Merge branch 'main' into lbvh

Author: zfergus

.clang-tidy

@@ -0,0 +1,58 @@
+Checks: >
+  -*,
+
+  # Standard C++ Guidelines (Modernization, Idioms)
+  modernize-*,
+  performance-*,
+  readability-*,
+
+  # Bug Detection and Safety
+  bugprone-*,
+  # misc-const-correctness,
+
+  # Specific high-value checks (even if not in a group above)
+  google-runtime-int,
+  cppcoreguidelines-pro-type-member-init,
+
+  # Exclusions/Suppressions (Checks often considered too aggressive or subjective)
+  -bugprone-throwing-static-initialization,
+  -cppcoreguidelines-owning-memory,
+  -modernize-use-trailing-return-type,
+  -readability-avoid-const-params-in-decls,
+  -readability-avoid-nested-conditional-operator,
+  -readability-container-contains,
+  -readability-else-after-return,
+  -readability-function-cognitive-complexity,
+  -readability-identifier-length,
+  -readability-implicit-bool-conversion,
+  -readability-isolate-declaration,
+  -readability-magic-numbers,
+  -readability-math-missing-parentheses,
+  -readability-redundant-access-specifiers,
+  -readability-uppercase-literal-suffix,
+  -readability-function-size,
+  -readability-convert-member-functions-to-static
+
+WarningsAsErrors: '*'
+HeaderFilterRegex: '.*(ipc/).*'
+UseColor: true
+FormatStyle: file
+ExtraArgs:
+  - '-isysroot/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX.sdk'
+CheckOptions:
+  readability-identifier-naming.ClassCase: CamelCase
+  readability-identifier-naming.ConstantParameterCase: lower_case
+  readability-identifier-naming.ConstantParameterIgnoredRegexp: '^(_.*)$'
+  readability-identifier-naming.FunctionCase: lower_case
+  readability-identifier-naming.FunctionIgnoredRegexp: '^(AbslHashValue|.*[123][Ddf].*)$'
+  readability-identifier-naming.GlobalConstantCase: UPPER_CASE
+  readability-identifier-naming.MemberCase: lower_case
+  readability-identifier-naming.MemberIgnoredRegexp: '^([A-Z])$'
+  readability-identifier-naming.MethodCase: lower_case
+  readability-identifier-naming.MethodIgnoredRegexp: '^(.*[123][Ddf].*)$'
+  readability-identifier-naming.ParameterIgnoredRegexp: '^(_.*)$'
+  readability-identifier-naming.StructCase: CamelCase
+  readability-identifier-naming.VariableCase: aNy_CasE
+  readability-identifier-naming.VariableIgnoredRegexp: '^(_.*)$'
+  readability-identifier-naming.EnumCase: CamelCase
+  readability-identifier-naming.EnumConstantCase: UPPER_CASE

.github/workflows/clang-tidy-check.yml

@@ -0,0 +1,42 @@
+name: Clang-Tidy Check
+
+on:
+  push:
+    branches: [main]
+  pull_request:
+    paths:
+      - '.github/workflows/clang-tidy-check.yml'
+      - '.clang-tidy'
+      - 'src/**'
+
+concurrency:
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: ${{ github.ref != 'refs/heads/main' }}
+
+jobs:
+  clang-tidy:
+    name: Run Clang-Tidy
+    runs-on: ubuntu-latest
+
+    steps:
+      - name: Checkout code
+        uses: actions/checkout@v4
+
+      - name: Install dependencies
+        run: |
+          sudo apt-get update
+          sudo apt-get install -y clang-tidy cmake build-essential
+
+      - name: Get number of CPU cores
+        uses: SimenB/[email protected]
+        id: cpu-cores
+
+      - name: Configure CMake
+        run: |
+          mkdir -p build
+          cd build
+          cmake -DCMAKE_EXPORT_COMPILE_COMMANDS=ON ..
+
+      - name: Run Clang-Tidy
+        run: |
+          run-clang-tidy -quiet -j ${{ steps.cpu-cores.outputs.count }} -p build $(find src -name '*.cpp')

.github/workflows/coverage.yml

@@ -72,7 +72,7 @@ jobs:
           lcov --remove coverage.info --ignore-errors unused '/usr/*' "$HOME/.cache/*" "*tests/*" --output-file coverage.info
 
       - name: Upload coverage reports to Codecov
-        uses: codecov/codecov-action@v3.1.6
+        uses: codecov/codecov-action@v5.5.1
         with:
           fail_ci_if_error: true
           files: build/coverage.info

.github/workflows/pypi.yml

@@ -91,7 +91,7 @@ jobs:
           merge-multiple: true
           path: dist
 
-      - uses: pypa/gh-action-pypi-publish@v1.12.4
+      - uses: pypa/gh-action-pypi-publish@v1.13.0
         with:
           user: __token__
           # To test:

.pre-commit-config.yaml

@@ -1,11 +1,11 @@
 repos:
   - repo: https://github.com/pre-commit/mirrors-clang-format
-    rev: v14.0.0
+    rev: v21.1.2
     hooks:
       - id: clang-format
         name: clang-format
         description: "Use clang-format to format C/C++ code"
-        entry: clang-format-20
+        entry: clang-format
         args:
           - --style=file
           - --verbose

CMakeLists.txt

@@ -177,6 +177,11 @@ target_link_libraries(ipc_toolkit PRIVATE simple_bvh::simple_bvh)
 include(spdlog)
 target_link_libraries(ipc_toolkit PUBLIC spdlog::spdlog)
 
+# TinyAD
+include(tinyad)
+# TODO: Make this a private dependency once we stop exposing TinyAD types in the public API.
+target_link_libraries(ipc_toolkit PUBLIC TinyAD::TinyAD)
+
 # CCD
 if(IPC_TOOLKIT_WITH_INEXACT_CCD)
   # Etienne Vouga's CTCD Library for the floating point root finding algorithm

cmake/ipc_toolkit/ipc_toolkit_tests_data.cmake

@@ -30,7 +30,7 @@ else()
         SOURCE_DIR ${IPC_TOOLKIT_TESTS_DATA_DIR}
 
         GIT_REPOSITORY https://github.com/ipc-sim/ipc-toolkit-tests-data.git
-        GIT_TAG 0c6ce752d020db32f62da37d7b8ca9f73c204b36
+        GIT_TAG 7ca6db695adcc00d3d6d978767dfc0d81722a515
 
         CONFIGURE_COMMAND ""
         BUILD_COMMAND ""

cmake/recipes/scalable_ccd.cmake

@@ -8,7 +8,7 @@ message(STATUS "Third-party: creating target 'scalable_ccd::scalable_ccd'")
 
 include(CPM)
 CPMAddPackage(
-    URI "gh:continuous-collision-detection/scalable-ccd#4fa806f533b19132e696a2dddeab16537025b5f9"
+    URI "gh:continuous-collision-detection/scalable-ccd#c80af01cab083b3eeb8dac80312ec9cfe479a5cf"
     OPTIONS "SCALABLE_CCD_WITH_CUDA ${IPC_TOOLKIT_WITH_CUDA}"
 )
 

cmake/recipes/spdlog.cmake

@@ -10,7 +10,7 @@ option(SPDLOG_INSTALL "Generate the install target" ON)
 set(CMAKE_INSTALL_DEFAULT_COMPONENT_NAME "spdlog")
 
 include(CPM)
-CPMAddPackage("gh:gabime/spdlog@1.11.0")
+CPMAddPackage("gh:gabime/spdlog@1.15.3")
 
 set_target_properties(spdlog PROPERTIES POSITION_INDEPENDENT_CODE ON)
 

cmake/recipes/tinyad.cmake

@@ -0,0 +1,16 @@
+# TinyAD (https://github.com/patr-schm/tinyad)
+# License: MIT
+if(TARGET TinyAD::TinyAD)
+    return()
+endif()
+
+message(STATUS "Third-party: creating target 'TinyAD::TinyAD'")
+
+include(CPM)
+CPMAddPackage(
+    URI "gh:zfergus/tinyad#957ede5bcf4b8d924f27230083508c664a9f7a7d"
+    OPTIONS "TINYAD_PARALLEL_BACKEND onetbb"
+)
+
+# Folder name for IDE
+set_target_properties(TinyAD PROPERTIES FOLDER "ThirdParty")