Dependencies¶

The IPC Toolkit depends on a handful of third-party libraries, which are used to provide various functionality.

All required dependencies are downloaded through CMake depending on the build options, and are built automatically when you build the IPC Toolkit. You do not need to install them separately.

These dependencies are all permissively licensed, and we list them here to give due credit!

Name	Purpose	License	Link
Eigen	Linear algebra	MPL-2.0	eigen.tuxfamily.org
libigl	Geometry functions and predicates	MPL-2.0	libigl.github.io
oneTBB	Multithreading	Apache-2.0	github.com/oneapi-src/oneTBB
Tight-Inclusion	Provably conservative CCD	MIT	github.com/Continuous-Collision-Detection/Tight-Inclusion
SimpleBVH	Simple bounding volume hierarchy data structure	MIT	github.com/geometryprocessing/SimpleBVH
Scalable-CCD	Scalable (GPU) CCD	Apache-2.0	github.com/Continuous-Collision-Detection/Scalable-CCD
spdlog	Logger	MIT	github.com/gabime/spdlog

Optional Dependencies¶

Additionally, IPC Toolkit may optionally use the following libraries:

Name	Purpose	License	Link	Enabled	CMake Option
Pybind11	Python bindings	BSD-3-Clause	github.com/pybind/pybind11	✅	`IPC_TOOLKIT_BUILD_PYTHON`
robin-map	Faster hashing	MIT	github.com/Tessil/robin-map	✅	`IPC_TOOLKIT_WITH_ROBIN_MAP`
Abseil	Hashing utilities	Apache-2.0	abseil.io	✅	`IPC_TOOLKIT_WITH_ABSEIL`
filib	Interval arithmetic for nonlinear trajectories/CCD	LGPL-2.1	github.com/zfergus/filib	✅	`IPC_TOOLKIT_WITH_FILIB`
rational-cpp	Rational arithmetic used for exact intersection checks (requires GMP to be installed at a system level)	MIT	github.io/zfergus/rational-cpp	⬜	`IPC_TOOLKIT_WITH_RATIONAL_INTERSECTION`
Etienne Vouga’s Collision Detection Library	Inexact CCD (included for comparison with the original IPC library)	???	github.com/evouga/collisiondetection	⬜	`IPC_TOOLKIT_WITH_INEXACT_CCD`

Some of these libraries are enabled by default, and some are not. You can enable or disable them by passing the appropriate CMake option when you configure the IPC Toolkit build.

Warning

filib is licensed under LGPL-2.1 and as such it is required to be dynamically linked. Doing so automatically is a challenge, so by default we use static linkage. Enabling dynaic linkage requires copying the .so/.dylib/.dll file to the binary directory or system path. To enable this, set the CMake option FILIB_BUILD_SHARED_LIBS to ON and add this CMake code to copy the shared libaray object to the binary directory:

# Copy shared lib to the output directory
add_custom_command(
    TARGET ${MY_EXE_TARGET} POST_BUILD
    COMMAND ${CMAKE_COMMAND} -E copy_if_different $<TARGET_RUNTIME_DLLS:${MY_EXE_TARGET}> $<TARGET_FILE_DIR:${MY_EXE_TARGET}>
    COMMAND_EXPAND_LISTS
)

where ${MY_EXE_TARGET} is the name of your executable target. If you know a better way to handle this, please let us know!

If you would rather avoid LGPL code entirely, you can disable filib by setting IPC_TOOLKIT_WITH_FILIB to OFF. With this option disabled, CMake will not download or use any of filib’s code.

Unit Test Dependencies¶

Name	Purpose	Link
Catch2	Testing framework	github.com/catchorg/Catch2
finite-diff	Finite-difference comparisons	github.com/zfergus/finite-diff
Nlohmann JSON	Loading test data from JSON files	github.com/nlohmann/json