh&, Eigen::ConstRef<Eigen::MatrixXd>,
const double, const double, const std::shared_ptr<BroadPhase>&>(
const double, const double, BroadPhase*>(
&NormalCollisions::build),
R"ipc_Qu8mg5v7(
Initialize the set of collisions used to compute the barrier potential.
Expand All @@ -102,7 +102,7 @@ void define_normal_collisions(py::module_& m)
broad_phase: Broad-phase to use.
)ipc_Qu8mg5v7",
"mesh"_a, "vertices"_a, "dhat"_a, "dmin"_a = 0,
"broad_phase"_a = make_default_broad_phase())
"broad_phase"_a = nullptr)
.def(
"build",
py::overload_cast<
Expand Down
6 changes: 3 additions & 3 deletions python/src/ipc.cpp
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Expand Up @@ -31,7 +31,7 @@ void define_ipc(py::module_& m)
True if <b>any</b> collisions occur.
)ipc_Qu8mg5v7",
"mesh"_a, "vertices_t0"_a, "vertices_t1"_a, "min_distance"_a = 0.0,
"broad_phase"_a = make_default_broad_phase(),
"broad_phase"_a = nullptr,
"narrow_phase_ccd"_a = DEFAULT_NARROW_PHASE_CCD);

m.def(
Expand All @@ -54,7 +54,7 @@ void define_ipc(py::module_& m)
A step-size :math:`\in [0, 1]` that is collision free. A value of 1.0 if a full step and 0.0 is no step.
)ipc_Qu8mg5v7",
"mesh"_a, "vertices_t0"_a, "vertices_t1"_a, "min_distance"_a = 0.0,
"broad_phase"_a = make_default_broad_phase(),
"broad_phase"_a = nullptr,
"narrow_phase_ccd"_a = DEFAULT_NARROW_PHASE_CCD);

m.def(
Expand All @@ -70,7 +70,7 @@ void define_ipc(py::module_& m)
Returns:
A boolean for if the mesh has intersections.
)ipc_Qu8mg5v7",
"mesh"_a, "vertices"_a, "broad_phase"_a = make_default_broad_phase());
"mesh"_a, "vertices"_a, "broad_phase"_a = nullptr);

m.def(
"edges",
Expand Down
6 changes: 4 additions & 2 deletions src/ipc/broad_phase/default_broad_phase.hpp
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Expand Up @@ -2,11 +2,13 @@

#include <ipc/broad_phase/hash_grid.hpp>

#include <memory>

namespace ipc {

inline std::shared_ptr<BroadPhase> make_default_broad_phase()
inline std::unique_ptr<BroadPhase> make_default_broad_phase()
{
return std::make_shared<HashGrid>();
return std::make_unique<HashGrid>();
}

} // namespace ipc
18 changes: 13 additions & 5 deletions src/ipc/candidates/candidates.cpp
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Expand Up @@ -36,9 +36,13 @@ void Candidates::build(
const CollisionMesh& mesh,
Eigen::ConstRef<Eigen::MatrixXd> vertices,
const double inflation_radius,
const std::shared_ptr<BroadPhase>& broad_phase)
BroadPhase* broad_phase)
{
assert(broad_phase != nullptr);
std::unique_ptr<BroadPhase> default_broad_phase;
if (broad_phase == nullptr) {
default_broad_phase = make_default_broad_phase();
broad_phase = default_broad_phase.get();
}

const int dim = vertices.cols();

Expand Down Expand Up @@ -108,9 +112,13 @@ void Candidates::build(
Eigen::ConstRef<Eigen::MatrixXd> vertices_t0,
Eigen::ConstRef<Eigen::MatrixXd> vertices_t1,
const double inflation_radius,
const std::shared_ptr<BroadPhase>& broad_phase)
BroadPhase* broad_phase)
{
assert(broad_phase != nullptr);
std::unique_ptr<BroadPhase> default_broad_phase;
if (broad_phase == nullptr) {
default_broad_phase = make_default_broad_phase();
broad_phase = default_broad_phase.get();
}

const int dim = vertices_t0.cols();

Expand Down Expand Up @@ -301,7 +309,7 @@ double Candidates::compute_cfl_stepsize(
Eigen::ConstRef<Eigen::MatrixXd> vertices_t1,
const double dhat,
const double min_distance,
const std::shared_ptr<BroadPhase>& broad_phase,
BroadPhase* broad_phase,
const NarrowPhaseCCD& narrow_phase_ccd) const
{
assert(vertices_t0.rows() == mesh.num_vertices());
Expand Down
9 changes: 3 additions & 6 deletions src/ipc/candidates/candidates.hpp
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Expand Up @@ -26,8 +26,7 @@ class Candidates {
const CollisionMesh& mesh,
Eigen::ConstRef<Eigen::MatrixXd> vertices,
const double inflation_radius = 0,
const std::shared_ptr<BroadPhase>& broad_phase =
make_default_broad_phase());
BroadPhase* broad_phase = nullptr);

/// @brief Initialize the set of continuous collision detection candidates.
/// @note Assumes the trajectory is linear.
Expand All @@ -41,8 +40,7 @@ class Candidates {
Eigen::ConstRef<Eigen::MatrixXd> vertices_t0,
Eigen::ConstRef<Eigen::MatrixXd> vertices_t1,
const double inflation_radius = 0,
const std::shared_ptr<BroadPhase>& broad_phase =
make_default_broad_phase());
BroadPhase* broad_phase = nullptr);

/// @brief Get the number of collision candidates.
/// @return The number of collision candidates.
Expand Down Expand Up @@ -120,8 +118,7 @@ class Candidates {
Eigen::ConstRef<Eigen::MatrixXd> vertices_t1,
const double dhat,
const double min_distance = 0.0,
const std::shared_ptr<BroadPhase>& broad_phase =
make_default_broad_phase(),
BroadPhase* broad_phase = nullptr,
const NarrowPhaseCCD& narrow_phase_ccd =
DEFAULT_NARROW_PHASE_CCD) const;

Expand Down
2 changes: 1 addition & 1 deletion src/ipc/collisions/normal/normal_collisions.cpp
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Expand Up @@ -145,7 +145,7 @@ void NormalCollisions::build(
Eigen::ConstRef<Eigen::MatrixXd> vertices,
const double dhat,
const double dmin,
const std::shared_ptr<BroadPhase>& broad_phase)
BroadPhase* broad_phase)
{
assert(vertices.rows() == mesh.num_vertices());

Expand Down
3 changes: 1 addition & 2 deletions src/ipc/collisions/normal/normal_collisions.hpp
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Expand Up @@ -34,8 +34,7 @@ class NormalCollisions {
Eigen::ConstRef<Eigen::MatrixXd> vertices,
const double dhat,
const double dmin = 0,
const std::shared_ptr<BroadPhase>& broad_phase =
make_default_broad_phase());
BroadPhase* broad_phase = nullptr);

/// @brief Initialize the set of collisions used to compute the barrier potential.
/// @param candidates Distance candidates from which the collision set is built.
Expand Down
11 changes: 11 additions & 0 deletions src/ipc/config.hpp.in
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Expand Up @@ -22,7 +22,18 @@
namespace ipc {

// Type definitions
#cmakedefine IPC_TOOLKIT_USE_64BIT_INDICES
#ifdef IPC_TOOLKIT_USE_64BIT_INDICES
using index_t = int64_t;
#else
using index_t = int32_t;
#endif

// #cmakedefine IPC_TOOLKIT_USE_DOUBLE_PRECISION
// #ifdef IPC_TOOLKIT_USE_DOUBLE_PRECISION
// using scalar_t = double;
// #else
// using scalar_t = float;
// #endif

Comment on lines +32 to 38
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Copilot AI Jan 12, 2026

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The changes to index_t type definitions and commented-out scalar_t definitions appear to be unrelated to the PR's stated purpose of removing const shared_ptr<T>& parameters. These changes introduce conditional 64-bit index support, which should be part of a separate PR focused on that feature.

Suggested change
// #cmakedefine IPC_TOOLKIT_USE_DOUBLE_PRECISION
// #ifdef IPC_TOOLKIT_USE_DOUBLE_PRECISION
// using scalar_t = double;
// #else
// using scalar_t = float;
// #endif

Copilot uses AI. Check for mistakes.
} // namespace ipc
20 changes: 15 additions & 5 deletions src/ipc/ipc.cpp
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Expand Up @@ -19,7 +19,7 @@ bool is_step_collision_free(
Eigen::ConstRef<Eigen::MatrixXd> vertices_t0,
Eigen::ConstRef<Eigen::MatrixXd> vertices_t1,
const double min_distance,
const std::shared_ptr<BroadPhase>& broad_phase,
BroadPhase* broad_phase,
const NarrowPhaseCCD& narrow_phase_ccd)
{
assert(vertices_t0.rows() == mesh.num_vertices());
Expand All @@ -43,13 +43,18 @@ double compute_collision_free_stepsize(
Eigen::ConstRef<Eigen::MatrixXd> vertices_t0,
Eigen::ConstRef<Eigen::MatrixXd> vertices_t1,
const double min_distance,
const std::shared_ptr<BroadPhase>& broad_phase,
BroadPhase* broad_phase,
const NarrowPhaseCCD& narrow_phase_ccd)
{
assert(broad_phase != nullptr);
assert(vertices_t0.rows() == mesh.num_vertices());
assert(vertices_t1.rows() == mesh.num_vertices());

std::unique_ptr<BroadPhase> default_broad_phase;
if (broad_phase == nullptr) {
default_broad_phase = make_default_broad_phase();
broad_phase = default_broad_phase.get();
}

#ifdef IPC_TOOLKIT_WITH_CUDA
if (broad_phase->name() == "SweepAndTiniestQueue") {
if (vertices_t0.cols() != 3) {
Expand Down Expand Up @@ -91,11 +96,16 @@ double compute_collision_free_stepsize(
bool has_intersections(
const CollisionMesh& mesh,
Eigen::ConstRef<Eigen::MatrixXd> vertices,
const std::shared_ptr<BroadPhase>& broad_phase)
BroadPhase* broad_phase)
{
assert(broad_phase != nullptr);
assert(vertices.rows() == mesh.num_vertices());

std::unique_ptr<BroadPhase> default_broad_phase;
if (broad_phase == nullptr) {
default_broad_phase = make_default_broad_phase();
broad_phase = default_broad_phase.get();
}

const double conservative_inflation_radius =
1e-6 * world_bbox_diagonal_length(vertices);

Expand Down
7 changes: 3 additions & 4 deletions src/ipc/ipc.hpp
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Expand Up @@ -27,7 +27,7 @@ bool is_step_collision_free(
Eigen::ConstRef<Eigen::MatrixXd> vertices_t0,
Eigen::ConstRef<Eigen::MatrixXd> vertices_t1,
const double min_distance = 0.0,
const std::shared_ptr<BroadPhase>& broad_phase = make_default_broad_phase(),
BroadPhase* broad_phase = nullptr,
const NarrowPhaseCCD& narrow_phase_ccd = DEFAULT_NARROW_PHASE_CCD);

/// @brief Computes a maximal step size that is collision free.
Expand All @@ -44,7 +44,7 @@ double compute_collision_free_stepsize(
Eigen::ConstRef<Eigen::MatrixXd> vertices_t0,
Eigen::ConstRef<Eigen::MatrixXd> vertices_t1,
const double min_distance = 0.0,
const std::shared_ptr<BroadPhase>& broad_phase = make_default_broad_phase(),
BroadPhase* broad_phase = nullptr,
const NarrowPhaseCCD& narrow_phase_ccd = DEFAULT_NARROW_PHASE_CCD);

// ============================================================================
Expand All @@ -58,7 +58,6 @@ double compute_collision_free_stepsize(
bool has_intersections(
const CollisionMesh& mesh,
Eigen::ConstRef<Eigen::MatrixXd> vertices,
const std::shared_ptr<BroadPhase>& broad_phase =
make_default_broad_phase());
BroadPhase* broad_phase = nullptr);

} // namespace ipc
6 changes: 3 additions & 3 deletions src/ipc/potentials/barrier_potential.cpp
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Expand Up @@ -13,15 +13,15 @@ BarrierPotential::BarrierPotential(
}

BarrierPotential::BarrierPotential(
const std::shared_ptr<Barrier>& barrier,
std::shared_ptr<Barrier> barrier,
const double dhat,
const bool use_physical_barrier)
: m_barrier(barrier)
: m_barrier(std::move(barrier))
, m_dhat(dhat)
, m_use_physical_barrier(use_physical_barrier)
{
assert(dhat > 0);
assert(barrier != nullptr);
assert(m_barrier != nullptr);
}

double BarrierPotential::force_magnitude(
Expand Down
2 changes: 1 addition & 1 deletion src/ipc/potentials/barrier_potential.hpp
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Expand Up @@ -23,7 +23,7 @@ class BarrierPotential : public NormalPotential {
/// @param dhat The activation distance of the barrier.
/// @param use_physical_barrier Whether to use the physical barrier.
BarrierPotential(
const std::shared_ptr<Barrier>& barrier,
std::shared_ptr<Barrier> barrier,
const double dhat,
const bool use_physical_barrier = false);

Expand Down
4 changes: 2 additions & 2 deletions src/ipc/smooth_contact/smooth_collisions.cpp
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Expand Up @@ -22,7 +22,7 @@ void SmoothCollisions::compute_adaptive_dhat(
const CollisionMesh& mesh,
Eigen::ConstRef<Eigen::MatrixXd> vertices, // set to zero for rest pose
const SmoothContactParameters params,
const std::shared_ptr<BroadPhase>& broad_phase)
BroadPhase* broad_phase)
{
assert(vertices.rows() == mesh.num_vertices());

Expand Down Expand Up @@ -118,7 +118,7 @@ void SmoothCollisions::build(
Eigen::ConstRef<Eigen::MatrixXd> vertices,
const SmoothContactParameters params,
const bool use_adaptive_dhat,
const std::shared_ptr<BroadPhase>& broad_phase)
BroadPhase* broad_phase)
{
assert(vertices.rows() == mesh.num_vertices());

Expand Down
6 changes: 2 additions & 4 deletions src/ipc/smooth_contact/smooth_collisions.hpp
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Expand Up @@ -28,8 +28,7 @@ class SmoothCollisions {
const CollisionMesh& mesh,
Eigen::ConstRef<Eigen::MatrixXd> vertices,
const SmoothContactParameters params,
const std::shared_ptr<BroadPhase>& broad_phase =
make_default_broad_phase());
BroadPhase* broad_phase = nullptr);

/// @brief Initialize the set of collisions used to compute the barrier potential.
/// @param mesh The collision mesh.
Expand All @@ -40,8 +39,7 @@ class SmoothCollisions {
Eigen::ConstRef<Eigen::MatrixXd> vertices,
const SmoothContactParameters params,
const bool use_adaptive_dhat = false,
const std::shared_ptr<BroadPhase>& broad_phase =
make_default_broad_phase());
BroadPhase* broad_phase = nullptr);

/// @brief Initialize the set of collisions used to compute the barrier potential.
/// @param candidates Distance candidates from which the collision set is built.
Expand Down
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