toi/ccd: bug 9 fix (Liang-Barsky segment-AABB tunnel detection) #60
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| name: CI | |
| on: | |
| push: | |
| branches: [main] | |
| pull_request: | |
| branches: [main] | |
| jobs: | |
| # MSVC Debug is intentionally omitted: there's a pre-existing thread-pool | |
| # race that segfaults ~20% of Debug runs near test_tilted_cyl_on_floor, | |
| # which Release never hits. Tracked separately; restore this job as a | |
| # Debug-matrix entry once that race is fixed. | |
| windows-msvc: | |
| name: Windows MSVC Release | |
| runs-on: windows-latest | |
| steps: | |
| - uses: actions/checkout@v4 | |
| - name: Configure | |
| run: cmake -S . -B build -A x64 -DNUDGE_BUILD_APP=OFF | |
| - name: Build nudge_tests | |
| run: cmake --build build --config Release --target nudge_tests | |
| - name: Run tests | |
| run: ./build/Release/nudge_tests.exe | |
| - name: Determinism check | |
| run: ./build/Release/nudge_tests.exe --determinism --threads 4 | |
| linux-gcc: | |
| name: Linux GCC Release | |
| runs-on: ubuntu-latest | |
| steps: | |
| - uses: actions/checkout@v4 | |
| - name: Configure | |
| run: cmake -S . -B build -DCMAKE_BUILD_TYPE=Release -DCMAKE_C_COMPILER=gcc -DCMAKE_C_FLAGS="-msse4.2" -DNUDGE_BUILD_APP=OFF | |
| - name: Build nudge_tests | |
| run: cmake --build build --target nudge_tests | |
| - name: Run tests | |
| run: ./build/nudge_tests | |
| - name: Determinism check | |
| run: ./build/nudge_tests --determinism --threads 4 | |
| linux-clang-asan: | |
| name: Linux Clang + ASan + UBSan | |
| runs-on: ubuntu-latest | |
| steps: | |
| - uses: actions/checkout@v4 | |
| - name: Configure | |
| run: > | |
| cmake -S . -B build -DCMAKE_BUILD_TYPE=Debug | |
| -DCMAKE_C_COMPILER=clang | |
| -DCMAKE_C_FLAGS="-O1 -g -msse4.2 -fsanitize=address,undefined -fno-omit-frame-pointer" | |
| -DCMAKE_EXE_LINKER_FLAGS="-fsanitize=address,undefined" | |
| -DNUDGE_BUILD_APP=OFF | |
| - name: Build nudge_tests | |
| run: cmake --build build --target nudge_tests | |
| - name: Run tests | |
| env: | |
| ASAN_OPTIONS: halt_on_error=1:abort_on_error=1:detect_leaks=0 | |
| UBSAN_OPTIONS: halt_on_error=1:abort_on_error=1:print_stacktrace=1 | |
| run: ./build/nudge_tests | |
| - name: Determinism check | |
| env: | |
| ASAN_OPTIONS: halt_on_error=1:abort_on_error=1:detect_leaks=0 | |
| UBSAN_OPTIONS: halt_on_error=1:abort_on_error=1:print_stacktrace=1 | |
| run: ./build/nudge_tests --determinism --threads 4 | |
| linux-clang-scalar: | |
| name: Linux Clang scalar SIMD | |
| runs-on: ubuntu-latest | |
| steps: | |
| - uses: actions/checkout@v4 | |
| - name: Configure | |
| run: > | |
| cmake -S . -B build -DCMAKE_BUILD_TYPE=Release | |
| -DCMAKE_C_COMPILER=clang | |
| -DCMAKE_C_FLAGS="-DSIMD_FORCE_SCALAR" | |
| -DNUDGE_BUILD_APP=OFF | |
| - name: Build nudge_tests | |
| run: cmake --build build --target nudge_tests | |
| - name: Run tests | |
| run: ./build/nudge_tests | |
| - name: Determinism check | |
| run: ./build/nudge_tests --determinism --threads 4 | |
| macos-neon: | |
| name: macOS Apple Silicon (NEON) | |
| runs-on: macos-latest | |
| steps: | |
| - uses: actions/checkout@v4 | |
| - name: Configure | |
| run: cmake -S . -B build -DCMAKE_BUILD_TYPE=Release -DNUDGE_BUILD_APP=OFF | |
| - name: Build nudge_tests | |
| run: cmake --build build --target nudge_tests | |
| # Determinism check pins the per-arch hash so future regressions in the | |
| # NEON path fail loudly. The rest of the unit/integration suite has | |
| # tight tolerances calibrated against the x86 hash and is tracked as | |
| # a separate cross-arch tolerance-widening task; kept out of CI until | |
| # we either converge hashes or widen tolerances. | |
| - name: Determinism check | |
| timeout-minutes: 2 | |
| run: ./build/nudge_tests --determinism --threads 4 | |
| - name: Quick perf smoke (bench-stack 10) | |
| timeout-minutes: 2 | |
| run: ./build/nudge_tests --bench-stack 10 | |
| emscripten-wasm: | |
| name: Emscripten WASM SIMD128 | |
| runs-on: ubuntu-latest | |
| steps: | |
| - uses: actions/checkout@v4 | |
| - uses: mymindstorm/setup-emsdk@v14 | |
| with: | |
| version: 3.1.74 | |
| - name: Configure | |
| # 8MB stack + allow memory growth: the default 64KB WASM stack blows | |
| # up in recursive quickhull / GJK paths, and nudge allocates large | |
| # dynamic arrays during stress tests. Matches MSVC's /STACK:8388608. | |
| run: > | |
| emcmake cmake -S . -B build -DCMAKE_BUILD_TYPE=Release | |
| -DCMAKE_C_FLAGS="-msimd128" | |
| -DCMAKE_EXE_LINKER_FLAGS="-sSTACK_SIZE=8388608 -sALLOW_MEMORY_GROWTH=1 -sINITIAL_MEMORY=67108864" | |
| -DNUDGE_BUILD_APP=OFF | |
| - name: Build nudge_tests | |
| run: cmake --build build --target nudge_tests | |
| # WASM pthread requires a special build (-pthread + SharedArrayBuffer) | |
| # we don't enable here, so --threads 4 would race through non-atomic | |
| # atomics. Single-threaded is enough to assert cross-arch FP identity. | |
| - name: Determinism check | |
| timeout-minutes: 2 | |
| run: node ./build/nudge_tests.js --determinism --threads 1 | |