Apple Silicon Support

.clang-format

@@ -58,12 +58,9 @@ SpacesInAngles:  false
 SpaceInEmptyParentheses: false
 SpacesInCStyleCastParentheses: false
 SpaceAfterCStyleCast: false
-SpacesInSquareBrackets: false
 SpaceAfterTemplateKeyword: true
 SpacesInContainerLiterals: false
-SpacesInParentheses: false
 SpaceBeforeAssignmentOperators: true
-SpaceBeforeParens: false
 ContinuationIndentWidth: 4
 CommentPragmas:  '^ IWYU pragma:'
 ForEachMacros:   [ foreach, Q_FOREACH, BOOST_FOREACH ]

.github/workflows/continuous.yml

@@ -4,10 +4,10 @@ on:
   workflow_dispatch:
   push:
     branches:
-      - master
+      - main
   pull_request:
     branches:
-      - master
+      - main
 
 env:
   CTEST_OUTPUT_ON_FAILURE: ON
@@ -33,37 +33,35 @@ jobs:
             name: Linux
     steps:
       - name: Checkout repository
-        uses: actions/checkout@v1
+        uses: actions/checkout@v4.0.0
         with:
           fetch-depth: 10
 
       - name: Dependencies (Linux)
         if: runner.os == 'Linux'
         run: |
-            sudo apt-get update &&
-            sudo apt-get install \
-            xorg-dev \
-            libsuitesparse-dev \
-            libblas-dev \
-            libglu1-mesa-dev \
-            liblapack-dev \
-            ccache
+            sudo apt-get update
+            sudo apt-get install xorg-dev libsuitesparse-dev libblas-dev libglu1-mesa-dev liblapack-dev ccache
+            echo 'CACHE_PATH=~/.cache/ccache' >> "$GITHUB_ENV"
 
       - name: Dependencies (macOS)
         if: runner.os == 'macOS'
-        run: brew install suite-sparse ccache
+        run: |
+          brew install suite-sparse ccache
+          echo 'CACHE_PATH=~/Library/Caches/ccache' >> "$GITHUB_ENV"
 
       - name: Cache Build
         id: cache-build
-        uses: actions/cache@v1
+        uses: actions/cache@v3.0.11
         with:
-          path: ~/.ccache
+          path: ${{ env.CACHE_PATH }}
           key: ${{ runner.os }}-${{ matrix.config }}-cache
 
       - name: Prepare ccache
         run: |
           ccache --max-size=1.0G
-          ccache -V && ccache --show-stats && ccache --zero-stats
+          ccache -V && ccache --show-config
+          ccache --show-stats && ccache --zero-stats
 
       - name: Configure
         run: |

CMakeLists.txt

@@ -45,13 +45,19 @@ option(IPC_WITH_EXACT_CCD "Use exact CCD as a verification"
 ## Top level options
 option(IPC_WITH_TESTS "Build unit tests using Catch2" ${IPC_TOPLEVEL_PROJECT})
 
+# project-options
+option(IPC_BUILD_DIAGNOSTIC_PROJECT      "Build the Diagnostic sub-project"     ${IPC_TOPLEVEL_PROJECT})
+option(IPC_BUILD_MESH_PROCESSING_PROJECT "Build the MeshProcessing sub-project" ${IPC_TOPLEVEL_PROJECT})
+
 ################################################################################
 
 ### Configuration
-set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} ${CMAKE_CURRENT_SOURCE_DIR}/cmake)
+set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} ${CMAKE_CURRENT_SOURCE_DIR}/cmake/ipc)
 set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} ${CMAKE_CURRENT_SOURCE_DIR}/cmake/find)
 set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} ${CMAKE_CURRENT_SOURCE_DIR}/cmake/recipes)
 
+include(ipc_cpm_cache)
+
 ################################################################################
 # IPC Library
 ################################################################################
@@ -99,7 +105,7 @@ target_include_directories(${PROJECT_NAME}_dev PUBLIC
 ################################################################################
 
 # Extra warnings
-include(IPCWarnings)
+include(ipc_warnings)
 target_link_libraries(${PROJECT_NAME}_dev PRIVATE IPC::warnings)
 
 # tbb
@@ -122,9 +128,9 @@ target_link_libraries(${PROJECT_NAME}_dev PUBLIC osqp::osqp)
 # libigl
 include(eigen)
 include(libigl)
-target_link_libraries(${PROJECT_NAME}_dev PUBLIC igl::core igl::triangle igl::tetgen)
+target_link_libraries(${PROJECT_NAME}_dev PUBLIC igl::core)
 if(IPC_WITH_OPENGL)
-  target_link_libraries(${PROJECT_NAME}_dev PUBLIC igl::opengl_glfw igl::opengl_glfw_imgui igl::png)
+  target_link_libraries(${PROJECT_NAME}_dev PUBLIC igl::glfw igl::imgui igl::stb)
   target_compile_definitions(${PROJECT_NAME}_dev PUBLIC USE_OPENGL)
 endif()
 

README.md

@@ -1,5 +1,5 @@
-[![Build status](https://github.com/ipc-sim/IPC/workflows/Build/badge.svg?event=push)](https://github.com/ipc-sim/IPC/actions?query=workflow%3ABuild+branch%3Amaster+event%3Apush)
-[![License](https://img.shields.io/github/license/ipc-sim/IPC.svg?color=blue)](https://github.com/ipc-sim/IPC/blob/master/LICENSE)
+[![Build status](https://github.com/ipc-sim/IPC/workflows/Build/badge.svg?event=push)](https://github.com/ipc-sim/IPC/actions?query=workflow%3ABuild+branch%3Amain+event%3Apush)
+[![License](https://img.shields.io/github/license/ipc-sim/IPC.svg?color=blue)](https://github.com/ipc-sim/IPC/blob/main/LICENSE)
 
 # IPC
 

cmake/ipc/ipc_cpm_cache.cmake

@@ -0,0 +1,25 @@
+
+#
+# Copyright 2021 Adobe. All rights reserved.
+# This file is licensed to you under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License. You may obtain a copy
+# of the License at http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software distributed under
+# the License is distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR REPRESENTATIONS
+# OF ANY KIND, either express or implied. See the License for the specific language
+# governing permissions and limitations under the License.
+#
+
+if(DEFINED ENV{CPM_SOURCE_CACHE})
+    set(CPM_SOURCE_CACHE_DEFAULT $ENV{CPM_SOURCE_CACHE})
+else()
+    # Set CPM cache folder if unset
+    file(REAL_PATH "~/.cache/CPM" CPM_SOURCE_CACHE_DEFAULT EXPAND_TILDE)
+endif()
+
+set(CPM_SOURCE_CACHE
+    ${CPM_SOURCE_CACHE_DEFAULT}
+    CACHE PATH "Directory to download CPM dependencies"
+)
+message(STATUS "Using CPM cache folder: ${CPM_SOURCE_CACHE}")

cmake/recipes/CPM.cmake

@@ -0,0 +1,33 @@
+set(CPM_DOWNLOAD_VERSION 0.38.1)
+
+if(CPM_SOURCE_CACHE)
+  set(CPM_DOWNLOAD_LOCATION "${CPM_SOURCE_CACHE}/cpm/CPM_${CPM_DOWNLOAD_VERSION}.cmake")
+elseif(DEFINED ENV{CPM_SOURCE_CACHE})
+  set(CPM_DOWNLOAD_LOCATION "$ENV{CPM_SOURCE_CACHE}/cpm/CPM_${CPM_DOWNLOAD_VERSION}.cmake")
+else()
+  set(CPM_DOWNLOAD_LOCATION "${CMAKE_BINARY_DIR}/cmake/CPM_${CPM_DOWNLOAD_VERSION}.cmake")
+endif()
+
+# Expand relative path. This is important if the provided path contains a tilde (~)
+get_filename_component(CPM_DOWNLOAD_LOCATION ${CPM_DOWNLOAD_LOCATION} ABSOLUTE)
+
+function(download_cpm)
+  message(STATUS "Downloading CPM.cmake to ${CPM_DOWNLOAD_LOCATION}")
+  file(DOWNLOAD
+       https://github.com/cpm-cmake/CPM.cmake/releases/download/v${CPM_DOWNLOAD_VERSION}/CPM.cmake
+       ${CPM_DOWNLOAD_LOCATION}
+  )
+endfunction()
+
+if(NOT (EXISTS ${CPM_DOWNLOAD_LOCATION}))
+  download_cpm()
+else()
+  # resume download if it previously failed
+  file(READ ${CPM_DOWNLOAD_LOCATION} check)
+  if("${check}" STREQUAL "")
+    download_cpm()
+  endif()
+  unset(check)
+endif()
+
+include(${CPM_DOWNLOAD_LOCATION})

cmake/recipes/amgcl.cmake

@@ -16,14 +16,6 @@ endif()
 
 message(STATUS "Third-party: creating target 'amgcl::amgcl'")
 
-include(FetchContent)
-FetchContent_Declare(
-    amgcl
-    GIT_REPOSITORY https://github.com/ddemidov/amgcl.git
-    GIT_TAG 1.4.2
-    GIT_SHALLOW TRUE
-)
-
 function(amgcl_import_target)
     macro(ignore_package NAME VERSION_NUM)
         include(CMakePackageConfigHelpers)
@@ -40,14 +32,20 @@ function(amgcl_import_target)
     include(boost)
 
     ignore_package(Boost 1.71.0)
+    set(Boost_ROOT "")
     set(Boost_INCLUDE_DIRS "")
     set(Boost_LIBRARIES "")
 
     # Prefer Config mode before Module mode to prevent lib from loading its own FindXXX.cmake
     set(CMAKE_FIND_PACKAGE_PREFER_CONFIG TRUE)
 
     # Ready to include third-party lib
-    FetchContent_MakeAvailable(amgcl)
+    include(CPM)
+    CPMAddPackage(
+        NAME amgcl
+        GITHUB_REPOSITORY ddemidov/amgcl
+        GIT_TAG 1.4.2
+    )
 
     target_link_libraries(amgcl INTERFACE Boost::boost)
 endfunction()

cmake/recipes/boost.cmake

@@ -1,5 +1,5 @@
 #
-# Copyright 2020 Adobe. All rights reserved.
+# Copyright 2021 Adobe. All rights reserved.
 # This file is licensed to you under the Apache License, Version 2.0 (the "License");
 # you may not use this file except in compliance with the License. You may obtain a copy
 # of the License at http://www.apache.org/licenses/LICENSE-2.0
@@ -9,33 +9,58 @@
 # OF ANY KIND, either express or implied. See the License for the specific language
 # governing permissions and limitations under the License.
 #
-
 if(TARGET Boost::boost)
     return()
 endif()
 
 message(STATUS "Third-party: creating targets 'Boost::boost'...")
 
-include(FetchContent)
-FetchContent_Declare(
-    boost-cmake
-    GIT_REPOSITORY https://github.com/Orphis/boost-cmake.git
-    GIT_TAG 7f97a08b64bd5d2e53e932ddf80c40544cf45edf
-)
-
 set(PREVIOUS_CMAKE_CXX_FLAGS ${CMAKE_CXX_FLAGS})
 set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -fPIC")
 set(OLD_CMAKE_POSITION_INDEPENDENT_CODE ${CMAKE_POSITION_INDEPENDENT_CODE})
 set(CMAKE_POSITION_INDEPENDENT_CODE ON)
 
-# This guy will download boost using FetchContent
-FetchContent_GetProperties(boost-cmake)
-if(NOT boost-cmake_POPULATED)
-    FetchContent_Populate(boost-cmake)
-    # File lcid.cpp from Boost_locale.cpp doesn't compile on MSVC, so we exclude them from the default
-    # targets being built by the project (only targets explicitly used by other targets will be built).
-    add_subdirectory(${boost-cmake_SOURCE_DIR} ${boost-cmake_BINARY_DIR} EXCLUDE_FROM_ALL)
-endif()
+set(BOOST_URL "https://boostorg.jfrog.io/artifactory/main/release/1.83.0/source/boost_1_83_0.tar.bz2" CACHE STRING "Boost download URL")
+set(BOOST_URL_SHA256 "6478edfe2f3305127cffe8caf73ea0176c53769f4bf1585be237eb30798c3b8e" CACHE STRING "Boost download URL SHA256 checksum")
+
+include(CPM)
+CPMAddPackage(
+    NAME boost
+    URL ${BOOST_URL}
+    URL_HASH SHA256=${BOOST_URL_SHA256}
+    DOWNLOAD_ONLY ON
+)
+set(BOOST_SOURCE ${boost_SOURCE_DIR})
+set(Boost_POPULATED ON)
+
+# Only build the following Boost libs
+set(BOOST_LIBS_OPTIONAL "" CACHE STRING "Boost libs to be compiled" FORCE)
+
+# File lcid.cpp from Boost_locale.cpp doesn't compile on MSVC, so we exclude them from the default
+# targets being built by the project (only targets explicitly used by other targets will be built).
+CPMAddPackage(
+    NAME boost-cmake
+    GITHUB_REPOSITORY Orphis/boost-cmake
+    GIT_TAG 7f97a08b64bd5d2e53e932ddf80c40544cf45edf
+    EXCLUDE_FROM_ALL
+)
 
 set(CMAKE_POSITION_INDEPENDENT_CODE ${OLD_CMAKE_POSITION_INDEPENDENT_CODE})
 set(CMAKE_CXX_FLAGS "${PREVIOUS_CMAKE_CXX_FLAGS}")
+
+foreach(name IN ITEMS
+        atomic
+        chrono
+        container
+        date_time
+        filesystem
+        iostreams
+        log
+        system
+        thread
+        timer
+    )
+    if(TARGET Boost_${name})
+        set_target_properties(Boost_${name} PROPERTIES FOLDER third_party/boost)
+    endif()
+endforeach()

cmake/recipes/catch2.cmake

@@ -1,25 +1,14 @@
-#
-# Copyright 2020 Adobe. All rights reserved.
-# This file is licensed to you under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License. You may obtain a copy
-# of the License at http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software distributed under
-# the License is distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR REPRESENTATIONS
-# OF ANY KIND, either express or implied. See the License for the specific language
-# governing permissions and limitations under the License.
-#
+# Catch2 (https://github.com/catchorg/Catch2)
+# License: BSL-1.0
 if(TARGET Catch2::Catch2)
     return()
 endif()
 
 message(STATUS "Third-party: creating target 'Catch2::Catch2'")
 
-include(FetchContent)
-FetchContent_Declare(
-    catch2
-    GIT_REPOSITORY https://github.com/catchorg/Catch2.git
-    GIT_TAG v2.13.6
-    GIT_SHALLOW TRUE
-)
-FetchContent_MakeAvailable(catch2)
+option(CATCH_CONFIG_CPP17_STRING_VIEW "Enable support for std::string_view" ON)
+option(CATCH_INSTALL_DOCS "Install documentation alongside library" OFF)
+option(CATCH_INSTALL_EXTRAS "Install extras alongside library" OFF)
+
+include(CPM)
+CPMAddPackage("gh:catchorg/Catch2@2.13.6")

cmake/recipes/ccd_wrapper.cmake

@@ -12,10 +12,5 @@ set(CCD_WRAPPER_WITH_BSC ${IPC_WITH_EXACT_CCD} CACHE BOOL "Enable Bernstein sign
 option(CCD_WRAPPER_WITH_TIGHT_INCLUSION                   "Enable Tight Inclusion method"                  ON)
 option(TIGHT_INCLUSION_WITH_NO_ZERO_TOI                   "Enable refinement if CCD produces a zero ToI"   ON)
 
-include(FetchContent)
-FetchContent_Declare(
-    ccd_wrapper
-    GIT_REPOSITORY https://github.com/Continuous-Collision-Detection/CCD-Wrapper.git
-    GIT_TAG 23907dadf3e1eef606e38450ada4aa4f96fd9f71
-)
-FetchContent_MakeAvailable(ccd_wrapper)
+include(CPM)
+CPMAddPackage("gh:Continuous-Collision-Detection/CCD-Wrapper#23907dadf3e1eef606e38450ada4aa4f96fd9f71")

cmake/recipes/cli11.cmake

@@ -10,19 +10,13 @@
 # governing permissions and limitations under the License.
 #
 
+# CLI11 (https://github.com/CLIUtils/CLI11)
 # BSD license
-
 if(TARGET CLI11::CLI11)
     return()
 endif()
 
 message(STATUS "Third-party: creating target 'CLI11::CLI11'")
 
-include(FetchContent)
-FetchContent_Declare(
-    cli11
-    GIT_REPOSITORY https://github.com/CLIUtils/CLI11.git
-    GIT_TAG v2.2.0
-    GIT_SHALLOW TRUE
-)
-FetchContent_MakeAvailable(cli11)
+include(CPM)
+CPMAddPackage("gh:CLIUtils/CLI11@2.2.0")