Adhesion

[zfergus]

Description

Implement the adhesion potentials from "Augmented Incremental Potential Contact for Sticky Interactions" [Fang et al. 2023].

Type of change

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

How Has This Been Tested?

• New unit tests

Test Configuration:

• OS and version: macOS 14.2
• Compile and version: Apple clang version 15.0.0

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

[codecov]

Codecov Report

Attention: Patch coverage is 94.35626% with 32 lines in your changes missing coverage. Please review.

Project coverage is 96.74%. Comparing base (a34c034) to head (6138afa).

Files with missing lines	Patch %	Lines
src/ipc/collisions/normal/normal_collision.cpp	30.00%	7 Missing ⚠️
src/ipc/potentials/tangential_potential.cpp	96.74%	7 Missing ⚠️
...c/ipc/potentials/tangential_adhesion_potential.cpp	40.00%	6 Missing ⚠️
...c/ipc/potentials/tangential_adhesion_potential.hpp	57.14%	3 Missing ⚠️
src/ipc/collisions/tangential/vertex_vertex.cpp	83.33%	2 Missing ⚠️
src/ipc/potentials/barrier_potential.cpp	88.88%	2 Missing ⚠️
src/ipc/collisions/tangential/edge_edge.hpp	0.00%	1 Missing ⚠️
src/ipc/collisions/tangential/edge_vertex.hpp	0.00%	1 Missing ⚠️
src/ipc/collisions/tangential/face_vertex.hpp	0.00%	1 Missing ⚠️
...ipc/collisions/tangential/tangential_collision.hpp	50.00%	1 Missing ⚠️
... and 1 more

Additional details and impacted files

@@            Coverage Diff             @@
##             main      #85      +/-   ##
==========================================
+ Coverage   96.32%   96.74%   +0.42%     
==========================================
  Files         102      109       +7     
  Lines        7601     7722     +121     
==========================================
+ Hits         7322     7471     +149     
+ Misses        279      251      -28     

Flag	Coverage Δ
unittests	96.74% <94.35%> (+0.42%)	⬆️

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