ipc-toolkit : Les requêtes de collision comme frontière de bibliothèque

@startuml
!include <C4/C4_Context>
LAYOUT_LEFT_RIGHT()
Person(P_cli, "Utilisateur CLI")
System(SYS, "ipc-toolkit", "ipc-toolkit fournit des composants géométriques pour la simulation av…")
Rel(P_cli, SYS, "Utilise")
@enduml

@startuml
!include <C4/C4_Container>
LAYOUT_LEFT_RIGHT()
Person(P_cli, "Utilisateur CLI")
System_Boundary(SYS, "ipc-toolkit") {
  Container(APP, "ipc-toolkit", "C++")
}
Rel(P_cli, APP, "Utilise")
@enduml

@startuml
!include <C4/C4_Component>
LAYOUT_TOP_DOWN()
System_Boundary(SYS, "ipc-toolkit") {
Boundary(L0, "Présentation", "layer") {
Component(M0_0, "docs/_static", ".css, HTML", "2 fichiers")
Component(M0_1, "docs/_templates", "HTML", "1 fichiers")
}
Boundary(L1, "Domaine et règles métier", "layer") {
Component(M1_0, "ipc/geometry", "C++", "8 fichiers")
Component(M1_1, "ipc/math", "C++", "5 fichiers")
Component(M1_2, "python/geometry", "C++", "5 fichiers")
Component(M1_3, "ipc/distance", "C++", "2 fichiers")
Component(M1_4, "python/math", "C++", "2 fichiers")
Component(M1_5, "ipc/utils", "C++", "1 fichiers")
Component(M1_6, "python/distance", "C++", "1 fichiers")
}
Boundary(L2, "Données et infrastructure", "layer") {
Component(M2_0, "ipc/utils", "C++", "2 fichiers")
}
Boundary(L3, "Source principale", "layer") {
Component(M3_0, "ipc/smooth_contact", "C++", "32 fichiers")
Component(M3_1, "ipc/collisions", "C++", "26 fichiers")
Component(M3_2, "ipc/distance", "C++", "22 fichiers")
Component(M3_3, "ipc/broad_phase", "C++", "21 fichiers")
Component(M3_4, "ipc/candidates", "C++", "18 fichiers")
Component(M3_5, "ipc/ccd", "C++", "18 fichiers")
Component(M3_6, "python/collisions", "C++", "17 fichiers")
Component(M3_7, "ipc/utils", "C++", "15 fichiers")
Component(M3_more, "+25 modules", "", "")
}
Boundary(L4, "Tests", "layer") {
Component(M4_0, "tests", "C++", "71 fichiers")
Component(M4_1, "python", "Python", "9 fichiers")
}
Boundary(L5, "Build, CI et hébergement", "layer") {
Component(M5_0, "ipc", ".txt", "22 fichiers")
Component(M5_1, "python", ".txt", "18 fichiers")
Component(M5_2, ".github", ".yml, .md", "12 fichiers")
Component(M5_3, ".devcontainer", "Dockerfile, .json", "2 fichiers")
Component(M5_4, "(root)", ".txt", "1 fichiers")
Component(M5_5, "docs", "Makefile", "1 fichiers")
}
}
@enduml

@startuml
skinparam backgroundColor transparent
skinparam shadowing false
skinparam roundCorner 10
skinparam defaultFontName Arial
skinparam defaultFontSize 13
skinparam ArrowColor #4e6070
skinparam ArrowFontColor #3d4f5f
skinparam titleFontSize 14
skinparam actorBorderColor #006a62
skinparam actorBackgroundColor #e9f3f4
skinparam usecaseBorderColor #006a62
skinparam usecaseBackgroundColor #e9f3f4
skinparam componentBorderColor #006a62
skinparam componentBackgroundColor #e9f3f4
skinparam interfaceBorderColor #006a62
skinparam interfaceBackgroundColor #ffffff
skinparam nodeBorderColor #4e6070
skinparam nodeBackgroundColor #f4f8fb
skinparam databaseBorderColor #006a62
skinparam databaseBackgroundColor #ffffff
skinparam cloudBorderColor #4e6070
skinparam cloudBackgroundColor #f0f5fa
skinparam artifactBorderColor #006a62
skinparam artifactBackgroundColor #ffffff
skinparam rectangleBorderColor #b0c2d3
skinparam activityBorderColor #006a62
skinparam activityBackgroundColor #e9f3f4
skinparam partitionBorderColor #b0c2d3
skinparam stereotypeCBackgroundColor #ffffff
top to bottom direction
hide empty members
package "ipc-toolkit" {
package "src/ipc/collision_mesh.hpp" as F0 {
class "CollisionMesh" as T0_0 {
  build_from_full_mesh()
  init_adjacencies()
  init_area_jacobians()
  num_vertices()
  num_codim_vertices()
  num_codim_edges()
}
}
package "src/ipc/math/math.hpp" as F1 {
class "Math" as T1_0 {
  sign()
  abs()
  sqr()
  cubic()
  cubic_spline()
  cubic_spline_grad()
}
}
package "src/ipc/candidates/collision_stencil.hpp" as F2 {
class "CollisionStencil" as T2_0 {
  num_vertices()
  dim()
  vertex_ids()
  vertices()
  dof()
  compute_distance()
}
}
package "src/ipc/collisions/normal/normal_collisions.hpp" as F3 {
class "NormalCollisions" as T3_0 {
  build()
  compute_minimum_distance()
  size()
  empty()
  clear()
  is_vertex_vertex()
}
}
package "src/ipc/broad_phase/lbvh.hpp" as F4 {
class "LBVH" as T4_0 {
  name()
  clear()
  detect_vertex_vertex_candidates()
  detect_edge_vertex_candidates()
  detect_edge_edge_candidates()
  detect_face_vertex_candidates()
}
class "MortonCodeElement" as T4_1 {
  morton_code
  box_id
  std
  parent
}
class "ConstructionInfo" as T4_2 {
  parent
  std
}
}
package "src/ipc/broad_phase/broad_phase.hpp" as F5 {
class "BroadPhase" as T5_0 {
  name()
  build()
  clear()
  detect_collision_candidates()
  detect_vertex_vertex_candidates()
  detect_edge_vertex_candidates()
}
}
package "src/ipc/candidates/candidates.hpp" as F6 {
class "Candidates" as T6_0 {
  build()
  size()
  empty()
  clear()
  is_step_collision_free()
  compute_collision_free_stepsize()
}
}
package "src/ipc/broad_phase/hash_grid.hpp" as F7 {
class "HashGrid" as T7_0 {
  name()
  clear()
  detect_vertex_vertex_candidates()
  detect_edge_vertex_candidates()
  detect_edge_edge_candidates()
  detect_face_vertex_candidates()
}
}
package "src/ipc/broad_phase/sweep_and_prune.hpp" as F8 {
class "SweepAndPrune" as T8_0 {
  name()
  build()
  clear()
  detect_vertex_vertex_candidates()
  detect_edge_vertex_candidates()
  detect_edge_edge_candidates()
}
}
package "src/ipc/smooth_contact/primitives/edge3.hpp" as F9 {
class "Edge3" as T9_0 {
  n_vertices()
  n_dofs()
  n_face_neighbors()
  potential()
  grad()
  hessian()
}
}
package "src/ipc/broad_phase/sweep_and_prune.cpp" as F10 {
class "Boxes" as T10_0 {
  std
  SweepAndPrune
}
}
package "src/ipc/broad_phase/broad_phase.cpp" as F11 {
class "MeshDomain" as T11_0 {
  Eigen
  tbb
}
}
package "src/ipc/smooth_contact/distance/primitive_distance.hpp" as F12 {
class "PrimitiveDistType" as T12_0 {
  PrimitiveA
  Eigen
}
}
package "src/ipc/math/interval.hpp" as F13 {
class "ScalarBinaryOpTraits" as T13_0 {
  ReturnType
}
class "formatter" as T13_1 {
  filib
}
}
package "python/src/collision_mesh.cpp" as F14 {
class "PairHash" as T14_0 {
  std
}
}
package "src/ipc/utils/default_init_allocator.hpp" as F15 {
class "rebind" as T15_0 {
  a_t
}
}
package "src/ipc/utils/autodiff_types.hpp" as F16 {
class "IsADGrad" as T16_0 {
}
class "IsADHessian" as T16_1 {
}
}
}
@enduml

@startuml
skinparam backgroundColor transparent
skinparam shadowing false
skinparam roundCorner 10
skinparam defaultFontName Arial
skinparam defaultFontSize 13
skinparam ArrowColor #4e6070
skinparam ArrowFontColor #3d4f5f
skinparam titleFontSize 14
skinparam actorBorderColor #006a62
skinparam actorBackgroundColor #e9f3f4
skinparam usecaseBorderColor #006a62
skinparam usecaseBackgroundColor #e9f3f4
skinparam componentBorderColor #006a62
skinparam componentBackgroundColor #e9f3f4
skinparam interfaceBorderColor #006a62
skinparam interfaceBackgroundColor #ffffff
skinparam nodeBorderColor #4e6070
skinparam nodeBackgroundColor #f4f8fb
skinparam databaseBorderColor #006a62
skinparam databaseBackgroundColor #ffffff
skinparam cloudBorderColor #4e6070
skinparam cloudBackgroundColor #f0f5fa
skinparam artifactBorderColor #006a62
skinparam artifactBackgroundColor #ffffff
skinparam rectangleBorderColor #b0c2d3
skinparam activityBorderColor #006a62
skinparam activityBackgroundColor #e9f3f4
skinparam partitionBorderColor #b0c2d3
skinparam stereotypeCBackgroundColor #ffffff
node "Image Docker" as H {
  artifact "ipc-toolkit" as APP
}
artifact "FROM ubuntu:22.04" as IMG0
IMG0 ..> APP : construit
@enduml

@startuml
skinparam backgroundColor transparent
skinparam shadowing false
skinparam roundCorner 10
skinparam defaultFontName Arial
skinparam defaultFontSize 13
skinparam ArrowColor #4e6070
skinparam ArrowFontColor #3d4f5f
skinparam titleFontSize 14
skinparam actorBorderColor #006a62
skinparam actorBackgroundColor #e9f3f4
skinparam usecaseBorderColor #006a62
skinparam usecaseBackgroundColor #e9f3f4
skinparam componentBorderColor #006a62
skinparam componentBackgroundColor #e9f3f4
skinparam interfaceBorderColor #006a62
skinparam interfaceBackgroundColor #ffffff
skinparam nodeBorderColor #4e6070
skinparam nodeBackgroundColor #f4f8fb
skinparam databaseBorderColor #006a62
skinparam databaseBackgroundColor #ffffff
skinparam cloudBorderColor #4e6070
skinparam cloudBackgroundColor #f0f5fa
skinparam artifactBorderColor #006a62
skinparam artifactBackgroundColor #ffffff
skinparam rectangleBorderColor #b0c2d3
skinparam activityBorderColor #006a62
skinparam activityBackgroundColor #e9f3f4
skinparam partitionBorderColor #b0c2d3
skinparam stereotypeCBackgroundColor #ffffff
title Build
start
partition "Build" {
  :Checkout repository;
  :Dependencies (Linux);
  :Dependencies (macOS);
  :Dependencies (Windows);
  :Install Ninja;
  :Get number of CPU cores;
  :Cache Build;
  :Prepare ccache;
}
stop
@enduml