Template the per-collision geometry functions on scalar and dimension - #249

Merged

zfergus merged 24 commits into

mainfrom

feature/template-distances

Sep 3, 2026

Commits on Apr 23, 2026

Template all distance functions for scalar type
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5620f5d
Refactor smooth contact distance code to use unified distance functions
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59969f3
Ensured all arithmetic in auto-generated and hand-written code uses the
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4761904

Commits on Apr 24, 2026

Templatize barrier functions and classes for float/double support
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68e77b3

Commits on May 1, 2026

Merge branch 'main' into template-distances
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a7123fd

Commits on May 4, 2026

Replace EigenExpression concept with typename
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51351b9
Fix template scalar typedef in edge-edge
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1d89967

Commits on Aug 29, 2026

Merge branch 'main' into template-distances
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758fce9
Fix float precision and explicit-scalar calls in the templated distance API

zfergus
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claude
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3b28d6e

Commits on Aug 31, 2026

Split the distance API into deducing front ends over fixed-size kernels

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claude
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c18c644
Unify the non-floating-point distance-type guard and the autogen instantiations

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claude
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aabca00
Name every unsupported scalar family in the AUTO distance-type error

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claude
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65044f3

Commits on Sep 1, 2026

Extend the two-layer template design across the remaining geometry kernels

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claude
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899b423
Bind the distance and tangent kernels directly in Python

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claude
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a75a312
Bind the remaining 3D distance kernels directly in Python

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claude
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9e4ea42
Document the geometry-kernel conversion in the release notes

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claude
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6fee1d1
Rename NormalizedBarrier's private scalar alias to avoid an MSVC clash
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f4d91bd
Allow the _v variable-template suffix in the clang-tidy naming check
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53978e4
Match the CI clang-format version to the pinned pre-commit hook
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c006d90

Commits on Sep 2, 2026