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Adhesion (#85)
Implement the adhesion potentials from "Augmented Incremental Potential Contact for Sticky Interactions" [Fang et al. 2023].
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‎.gitignore

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compile_commands.json
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CTestTestfile.cmake
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_deps
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CMakeUserPresets.json
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## Build

‎CMakeLists.txt

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project(IPCToolkit
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DESCRIPTION "A set of reusable functions to integrate IPC into an existing simulation."
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LANGUAGES CXX
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VERSION "1.3.1")
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VERSION "1.4.0")
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option(IPC_TOOLKIT_BUILD_TESTS "Build unit-tests" ${IPC_TOOLKIT_TOPLEVEL_PROJECT})
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option(IPC_TOOLKIT_BUILD_PYTHON "Build Python bindings" OFF)

‎docs/source/cpp-api/adhesion.rst

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Adhesion
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========
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Normal Adhesion Potential
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-------------------------
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.. doxygenfunction:: normal_adhesion_potential
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.. doxygenfunction:: normal_adhesion_potential_first_derivative
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.. doxygenfunction:: normal_adhesion_potential_second_derivative
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.. doxygenfunction:: max_normal_adhesion_force_magnitude
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Tangential Adhesion Potential
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-----------------------------
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.. doxygenfunction:: tangential_adhesion_f0
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.. doxygenfunction:: tangential_adhesion_f1
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.. doxygenfunction:: tangential_adhesion_f2
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.. doxygenfunction:: tangential_adhesion_f1_over_x
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.. doxygenfunction:: tangential_adhesion_f2_x_minus_f1_over_x3

‎docs/source/cpp-api/barrier.rst

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Barrier
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=======
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.. doxygenfunction:: ipc::barrier
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.. doxygenfunction:: ipc::barrier_first_derivative
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.. doxygenfunction:: ipc::barrier_second_derivative
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.. doxygenfunction:: barrier(const double, const double)
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.. doxygenfunction:: barrier_first_derivative
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.. doxygenfunction:: barrier_second_derivative
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Barrier Force Magnitude
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-----------------------
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.. doxygenfunction:: barrier_force_magnitude
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.. doxygenfunction:: barrier_force_magnitude_gradient
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Adaptive Barrier Stiffness
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--------------------------
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-------------
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.. doxygenclass:: ipc::Barrier
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:allow-dot-graphs:
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Clamped Log Barrier
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~~~~~~~~~~~~~~~~~~~
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.. doxygenclass:: ipc::ClampedLogBarrier
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.. doxygenclass:: ipc::ClampedLogBarrier
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:allow-dot-graphs:

‎docs/source/cpp-api/collisions.rst

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‎docs/source/cpp-api/friction.rst

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Friction
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========
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Friction Collisions
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-------------------
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.. doxygenclass:: ipc::FrictionCollisions
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Friction Collision
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^^^^^^^^^^^^^^^^^^
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.. doxygenclass:: ipc::FrictionCollision
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Vertex-Vertex Friction Collision
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^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
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.. doxygenclass:: ipc::VertexVertexFrictionCollision
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Edge-Vertex Friction Collision
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^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
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.. doxygenclass:: ipc::EdgeVertexFrictionCollision
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Edge-Edge Friction Collision
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^^^^^^^^^^^^^^^^^^^^^^^^^^^^
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.. doxygenclass:: ipc::EdgeEdgeFrictionCollision
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Triangle-Vertex Friction Collision
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^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
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.. doxygenclass:: ipc::FaceVertexFrictionCollision
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Smooth Mollifier
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----------------
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.. doxygenfunction:: f0_SF
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.. doxygenfunction:: f1_SF_over_x
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.. doxygenfunction:: df1_x_minus_f1_over_x3
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Normal Force Magnitude
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----------------------
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.. doxygenfunction:: ipc::compute_normal_force_magnitude
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.. doxygenfunction:: ipc::compute_normal_force_magnitude_gradient
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Tangent Basis
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-------------
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.. doxygenfunction:: ipc::point_point_tangent_basis
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.. doxygenfunction:: ipc::point_edge_tangent_basis
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.. doxygenfunction:: ipc::edge_edge_tangent_basis
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.. doxygenfunction:: ipc::point_triangle_tangent_basis
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Tangent Basis Jacobians
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^^^^^^^^^^^^^^^^^^^^^^^
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.. doxygenfunction:: ipc::point_point_tangent_basis_jacobian
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.. doxygenfunction:: ipc::point_edge_tangent_basis_jacobian
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.. doxygenfunction:: ipc::edge_edge_tangent_basis_jacobian
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.. doxygenfunction:: ipc::point_triangle_tangent_basis_jacobian
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Relative Velocity
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-----------------
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.. doxygenfunction:: ipc::point_point_relative_velocity
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.. doxygenfunction:: ipc::point_edge_relative_velocity
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.. doxygenfunction:: ipc::edge_edge_relative_velocity
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.. doxygenfunction:: ipc::point_triangle_relative_velocity
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Relative Velocity as Multiplier Matricies
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^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
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.. doxygenfunction:: ipc::point_point_relative_velocity_matrix
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.. doxygenfunction:: ipc::point_edge_relative_velocity_matrix
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.. doxygenfunction:: ipc::edge_edge_relative_velocity_matrix
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.. doxygenfunction:: ipc::point_triangle_relative_velocity_matrix
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Relative Velocity Matrix Jacobians
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^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
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.. doxygenfunction:: ipc::point_point_relative_velocity_matrix_jacobian
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.. doxygenfunction:: ipc::point_edge_relative_velocity_matrix_jacobian
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.. doxygenfunction:: ipc::edge_edge_relative_velocity_matrix_jacobian
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.. doxygenfunction:: ipc::point_triangle_relative_velocity_matrix_jacobian
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.. doxygenfunction:: smooth_friction_f0
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.. doxygenfunction:: smooth_friction_f1
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.. doxygenfunction:: smooth_friction_f2
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.. doxygenfunction:: smooth_friction_f1_over_x
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.. doxygenfunction:: smooth_friction_f2_x_minus_f1_over_x3

‎docs/source/cpp-api/normal_collisions.rst

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Normal Collisions
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=================
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Normal Collisions
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-----------------
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.. doxygenclass:: ipc::NormalCollisions
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:allow-dot-graphs:
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Normal Collision
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----------------
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.. doxygenclass:: ipc::NormalCollision
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:allow-dot-graphs:
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Vertex-Vertex Normal Collision
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-----------------------------
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.. doxygenclass:: ipc::VertexVertexNormalCollision
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:allow-dot-graphs:
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Edge-Vertex Normal Collision
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-----------------------------
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.. doxygenclass:: ipc::EdgeVertexNormalCollision
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Edge-Edge Normal Collision
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-----------------------------
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.. doxygenclass:: ipc::EdgeEdgeNormalCollision
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:allow-dot-graphs:
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Face-Vertex Normal Collision
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-----------------------------
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.. doxygenclass:: ipc::FaceVertexNormalCollision
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:allow-dot-graphs:
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Plane-Vertex Normal Collision
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-----------------------------
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.. doxygenclass:: ipc::PlaneVertexNormalCollision
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:allow-dot-graphs:

‎docs/source/cpp-api/potentials.rst

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.. doxygenclass:: ipc::Potential
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Distance-based Potential
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Normal Potentials
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.. doxygenclass:: ipc::NormalPotential
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.. doxygenclass:: ipc::BarrierPotential
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Normal Adhesion Potential
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^^^^^^^^^^^^^^^^^^^^^^^^^
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.. doxygenclass:: ipc::NormalAdhesionPotential
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:allow-dot-graphs:
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Tangential Potentials
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.. doxygenclass:: ipc::TangentialPotential
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Friction Potential
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.. doxygenclass:: ipc::FrictionPotential
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:allow-dot-graphs:
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Tangential Adhesion Potential
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^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
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.. doxygenclass:: ipc::TangentialAdhesionPotential
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‎docs/source/cpp-api/tangent.rst

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Tangent
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=======
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Tangent Basis
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-------------
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.. doxygenfunction:: ipc::point_point_tangent_basis
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.. doxygenfunction:: ipc::point_edge_tangent_basis
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.. doxygenfunction:: ipc::edge_edge_tangent_basis
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.. doxygenfunction:: ipc::point_triangle_tangent_basis
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Tangent Basis Jacobians
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^^^^^^^^^^^^^^^^^^^^^^^
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.. doxygenfunction:: ipc::point_point_tangent_basis_jacobian
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.. doxygenfunction:: ipc::point_edge_tangent_basis_jacobian
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.. doxygenfunction:: ipc::edge_edge_tangent_basis_jacobian
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.. doxygenfunction:: ipc::point_triangle_tangent_basis_jacobian
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Relative Velocity
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.. doxygenfunction:: ipc::point_point_relative_velocity
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.. doxygenfunction:: ipc::point_edge_relative_velocity
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.. doxygenfunction:: ipc::edge_edge_relative_velocity
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.. doxygenfunction:: ipc::point_triangle_relative_velocity
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Relative Velocity as Multiplier Matricies
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^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
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.. doxygenfunction:: ipc::point_point_relative_velocity_matrix
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.. doxygenfunction:: ipc::point_edge_relative_velocity_matrix
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.. doxygenfunction:: ipc::edge_edge_relative_velocity_matrix
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.. doxygenfunction:: ipc::point_triangle_relative_velocity_matrix
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Relative Velocity Matrix Jacobians
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^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
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.. doxygenfunction:: ipc::point_point_relative_velocity_matrix_jacobian
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.. doxygenfunction:: ipc::point_edge_relative_velocity_matrix_jacobian
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.. doxygenfunction:: ipc::edge_edge_relative_velocity_matrix_jacobian
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.. doxygenfunction:: ipc::point_triangle_relative_velocity_matrix_jacobian
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Closet Points
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.. doxygenfunction:: ipc::point_edge_closest_point
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.. doxygenfunction:: ipc::edge_edge_closest_point
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.. doxygenfunction:: ipc::point_triangle_closest_point
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Closet Points Jacobians
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^^^^^^^^^^^^^^^^^^^^^^^
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.. doxygenfunction:: ipc::point_edge_closest_point_jacobian
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.. doxygenfunction:: ipc::edge_edge_closest_point_jacobian
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.. doxygenfunction:: ipc::point_triangle_closest_point_jacobian

‎docs/source/cpp-api/tangential_collisions.rst

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Tangential Collisions
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Tangential Collision
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Vertex-Vertex Tangential Collision
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.. doxygenclass:: ipc::VertexVertexTangentialCollision
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Edge-Vertex Tangential Collision
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Edge-Edge Tangential Collision
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.. doxygenclass:: ipc::EdgeEdgeTangentialCollision
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Face-Vertex Tangential Collision
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.. doxygenclass:: ipc::FaceVertexTangentialCollision
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:allow-dot-graphs:

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