Kinetics and Static Friction pairwise for different materials

[antoinebou12]

Description

Kinetics and Static Friction pairwise for different materials

This pull request includes several significant updates to the build configuration and friction collision handling in the IPC Toolkit. The most important changes include adding new pre-commit hooks, updating CMake options, and enhancing the friction collision classes with additional parameters.

Build Configuration Updates:

• .pre-commit-config.yaml: Added new pre-commit hooks for clang-format and a local hook for building and running unit tests using ccache.

Friction Collision Enhancements:

• python/src/friction/collisions/: Updated friction collision classes to include static and kinetic friction coefficients, and added support for pairwise friction handling. [1] [2] [3] [4] [5] [6] [7]

Documentation:

• README.md: Added a note about the new pairwise friction handling feature.

Fixes # (issue)

Type of change

• Enhancement (non-breaking change which improves existing functionality)
• New feature (non-breaking change which adds functionality)

How Has This Been Tested?

Test Configuration:

• OS and version: WSL
• Compile and version:

Checklist:

• I have followed the project style guide
• [] My code follows the clang-format style guidelines of this project
• I have performed a self-review of my code
• I have commented my code, particularly in hard-to-understand areas
• I have made corresponding changes to the documentation
• My changes generate no new warnings
• I have added tests that prove my fix is effective or that my feature works
• New and existing unit tests pass locally with my changes
• Any dependent changes have been merged and published in downstream modules

[zfergus]

Thank you for your changes and pull request. This is a useful feature that I thought about adding but never had the time to do. I am glad you are working on it :). I will wait until you mark it as "Ready for review" to give a full review, but here are some initial comments:

• I like the idea of CUDA being enabled by default, but it needs to be behind a check to see if CUDA is available.
• I have always wanted to enable SIMD instruction for Eigen but have always run into memory alignment issues and crashes. I left it off by default and marked it as advanced. We can troubleshoot this to see if there is a good solution.
• I'll make some other individual comments for the CMake changes for now and hold off on source code comments until the PR is close to being finalized.

[antoinebou12]

Modify in the final version

[antoinebou12]

Match the ID of the collision mesh with the pairwise friction

[antoinebou12]

@zfergus i gonna restart with the new changes of 1.4

[zfergus]

Okay, thanks @antoinebou12. Let me know if you run into any confusion with the latest changes.