Parallel CPU LBVH Implementation #188
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…ing support - Introduced LBVH class for efficient broad phase collision detection. - Implemented LBVH node structure with AABB intersection checks. - Added methods for detecting vertex-vertex, edge-vertex, edge-edge, face-vertex, edge-face, and face-face candidates. - Integrated profiling functionality with IPC_TOOLKIT_WITH_PROFILER flag. - Updated CMakeLists to include new LBVH test files and source files. - Added tests for LBVH construction and candidate detection. - Included Python bindings for LBVH and example usage scripts. - Enhanced configuration options in config.hpp for profiling support.
Codecov Report❌ Patch coverage is
Additional details and impacted files@@ Coverage Diff @@
## main #188 +/- ##
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- Coverage 96.02% 94.36% -1.66%
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Files 105 109 +4
Lines 8100 8487 +387
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+ Hits 7778 8009 +231
- Misses 322 478 +156
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Description
This pull request introduces a new broad phase collision detection method, LBVH (Linear Bounding Volume Hierarchy), and adds performance profiling capabilities to the project. It also includes updates to the build system and Python bindings to support these features. The most important changes are grouped below.
LBVH Broad Phase Collision Detection
LBVHclass insrc/ipc/broad_phase/lbvh.hppand corresponding source file, providing a new broad phase method for collision detection. This includes node structure, build routines, and candidate detection logic.python/examples/lbvh.pydemonstrating LBVH usage and visualization.Performance Profiling
src/ipc/utils/profiler.cpp,src/ipc/utils/profiler.hpp) to measure and record performance metrics, with CSV output support.CMakeLists.txt,src/ipc/config.hpp.in) to allow enabling/disabling the profiler via theIPC_TOOLKIT_WITH_PROFILERoption.src/ipc/broad_phase/bvh.cpp) with profiler blocks to collect timing data for key routines.Type of change