Scalable CCD

Sweep and Tiniest Queue & Tight-Inclusion GPU CCD

Getting Started

Prerequisites

• A C/C++ compiler (at least support for C++17)
• CMake (version 3.18 or newer)
• Optionally: A CUDA-compatible GPU and the CUDA toolkit installed

Building

The easiest way to add this project to an existing CMake project is to download it through CMake. Here is an example of how to add this project to your CMake project using CPM:

# Scalable CCD (https://github.com/continuous-collision-detection/scalable-ccd)
# License: Apache 2.0
if(TARGET scalable_ccd::scalable_ccd)
    return()
endif()

message(STATUS "Third-party: creating target 'scalable_ccd::scalable_ccd'")

set(SCALABLE_CCD_WITH_CUDA ${MY_PROJECT_WITH_CUDA} CACHE BOOL "Enable CUDA CCD" FORCE)

include(CPM)
CPMAddPackage("gh:continuous-collision-detection/scalable-ccd#${SCALABLE_CCD_GIT_TAG}")

where MY_PROJECT_WITH_CUDA is an example variable set in your project and SCALABLE_CCD_GIT_TAG is set to the version of this project you want to use. This will download and add this project to CMake. You can then be linked against it using

# Link against the Scalable CCD
target_link_libraries(my_target PRIVATE scalable_ccd::scalable_ccd)

where my_target is the name of your library/binary.

Dependencies

All required dependencies are downloaded through CMake depending on the build options.

The following libraries are used in this project:

• Eigen: linear algebra
• oneTBB: CPU multi-threading
• spdlog: logging

Optional

• CUDA: GPU acceleration
  • Required when using the CMake option SCALABLE_CCD_WITH_CUDA
• nlohmann/json: saving profiler data
  • Required when using the CMake option SCALABLE_CCD_WITH_PROFILER

Usage

🛠️ ToDo: Write usage instructions.

Citation

If you use this code in your project, please consider citing our paper:

@misc{belgrod2023time,
	title        = {Time of Impact Dataset for Continuous Collision Detection and a Scalable Conservative Algorithm},
	author       = {David Belgrod and Bolun Wang and Zachary Ferguson and Xin Zhao and Marco Attene and Daniele Panozzo and Teseo Schneider},
	year         = 2023,
	eprint       = {2112.06300},
	archiveprefix = {arXiv},
	primaryclass = {cs.GR}
}

License

This project is licensed under the Apache-2.0 license - see the LICENSE file for details.