core : Switch to spdlog for logging

CHANGELOG.md

@@ -23,6 +23,7 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0
 
 ### Changed
 
+- multibody/RobotScene : move `invalid_enum()` back to cpp file
 - multibody/RobotScene : always render to G-buffer normal map
 - core: move header `LoadCoalGeometries.h` and its functions to library core
 - multibody/Visualizer : rename a data member in Config
@@ -34,6 +35,7 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0
 
 ### Removed
 
+- Remove deprecated header `candlewick/core/Renderer.h`
 - Remove deprecated header `candlewick/multibody/LoadCoalPrimitives.h`
 
 ## [0.9.0] - 2025-08-12

CMakeLists.txt

@@ -95,13 +95,7 @@ ADD_PROJECT_DEPENDENCY(coal REQUIRED PKG_CONFIG_REQUIRES "coal >= 3.0.0")
 ADD_PROJECT_DEPENDENCY(nlohmann_json 3.11.3 REQUIRED)
 ADD_PROJECT_DEPENDENCY(EnTT REQUIRED)
 ADD_PROJECT_DEPENDENCY(magic_enum 0.9.7 CONFIG REQUIRED)
-if(BUILD_PINOCCHIO_VISUALIZER)
-  ADD_PROJECT_DEPENDENCY(
-    pinocchio
-    REQUIRED
-    PKG_CONFIG_REQUIRES "pinocchio >= 3.7.0"
-  )
-endif()
+ADD_PROJECT_DEPENDENCY(spdlog 1.10 REQUIRED)
 ADD_PROJECT_DEPENDENCY(
   FFmpeg
   7.0.0
@@ -110,6 +104,14 @@ ADD_PROJECT_DEPENDENCY(
   avcodec
   swscale
 )
+if(BUILD_PINOCCHIO_VISUALIZER)
+  ADD_PROJECT_DEPENDENCY(
+    pinocchio
+    REQUIRED
+    PKG_CONFIG_REQUIRES "pinocchio >= 3.7.0"
+  )
+endif()
+
 set(CANDLEWICK_ASSETS_DIR ${PROJECT_SOURCE_DIR}/assets)
 set(CANDLEWICK_SHADER_SRC_DIR ${PROJECT_SOURCE_DIR}/shaders)
 set(

README.md

@@ -96,10 +96,11 @@ Candlewick depends mainly on:
 * [Eigen](https://gitlab.com/libeigen/eigen/) - Linear algebra
 * [Coal](https://github.com/coal-library/coal) - Collision detection, geometry primitives
 * [magic_enum](https://github.com/Neargye/magic_enum) - Enum reflection utilities
+* [spdlog](https://github.com/gabime/spdlog/) - Logging
 
 These dependencies can be installed from Conda as follows:
 ```bash
-conda install -c conda-forge sdl3 eigen coal magic_enum assimp entt nlohmann_json
+conda install -c conda-forge sdl3 eigen coal magic_enum assimp entt nlohmann_json spdlog
 ```
 
 Additionally, candlewick depends on the following bundled dependencies:

examples/Ur5WithSystems.cpp

@@ -118,7 +118,7 @@ void eventLoop(const RenderContext &renderer) {
     ImGui_ImplSDL3_ProcessEvent(&event);
     ImGuiIO &io = ImGui::GetIO();
     if (event.type == SDL_EVENT_QUIT) {
-      SDL_Log("Application exit requested.");
+      spdlog::info("Application exit requested.");
       quitRequested = true;
       break;
     }
@@ -202,11 +202,11 @@ static void addTeapotGeometry(pin::GeometryModel &geom_model) {
 
 static void screenshotButtonCallback(const RenderContext &renderer,
                                      media::TransferBufferPool &pool,
-                                     const char *filename) {
+                                     std::string_view filename) {
   const auto &device = renderer.device;
   CommandBuffer command_buffer{device};
 
-  SDL_Log("Saving screenshot at %s", filename);
+  spdlog::info("Saving screenshot at {:s}", filename);
   media::saveTextureToFile(command_buffer, device, pool,
                            renderer.resolvedColorTarget(),
                            renderer.colorFormat(), wWidth, wHeight, filename);
@@ -319,7 +319,7 @@ int main(int argc, char **argv) {
   const size_t numRobotShapes =
       registry.view<const multibody::PinGeomObjComponent>().size();
   SDL_assert(numRobotShapes == geom_model.ngeoms);
-  SDL_Log("Registered %zu robot geometry objects.", numRobotShapes);
+  spdlog::info("Registered {:d} robot geometry objects.", numRobotShapes);
 
   // DEBUG SYSTEM
 
@@ -539,7 +539,7 @@ int main(int argc, char **argv) {
       }
       gui_system.render(command_buffer);
     } else {
-      SDL_Log("Failed to acquire swapchain: %s", SDL_GetError());
+      spdlog::info("Failed to acquire swapchain: {:s}", SDL_GetError());
       continue;
     }
 

examples/Visualizer.cpp

@@ -9,6 +9,8 @@
 #include <CLI/Formatter.hpp>
 #include <CLI/Config.hpp>
 
+#include <spdlog/cfg/env.h>
+
 using namespace candlewick::multibody;
 using candlewick::sdlSampleToValue;
 using pinocchio::visualizers::Vector3;
@@ -40,7 +42,7 @@ static void addBall(pin::GeometryModel &geom_model) {
   geom_model.addGeometryObject(object);
 }
 
-int main(int argc, char **argv) {
+int main(int argc, char *argv[]) {
   CLI::App app{"Visualizer example"};
   argv = app.ensure_utf8(argv);
   std::array<Uint32, 2> window_dims{1920u, 1080u};
@@ -67,6 +69,9 @@ int main(int argc, char **argv) {
 
   CLI11_PARSE(app, argc, argv);
 
+  spdlog::cfg::load_env_levels();
+  spdlog::set_pattern(">>> [%T] [%^%l%$] %v");
+  spdlog::info("Robot spec:\n{}", ur_robot_spec);
   pin::Model model;
   pin::GeometryModel geom_model;
   loadModels(ur_robot_spec, model, &geom_model, NULL);

examples/lib/Common.cpp

@@ -4,7 +4,6 @@
 
 #include "Common.h"
 #include <SDL3/SDL_init.h>
-#include <SDL3/SDL_log.h>
 
 using namespace candlewick;