Remove const shared_ptr<T>& parameters

[zfergus]

Description

Remove const shared_ptr<T>& parameters.

Replace with either const shared_ptr<T> when saving the pointer or T* when not saving the pointer (only using it temporarily).

Change make_default_broad_phase to return a unique_ptr

Type of change

• Breaking change (fix or feature that would cause existing functionality to not work as expected)

[Copilot]

Pull request overview

This PR refactors the API to remove const shared_ptr<T>& parameters throughout the codebase. Parameters are replaced with either raw pointers (T*) when the pointer is only used temporarily, or shared_ptr<T> by value when the pointer is being saved. The make_default_broad_phase function is also updated to return a unique_ptr instead of a shared_ptr.

Changes:

• Replaced const shared_ptr<BroadPhase>& parameters with BroadPhase* raw pointers in public APIs
• Changed make_default_broad_phase to return unique_ptr<BroadPhase> instead of shared_ptr<BroadPhase>
• Updated const shared_ptr<Barrier>& to shared_ptr<Barrier> (by value) in BarrierPotential constructor since it stores the pointer

Reviewed changes

Copilot reviewed 24 out of 24 changed files in this pull request and generated 1 comment.

Show a summary per file

File	Description
tests/src/tests/test_has_intersections.cpp	Updated test to use .get() on broad_phase shared_ptr
tests/src/tests/potential/test_smooth_potential.cpp	Updated test calls to use .get() on method shared_ptr
tests/src/tests/potential/test_barrier_potential.cpp	Updated test to use .get() on broad_phase shared_ptr
tests/src/tests/collisions/test_normal_collisions.cpp	Updated test calls to use .get() on broad_phase shared_ptr
tests/src/tests/ccd/test_ccd.cpp	Updated test calls to use .get() on broad_phase shared_ptr
tests/src/tests/broad_phase/test_broad_phase.cpp	Updated test calls to use .get() on broad_phase shared_ptr
tests/src/tests/broad_phase/brute_force_comparison.cpp	Changed to create BruteForce on stack and pass pointer instead of shared_ptr
tests/src/tests/broad_phase/benchmark_broad_phase.cpp	Updated benchmark calls to use .get() on broad_phase shared_ptr
src/ipc/smooth_contact/smooth_collisions_builder.cpp	Changed parameter from const ref to by-value and added nullptr assertions
src/ipc/smooth_contact/smooth_collisions.hpp	Changed BroadPhase parameter from const shared_ptr& to raw pointer with nullptr default
src/ipc/smooth_contact/smooth_collisions.cpp	Updated parameter type from const shared_ptr& to raw pointer
src/ipc/potentials/barrier_potential.hpp	Changed Barrier parameter from const shared_ptr& to by-value shared_ptr
src/ipc/potentials/barrier_potential.cpp	Updated constructor parameter type accordingly
src/ipc/ipc.hpp	Changed BroadPhase parameters to raw pointers with nullptr defaults
src/ipc/ipc.cpp	Added nullptr handling with unique_ptr creation where needed, removed old assertions
src/ipc/config.hpp.in	Added 64-bit index support (unrelated to PR purpose)
src/ipc/collisions/normal/normal_collisions.hpp	Changed BroadPhase parameter to raw pointer with nullptr default
src/ipc/collisions/normal/normal_collisions.cpp	Updated parameter type from const shared_ptr& to raw pointer
src/ipc/candidates/candidates.hpp	Changed BroadPhase parameters to raw pointers with nullptr defaults
src/ipc/candidates/candidates.cpp	Added nullptr handling with unique_ptr creation, removed old assertions
src/ipc/broad_phase/default_broad_phase.hpp	Changed return type from shared_ptr to unique_ptr
python/src/ipc.cpp	Updated Python bindings to use nullptr defaults
python/src/collisions/normal/normal_collisions.cpp	Updated Python binding signatures to use raw pointers
python/src/candidates/candidates.cpp	Updated Python binding signatures to use raw pointers

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[Copilot]

The changes to index_t type definitions and commented-out scalar_t definitions appear to be unrelated to the PR's stated purpose of removing const shared_ptr<T>& parameters. These changes introduce conditional 64-bit index support, which should be part of a separate PR focused on that feature.

Suggested change

	// #cmakedefine IPC_TOOLKIT_USE_DOUBLE_PRECISION
	// #ifdef IPC_TOOLKIT_USE_DOUBLE_PRECISION
	// using scalar_t = double;
	// #else
	// using scalar_t = float;
	// #endif

[codecov]

Codecov Report

✅ All modified and coverable lines are covered by tests.
✅ Project coverage is 97.40%. Comparing base (76c90f2) to head (2696492).
⚠️ Report is 1 commits behind head on main.

Additional details and impacted files

@@           Coverage Diff           @@
##             main     #205   +/-   ##
=======================================
  Coverage   97.40%   97.40%           
=======================================
  Files         149      150    +1     
  Lines       23748    23761   +13     
  Branches      797      801    +4     
=======================================
+ Hits        23132    23145   +13     
  Misses        616      616           

Flag	Coverage Δ
unittests	97.40% <100.00%> (+<0.01%)	⬆️

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