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Extremum Sum Potential - #259

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fsichetti wants to merge 284 commits into

ipc-sim:mainfrom

fsichetti:upstream-merge

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Commits on Jan 10, 2026
- real-flat potential
  Huangzizhou
  committed
  a10174e
- python binding
  Huangzizhou
  committed
  791332c
- more exact type classification
  Huangzizhou
  committed
  1b0c1b5
- cancellation
  Huangzizhou
  committed
  c2e2ffb
- formatting
  Huangzizhou
  committed
  b601d35
Commits on Jan 11, 2026
- fix compile
  Huangzizhou
  committed
  c6ab0a0
- line-line closest uvs
  Huangzizhou
  committed
  33b319a
- skipping integration on obstacle
  fsichetti
  committed
  3729997
Commits on Jan 13, 2026
- skip_obstacles for offset, changed barrier for offset, high-order integration on new potential
  fsichetti
  committed
  d1959ba
- move templated functions to header
  Huangzizhou
  committed
  b7b8e8c
- check parallel edges
  Huangzizhou
  committed
  78c618b
- quadrature potential
  Huangzizhou
  committed
  e68c2cb
- fixes and added edge length scaling to offset potential
  fsichetti
  committed
  2beb0ff
- gradient of P(q)
  Huangzizhou
  committed
  0f5cce5
- Merge remote-tracking branch 'origin/main'
  Huangzizhou
  committed
  73938c0
- put back deleted function
  Huangzizhou
  committed
  9e87e36
- test for grad
  Huangzizhou
  committed
  cd5d83e
Commits on Jan 14, 2026
- test for grad
  Huangzizhou
  committed
  16468fb
- gradient verified
  Huangzizhou
  committed
  a743c57
- weighting by rest pose area in 2D (offset and high_order)
  fsichetti
  committed
  a8f819b
- bug fix in 2d and added some tests
  fsichetti
  committed
  4cfd489
Commits on Jan 15, 2026
- Integrate 3d quadrature to HighOrderContactPotential
  Huangzizhou
  committed
  83ac98f
- Merge remote-tracking branch 'origin/main'
  Huangzizhou
  committed
  024ed16
Commits on Jan 16, 2026
- typed hash
  Huangzizhou
  committed
  2b69272
- half edge-edge mollifier
  Huangzizhou
  committed
  87175a9
- candidate name
  Huangzizhou
  committed
  9f8a1a2
Commits on Jan 18, 2026
- log barrier
  Huangzizhou
  committed
  b2ff513
- remove unused code
  Huangzizhou
  committed
  47e2b1c
- small change
  Huangzizhou
  committed
  c4a3302
- move template function to header
  Huangzizhou
  committed
  33ccd58
- half edge-edge mollifier
  Huangzizhou
  committed
  caca67c
- log barrier
  Huangzizhou
  committed
  84debc8
Commits on Jan 20, 2026
- fixed 3d unit test
  Huangzizhou
  committed
  8b045ff
Commits on Jan 21, 2026
- fix collision builders
  fsichetti
  committed
  652c6af
Commits on Jan 22, 2026
- fix compile on linux
  Huangzizhou
  committed
  d07ae22
- more tests
  Huangzizhou
  committed
  8339c0c
- Merge remote-tracking branch 'origin/main'
  Huangzizhou
  committed
  0f6e0c7
- more tests
  Huangzizhou
  committed
  a6ed7a2
- test meshes
  Huangzizhou
  committed
  9581ca2
- advanced Hessian
  Huangzizhou
  committed
  a788e9d
- advanced Hessian
  Huangzizhou
  committed
  83f38fa
- fix failed test in debug
  Huangzizhou
  committed
  24df222
- test limit
  Huangzizhou
  committed
  8b9b9e2
Commits on Jan 25, 2026
- fix unit test
  Huangzizhou
  committed
  a0ad925
Commits on Jan 26, 2026
- more efficient edge-edge potential and unit tests
  Huangzizhou
  committed
  27a1c8f
- added cancellation for 2D
  fsichetti
  committed
  3b1e420
- Merge remote-tracking branch 'myfork/main'
  fsichetti
  committed
  51819cc
- added tests for 2D. hessian is not perfect, try to remove AD
  fsichetti
  committed
  60d040a
Commits on Jan 27, 2026
- tidy up 2d code, removed some old code
  fsichetti
  committed
  d92efc3
Commits on Jan 28, 2026
- removed autodiff for 2D, cleaned up code, added some tests. hessian still has problems, could be numerical issues
  fsichetti
  committed
  40bc413
Commits on Jan 30, 2026
- some changes to tests
  fsichetti
  committed
  36f5954
Commits on Feb 1, 2026
- watertight check
  Huangzizhou
  committed
  7162932
- pass erleben test
  Huangzizhou
  committed
  70b625d
- Merge branch 'main' of github.com:fsichetti/ipc-toolkit
  Huangzizhou
  committed
  a692eae
Commits on Feb 2, 2026
- removed unused function
  fsichetti
  committed
  0d228ff
Commits on Feb 3, 2026
- Remove const shared_ptr<T>& parameters
  fsichetti
  committed
  29dbee5
- refactoring of shared pointers according to main branch
  fsichetti
  committed
  6cd9c2d
- refactoring vector classes
  fsichetti
  committed
  ccebb49
- Merge remote-tracking branch 'origin/main' into ogc-merge-branch
  fsichetti
  committed
  e70297e
- merge
  fsichetti
  committed
  b002de2
Commits on Feb 4, 2026
- temporarily removed some defective tests
  fsichetti
  committed
  f5ccccd
Commits on Feb 9, 2026
- changed thresholds
  fsichetti
  committed
  5fddf61
- removed old offset tests and new codim offset tests
  fsichetti
  committed
  c016b96
Commits on Feb 12, 2026
- exact distance type computation with geogram
  fsichetti
  committed
  cdefe04
Commits on Feb 13, 2026
- fix
  fsichetti
  committed
  302439a
- cleaner point_triangle_distance_type, and tighter checks for zero potential
  fsichetti
  committed
  3d9bf50
Commits on Feb 16, 2026
- added custom filters for point-primitive distances; still need to do edge-edge and 2D point-edge
  fsichetti
  committed
  05f0175
Commits on Feb 17, 2026
Commits on Feb 19, 2026
- removed special case for parallel edges, but test is failing
  fsichetti
  committed
  ddf6e93
- fix
  fsichetti
  committed
  e300a77
- tiny change
  fsichetti
  committed
  7664359
- remove unnecessary header
  fsichetti
  committed
  44a65dc
Commits on Feb 20, 2026
- truncate uv
  Huangzizhou
  committed
  c80bdac
- buggy scene
  Huangzizhou
  committed
  860d8c6
Commits on Feb 22, 2026
- remove problematic test
  Huangzizhou
  committed
  8f9372f
- change log level
  Huangzizhou
  committed
  b9f7fab
- fix assertion false
  Huangzizhou
  committed
  59299d1
Commits on Feb 26, 2026
- HighOrderCollisionDict wrapper
  Huangzizhou
  committed
  72708d8
- get rid of pointers
  Huangzizhou
  committed
  03b1dfe
- std array instead of vector
  Huangzizhou
  committed
  f44a543
- use .data() to get array address
  Huangzizhou
  committed
  ed75734
Commits on Feb 27, 2026
- refactor to use dense vectors for local derivatives
  Huangzizhou
  committed
  d0f48a4
- benchmark for pointers
  Huangzizhou
  committed
  d50a246
Commits on Mar 2, 2026
- Merge branch 'predicates_only'
  fsichetti
  committed
  e190b3a
- missing braces on linux
  fsichetti
  committed
  8632fb3
- parallel quadrature build
  fsichetti
  committed
  245ef8d
Commits on Mar 3, 2026
- remove unused test
  Huangzizhou
  committed
  1acb1a1
- local hessian matrix
  Huangzizhou
  committed
  fe5fcfd
- Revert "local hessian matrix"
  Huangzizhou
  committed
  8f4e288
- psd projection
  Huangzizhou
  committed
  f44cf16
- clean gradient
  Huangzizhou
  committed
  7532439
- parallelize evaluation on faces
  fsichetti
  committed
  86fa801
Commits on Mar 4, 2026
- Merge remote-tracking branch 'origin/main'
  Huangzizhou
  committed
  87b0b35
- merge commit
  Huangzizhou
  committed
  f2aca91
- follow ipc code
  Huangzizhou
  committed
  9413d72
- refactor to reduce per-collision memory
  Huangzizhou
  committed
  d27cae9
- avoid duplicated distance check
  Huangzizhou
  committed
  8330bb6
- use vector for local storage instead of unordered maps
  fsichetti
  committed
  b85aed9
- Merge remote-tracking branch 'origin/main'
  Huangzizhou
  committed
  f3ff995
- rename and clean code
  Huangzizhou
  committed
  a0121d2
- revert accidental commit
  Huangzizhou
  committed
  5d9b906
Commits on Mar 5, 2026
- unique_ptr
  Huangzizhou
  committed
  d6957cf
- avoid unnecessary matrices
  Huangzizhou
  committed
  9fe48c4
- unit test for collision pair count
  Huangzizhou
  committed
  813cf11
Commits on Mar 7, 2026
- skip obstacles and removed unused parts of the code
  fsichetti
  committed
  fd7877d
Commits on Mar 9, 2026
- fix for linux
  fsichetti
  committed
  bdb326e
- fix failed test
  Huangzizhou
  committed
  92ad854
- Merge remote-tracking branch 'origin/main'
  Huangzizhou
  committed
  3ee2042
- respect skip_obstacles setting
  fsichetti
  committed
  5ca173a
- Merge branch 'skip-obstacles'
  fsichetti
  committed
  121fca1
Commits on Mar 10, 2026
- fixed a bug and reverted exact parallel check to thresholded check; with the exact one we may still get invalid uvs
  fsichetti
  committed
  32ecdf5
Commits on Mar 13, 2026
- count collision pairs before cancellation
  Huangzizhou
  committed
  ce0f5b6
Commits on Mar 14, 2026
- test "Number of Pairs" on armadillo-rollers/327.ply
  
  Huangzizhou
  and
  claude
  committed
  3036d83
- print edge quadrature point distribution
  Huangzizhou
  committed
  e3e32f7
- explicitly check eigen vectorization
  Huangzizhou
  committed
  91aba99
- option to skip building face collisions
  Huangzizhou
  committed
  a266c62
Commits on Mar 15, 2026
- normalization of weights
  Huangzizhou
  committed
  75b3e0f
Commits on Mar 16, 2026
- use fixed-size Eigen types for mol_grad in hessian()
  
  Huangzizhou
  and
  claude
  committed
  b7a7181
- make weight normalization optional, default on
  Huangzizhou
  committed
  3e7753c
- unit test skip_face_collisions for both true and false
  Huangzizhou
  committed
  ace4eaf
- avoid big matrix copy in build_collisions_at_face_center()
  Huangzizhou
  committed
  ff455e9
Commits on Mar 17, 2026
- avoid duplicated distance_type compute
  Huangzizhou
  committed
  0ffa9b2
- separate dhat for EE points
  fsichetti
  committed
  d7b08c9
Commits on Mar 20, 2026
- changes to parameters class
  fsichetti
  committed
  53ca141
- export ee eval count
  fsichetti
  committed
  5a3e783
- avoid logging strange distance number
  Huangzizhou
  committed
  ad9423f
Commits on Mar 21, 2026
- Add edge_collision_counts() to HighOrderCollisions
  
  Huangzizhou
  and
  claude
  committed
  963bdf8
- refactor tests, codim 2d test
  Huangzizhou
  committed
  6c689d5
- Merge origin/safety-mode: new parameter API + edge eval count export
  
  Huangzizhou
  and
  claude
  committed
  46876e2
Commits on Mar 22, 2026
- high order face quadrature test
  fsichetti
  committed
  1eaa00c
Commits on Mar 23, 2026
- friction for new contact
  Huangzizhou
  committed
  8b07f86
- higher order quadrature, hardcoded weight factor for testing, removed flag to skip faces
  fsichetti
  committed
  5a7d0c7
- temporary hardcoded flag to skip obstacles on OGC
  fsichetti
  committed
  958bfab
- Merge branch 'face-quadrature'
  fsichetti
  committed
  ec53447
Commits on Mar 24, 2026
- high order face quadrature with vertices
  fsichetti
  committed
  f3c9a71
- tests updated
  fsichetti
  committed
  5a25bd4
Commits on Mar 25, 2026
- skipping obstacle-obstacle collisions
  fsichetti
  committed
  1b3805d
Commits on Mar 29, 2026
- high order collisions friction
  Huangzizhou
  committed
  d17bcee
- more test
  Huangzizhou
  committed
  6ea0242
- friction unit test
  Huangzizhou
  committed
  b2d49cb
- fix friction
  Huangzizhou
  committed
  c812718
Commits on Apr 2, 2026
- fix gradient jump for parallel edges
  Huangzizhou
  committed
  0bf2a3e
- Remove debug logging from high_order_contact_potential
  
  Huangzizhou
  and
  claude
  committed
  172178c
- expose skip_obstacles flag for OGC and fix a test
  fsichetti
  committed
  f2e054a
Commits on Apr 6, 2026
- externally sourcing triangle quadrature
  fsichetti
  committed
  f5cdf7b
Commits on Apr 7, 2026
- skip quadrature on vertices when face quadrature (which includes verts) is enabled
  fsichetti
  committed
  aba129d
Commits on Apr 10, 2026
- high order contact friction
  Huangzizhou
  committed
  994488c
- deprecate compute_active_minimum_distance
  Huangzizhou
  committed
  28cee52
- more extensive unit tests
  Huangzizhou
  committed
  bcdb739
Commits on Apr 11, 2026
- profiling utils
  Huangzizhou
  committed
  512f457
- skip empty dict
  Huangzizhou
  committed
  e259302
Commits on Apr 13, 2026
- warnings / errors for some quadrature orders
  fsichetti
  committed
  2524bca
Commits on Apr 15, 2026
- generic barrier for the new potential
  fsichetti
  committed
  c02cc43
Commits on Apr 16, 2026
- profiling
  Huangzizhou
  committed
  0e0f900
Commits on Apr 18, 2026
- 2D high order potential refactor
  fsichetti
  committed
  e331de5
- fix
  fsichetti
  committed
  512de6b
- added inv power barrier to barriers
  fsichetti
  committed
  cc6b726
- Merge branch '2d-refactor'
  fsichetti
  committed
  8413a00
- high mollifier order for high barrier order
  Huangzizhou
  committed
  787667a
Commits on Apr 19, 2026
Commits on Apr 20, 2026
- psd projection when normalize_weight=true
  Huangzizhou
  committed
  844490f
Commits on Apr 21, 2026
- 1D quadrature fix
  fsichetti
  committed
  62b1594
- OGC fix (from e67f802 on main branch)
  fsichetti
  committed
  b31f38c
Commits on Apr 22, 2026
- ogc reimplementation
  fsichetti
  committed
  7abd6f0
- fix and add param
  fsichetti
  committed
  1db44f3
- 2D fix and add area weighting param
  fsichetti
  committed
  117d12d
- Merge branch 'ogc-impl'
  fsichetti
  committed
  3cb3d34
Commits on Apr 23, 2026
- init_pck
  fsichetti
  committed
  a23ca46
- Merge remote-tracking branch 'myfork/main'
  fsichetti
  committed
  75c64cd
- option to switch to legacy edge_edge_distance_type()
  Huangzizhou
  committed
  8e70462
- full legacy version distance type
  Huangzizhou
  committed
  9453f6d
Commits on Apr 26, 2026
- OGC coefficient fix
  fsichetti
  committed
  c4b0a03
- Merge branch 'main' of github.com:fsichetti/ipc-toolkit
  fsichetti
  committed
  e6cdf1a
Commits on May 4, 2026
- adaptive dhat WIP
  fsichetti
  committed
  ab11799
- test: bump Face Quadrature Hessian FD step from 1e-12 to 1e-6
  
  Huangzizhou
  and
  claude
  committed
  3852e48
- fix(adaptive-dhat): smooth eps across closest-point dtype boundaries
  
  Huangzizhou
  and
  claude
  committed
  8d940f9
- test: loosen Convergent Quadrature gradient tolerance to 1e-5
  
  Huangzizhou
  and
  claude
  committed
  817d4d0
- adaptive-dhat: restore clamping in eps for closest-point dtype
  
  Huangzizhou
  and
  claude
  committed
  01897ea
- adaptive-dhat: C1 smooth saturation for closest-point parameter
  
  Huangzizhou
  and
  claude
  committed
  5b5e491
- test
  fsichetti
  committed
  1d0d858
- add mesh
  fsichetti
  committed
  ab722a2
- adaptive-dhat: 3D smoothing, dtype invariant, and AD-helper cleanup
  
  Huangzizhou
  and
  claude
  committed
  c46cfb3
- added near/far barrier
  fsichetti
  committed
  59b1c8b
- barrier split (buggy)
  fsichetti
  committed
  2c06b0e
- fix unit test for use_near_far
  Huangzizhou
  committed
  c28f1dd
- adaptive dhat computation
  fsichetti
  committed
  812ec4e
- updated test that did not make sense
  fsichetti
  committed
  6e6f161
Commits on May 5, 2026
- Merge remote-tracking branch 'origin/adaptive-dhat'
  Huangzizhou
  committed
  60b6725
- added tests and finished adding adaptive dhat to the new near/far split formulation
  fsichetti
  committed
  b9c1acf
- removed defective new test
  fsichetti
  committed
  0a0dbc3
Commits on May 6, 2026
- minor improvements done while debugging
  fsichetti
  committed
  ea84cc7
- bugfix
  fsichetti
  committed
  5c52138
- some ogc 3D fixes
  fsichetti
  committed
  838b857
Commits on May 8, 2026
- near far bugfix
  fsichetti
  committed
  7707c3a
Commits on May 9, 2026
- bugfix
  fsichetti
  committed
  d673c9d
Commits on Jul 28, 2026
- Merge remote-tracking branch 'origin/main' into main
  
  fsichetti
  and
  claude
  committed
  2393376
Commits on Jul 29, 2026
- Support building without geogram; unify parallel threshold; fix EE parallel test
  
  fsichetti
  and
  claude
  committed
  33a729e
Commits on Aug 13, 2026
- Merge remote-tracking branch 'origin/main' into upstream-merge
  fsichetti
  committed
  e7f298a
- fix clang format
  fsichetti
  committed
  5f301a2
Commits on Aug 16, 2026
- Make high_order_contact compile on MSVC
  
  danielepanozzo
  and
  claude
  committed
  67bb3d7
Commits on Aug 19, 2026
- arbitrary point evaluation machinery (ported from a local branch)
  fsichetti
  committed
  1612533
- added combined evaluation of value, gradient and hessian (2~3x speedup)
  fsichetti
  committed
  42e32a7
- clang-format fixes
  fsichetti
  committed
  8028b77
Commits on Sep 1, 2026
- Remove ogc_collisions OGC-replication mode from high_order_contact
  fsichetti
  committed
  feaf16f
- Fix clang-format include ordering in high_order_contact
  
  fsichetti
  and
  claude
  committed
  a16b48d
Commits on Sep 2, 2026
- 2D version
  fsichetti
  committed
  3a76d75
Commits on Sep 3, 2026
- Merge remote-tracking branch 'upstream/main' into upstream-merge
  fsichetti
  committed
  dfbad2a
- Merge remote-tracking branch 'wildmeshing/upstream-merge' into upstream-merge
  fsichetti
  committed
  5501bd5
- Fix stale non-templated Barrier usages and edge_edge_distance_type regression from the merge
  
  fsichetti
  and
  claude
  committed
  b730568
- Rename high_order_contact -> esp and smooth_contact -> gcp
  
  fsichetti
  and
  claude
  committed
  742f5f5
- Rename arbitrary_point_potential -> arbitrary_point_esp
  
  fsichetti
  and
  claude
  committed
  d00d05b
Commits on Sep 4, 2026
- clang-format fixes
  
  fsichetti
  and
  claude
  committed
  7754082
Commits on Sep 9, 2026
- Merge remote-tracking branch 'origin/main' into upstream-merge
  fsichetti
  committed
  caf393c
- Fix CI failures: Windows macros, Abseil leak, and geogram on MSVC
  
  fsichetti
  and
  claude
  committed
  7ae94a1
- clang-tidy: add braces around single-statement bodies
  
  fsichetti
  and
  claude
  committed
  f7e4c29
- clang-tidy: follow the project's identifier naming conventions
  
  fsichetti
  and
  claude
  committed
  38240f2
Commits on Sep 16, 2026
- Fix MSVC AVX2 build silently downgrading to AVX
  
  fsichetti
  and
  claude
  committed
  77b518a
Commits on Sep 21, 2026
- Merge remote-tracking branch 'upstream/main' into upstream-merge
  
  fsichetti
  and
  claude
  committed
  8c5a01c
Commits on Sep 29, 2026
- Inline the filtered predicates in the exact distance-type classifiers
  
  fsichetti
  and
  claude
  committed
  50a2b8b
- ArbitraryPointESP: build the per-point collision set without heap allocation
  
  udaykusupati
  and
  claude
  committed
  343e27c
- Fix ArbitraryPointESP on non-closed inputs: inclusion-exclusion weights
  
  udaykusupati
  and
  claude
  committed
  626e27e
Commits on Sep 30, 2026
- Restore release notes and the Python rename guard after the GCP rename
  fsichetti
  committed
  91b19a6
- Restore std::unordered_map in the collision mesh bindings
  fsichetti
  committed
  dba5f8c
- Keep Abseil private: move the ESP collision maps to an internal header
  
  fsichetti
  and
  claude
  committed
  b16b306
- Update the ESP Python bindings to the current API
  
  fsichetti
  and
  claude
  committed
  db9f493
- Keep the pre-rename smooth-contact names as deprecated aliases
  
  fsichetti
  and
  claude
  committed
  0d247b5
Commits on Oct 2, 2026
- Trim the PR and fix issues found in review
  
  fsichetti
  and
  claude
  committed
  be6ccc0
- Add the remaining deprecated GCP aliases and fix warnings
  fsichetti
  committed
  b1c1060
Commits on Oct 5, 2026
Commits on Oct 6, 2026
- Fix the ESP 2D finite-difference test across distance-type switches
  claude
  committed
  225d77e
- Extend ESP dbar_factor to [0, 2] and project every split Hessian
  claude
  committed
  f4877a6
Commits on Oct 7, 2026
- Validate the ESP face quadrature rule on assignment
  claude
  committed
  c6bec29
- Check face quadrature coordinates; drop quad_order limits
  claude
  committed
  731d58f
- Tighten face quadrature rule validation test
  claude
  committed
  cfd6735
- Trim face quadrature rule validation test
  claude
  committed
  a2a79a9
- Fix the ESP CI failures on MSVC, clang-tidy and Debug
  claude
  committed
  a54158f
- Update the ESP documentation
  claude
  committed
  3d44890
Commits on Oct 8, 2026
- Fix the stiffness of BarrierPotential with unsquared distance
  claude
  committed
  34f7846
- Remove the unused all_types parameter from the CCD Candidates::build
  claude
  committed
  d27856b
- Fix ESP friction and two ESP bugs, remove dead code, raise coverage
  claude
  committed
  72473f0
- Fix the shadow and old-style cast warnings in ESP
  claude
  committed
  40e251a
- Remove the unused face-center ESP functions
  claude
  committed
  9c1918c
- Rename the ESP face potential functions to face_interior_point
  claude
  committed
  2c6f589
Commits on Oct 9, 2026
- Merge branch 'main' into upstream-merge
  fsichetti
  authored
  93bc983

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