Refactor CMake configurations and improve project structure (#159)

- Refactor CMake configurations and improve project structure
- Updated CMake recipes for third-party libraries to set appropriate folder properties for IDE organization.
- Changed the CPMAddPackage references for scalable-ccd to a more recent commit.
- Enhanced logging functionality by adding a new `log_and_throw_error` function to improve error handling.
- Improved documentation in the style guide for naming conventions.
- Move generated `config.hpp` file from `src/ipc` to `build/include/src/ipc`
- Update CUDA builds in `CMakePresets.json`
- Remove `virtual` tag from BroadPhase::detect_collision_candidates

Author: zfergus

.gitignore

@@ -491,7 +491,7 @@ CMakeUserPresets.json
 
 
 ## Build
-build*
+build/
 bin*
 
 ## IDES
@@ -658,6 +658,7 @@ ipctk
 
 IPCToolkitOptions.cmake
 
+# Generated HPP files
 src/ipc/config.hpp
 tests/src/tests/config.hpp
 

CMakeLists.txt

@@ -44,6 +44,8 @@ if(IPC_TOOLKIT_WITH_CCACHE AND CCACHE_PROGRAM)
   endforeach()
 endif()
 
+set_property(GLOBAL PROPERTY USE_FOLDERS ON)
+
 ################################################################################
 # CMake Policies
 ################################################################################
@@ -53,6 +55,7 @@ cmake_policy(SET CMP0076 NEW) # target_sources() command converts relative paths
 if(CMAKE_VERSION VERSION_GREATER_EQUAL "3.24")
   cmake_policy(SET CMP0135 NEW) # Set the timestamps of all extracted contents to the time of the extraction.
 endif()
+cmake_policy(SET CMP0114 NEW) # Support the Xcode "new build system"
 
 ################################################################################
 
@@ -64,8 +67,16 @@ project(IPCToolkit
 include(CheckLanguage)
 check_language(CUDA)
 
-option(IPC_TOOLKIT_BUILD_TESTS  "Build unit-tests" ${IPC_TOOLKIT_TOPLEVEL_PROJECT})
-option(IPC_TOOLKIT_BUILD_PYTHON "Build Python bindings"                        OFF)
+if(IPC_TOOLKIT_TOPLEVEL_PROJECT)
+  option(IPC_TOOLKIT_BUILD_TESTS  "Build unit-tests"       ON)
+  option(IPC_TOOLKIT_BUILD_PYTHON "Build Python bindings" OFF)
+else()
+  # If this is not the top-level project, we don't want to build tests or Python
+  # bindings. This is useful for projects that use IPC Toolkit as a submodule.
+  set(IPC_TOOLKIT_BUILD_TESTS  OFF CACHE INTERNAL BOOL "Build unit-tests"      FORCE)
+  set(IPC_TOOLKIT_BUILD_PYTHON OFF CACHE INTERNAL BOOL "Build Python bindings" FORCE)
+endif()
+
 if(CMAKE_CUDA_COMPILER)
   option(IPC_TOOLKIT_WITH_CUDA "Enable CUDA CCD" ON)
 else()
@@ -117,13 +128,21 @@ add_library(ipc::toolkit ALIAS ipc_toolkit)
 # Fill in configuration options
 configure_file(
   "${IPC_TOOLKIT_SOURCE_DIR}/config.hpp.in"
-  "${IPC_TOOLKIT_SOURCE_DIR}/config.hpp")
+  "${PROJECT_BINARY_DIR}/include/ipc/config.hpp")
 
 # Add source and header files to ipc_toolkit
 add_subdirectory("${IPC_TOOLKIT_SOURCE_DIR}")
 
 # Public include directory for IPC Toolkit
-target_include_directories(ipc_toolkit PUBLIC "${IPC_TOOLKIT_INCLUDE_DIR}")
+target_include_directories(ipc_toolkit PUBLIC
+  "${IPC_TOOLKIT_INCLUDE_DIR}"    # public headers
+  "${PROJECT_BINARY_DIR}/include" # generated config.hpp
+)
+
+# Folder name for IDE
+set_target_properties(ipc_toolkit PROPERTIES FOLDER "SRC")
+get_target_property(IPC_TOOLKIT_SOURCES ipc_toolkit SOURCES)
+source_group(TREE "${PROJECT_SOURCE_DIR}" FILES ${IPC_TOOLKIT_SOURCES})
 
 ################################################################################
 # Dependencies
@@ -243,7 +262,7 @@ endif()
 ################################################################################
 
 # Enable unit testing at the root level
-if(IPC_TOOLKIT_TOPLEVEL_PROJECT AND IPC_TOOLKIT_BUILD_TESTS)
+if(IPC_TOOLKIT_BUILD_TESTS)
   include(CTest)
   enable_testing()
   add_subdirectory(tests)
@@ -270,6 +289,21 @@ endif()
 # Python bindings
 ################################################################################
 
-if(IPC_TOOLKIT_TOPLEVEL_PROJECT AND IPC_TOOLKIT_BUILD_PYTHON)
+if(IPC_TOOLKIT_BUILD_PYTHON)
   add_subdirectory(python)
 endif()
+
+################################################################################
+# Xcode
+################################################################################
+
+if (CMAKE_GENERATOR STREQUAL "Xcode")
+  set(CMAKE_XCODE_SCHEME_LAUNCH_CONFIGURATION "${CMAKE_BUILD_TYPE}")
+  set_target_properties(ipc_toolkit PROPERTIES XCODE_GENERATE_SCHEME ON)
+  if(IPC_TOOLKIT_BUILD_TESTS)
+    set_target_properties(ipc_toolkit_tests PROPERTIES XCODE_GENERATE_SCHEME ON)
+  endif()
+  if(IPC_TOOLKIT_BUILD_PYTHON)
+    set_target_properties(ipctk PROPERTIES XCODE_GENERATE_SCHEME ON)
+  endif()
+endif()

CMakePresets.json

@@ -4,8 +4,7 @@
     "major": 3,
     "minor": 18
   },
-  "configurePresets": [
-    {
+  "configurePresets": [{
       "name": "release",
       "displayName": "Release Build",
       "description": "Base preset for release builds",
@@ -33,11 +32,21 @@
       "binaryDir": "${sourceDir}/build/default"
     },
     {
-      "name": "cuda",
+      "name": "cuda-release",
       "inherits": "release",
-      "displayName": "CUDA Enabled",
-      "description": "Build with CUDA support",
-      "binaryDir": "${sourceDir}/build/cuda",
+      "displayName": "CUDA (Release)",
+      "description": "Release build with CUDA support",
+      "binaryDir": "${sourceDir}/build/cuda-release",
+      "cacheVariables": {
+        "IPC_TOOLKIT_WITH_CUDA": "ON"
+      }
+    },
+    {
+      "name": "cuda-debug",
+      "inherits": "debug",
+      "displayName": "CUDA (Debug)",
+      "description": "Debug build with CUDA support",
+      "binaryDir": "${sourceDir}/build/cuda-debug",
       "cacheVariables": {
         "IPC_TOOLKIT_WITH_CUDA": "ON"
       }
@@ -55,7 +64,7 @@
     {
       "name": "test",
       "inherits": "debug",
-      "displayName": "Build for Testing",
+      "displayName": "Unit Tests",
       "description": "Build with unit tests enabled",
       "binaryDir": "${sourceDir}/build/test",
       "cacheVariables": {
@@ -87,54 +96,52 @@
         "IPC_TOOLKIT_WITH_CODE_COVERAGE": "ON",
         "IPC_TOOLKIT_BUILD_TESTS": "ON"
       }
-    },
-    {
-      "name": "debug-cuda",
-      "inherits": [ "debug", "cuda" ],
-      "displayName": "CUDA Debug",
-      "description": "Debug build with CUDA support",
-      "binaryDir": "${sourceDir}/build/debug-cuda"
     }
   ],
-  "buildPresets": [
-    {
+  "buildPresets": [{
       "name": "release",
       "configurePreset": "release",
+      "displayName": "Release Build",
       "description": "Base preset for release builds"
     },
     {
       "name": "debug",
       "configurePreset": "debug",
+      "displayName": "Debug Build",
       "description": "Base preset for debug builds"
     },
     {
       "name": "default-build",
       "configurePreset": "default",
+      "displayName": "Default Configuration",
       "description": "Build using default configuration"
     },
     {
-      "name": "cuda-build",
-      "configurePreset": "cuda",
+      "name": "cuda-release",
+      "configurePreset": "cuda-release",
+      "displayName": "CUDA (Release)",
       "description": "Build with CUDA support"
     },
+    {
+      "name": "cuda-debug",
+      "configurePreset": "cuda-debug",
+      "displayName": "CUDA (Debug)",
+      "description": "Debug build with CUDA support"
+    },
     {
       "name": "test-build",
       "configurePreset": "test",
+      "displayName": "Unit Tests",
       "description": "Build for running tests"
     },
     {
       "name": "python-build",
       "configurePreset": "python",
+      "displayName": "Python Bindings",
       "description": "Build with Python bindings enabled"
-    },
-    {
-      "name": "debug-cuda-build",
-      "configurePreset": "debug-cuda",
-      "description": "Debug build with CUDA support"
     }
   ],
-  "testPresets": [
-    {
+  "testPresets": [{
       "name": "default-tests",
       "description": "Run default tests",
       "configurePreset": "test",
@@ -143,20 +150,20 @@
       }
     },
     {
-      "name": "cuda-tests",
-      "description": "Run tests with CUDA enabled",
-      "configurePreset": "cuda",
+      "name": "cuda-tests-release",
+      "description": "Run tests with CUDA (Release) enabled",
+      "configurePreset": "cuda-release",
       "execution": {
         "stopOnFailure": true
       }
     },
     {
-      "name": "debug-cuda-tests",
-      "description": "Run tests with CUDA Debug configuration",
-      "configurePreset": "debug-cuda",
+      "name": "cuda-tests-debug",
+      "description": "Run tests with CUDA (Debug) enabled",
+      "configurePreset": "cuda-debug",
       "execution": {
         "stopOnFailure": true
       }
     }
   ]
-}
+}

cmake/recipes/abseil.cmake

@@ -9,6 +9,7 @@ message(STATUS "Third-party: creating target 'absl::flat_hash_map'")
 option(ABSL_PROPAGATE_CXX_STD "Use CMake C++ standard meta features (e.g. cxx_std_11) that propagate to targets that link to Abseil" ON)
 option(ABSL_USE_SYSTEM_INCLUDES "Silence warnings in Abseil headers by marking them as SYSTEM includes" ON)
 option(ABSL_BUILD_TESTING "If ON, Abseil will build all of Abseil's own tests." OFF)
+set(ABSL_IDE_FOLDER "ThirdParty/Abseil")
 
 include(CPM)
 CPMAddPackage("gh:abseil/abseil-cpp#20230125.3")

cmake/recipes/catch2.cmake

@@ -11,4 +11,8 @@ option(CATCH_INSTALL_DOCS "Install documentation alongside library" OFF)
 option(CATCH_INSTALL_EXTRAS "Install extras alongside library" OFF)
 
 include(CPM)
-CPMAddPackage("gh:catchorg/[email protected]")
+CPMAddPackage("gh:catchorg/[email protected]")
+
+# Folder name for IDE
+set_target_properties(Catch2 PROPERTIES FOLDER "ThirdParty/Catch2")
+set_target_properties(Catch2WithMain PROPERTIES FOLDER "ThirdParty/Catch2")

cmake/recipes/evouga_ccd.cmake

@@ -27,3 +27,6 @@ target_link_libraries(evouga_ccd PUBLIC Eigen3::Eigen)
 
 # Turn off floating point contraction for CCD robustness
 target_compile_options(evouga_ccd PRIVATE "-ffp-contract=off")
+
+# Folder name for IDE
+set_target_properties(evouga_ccd PROPERTIES FOLDER "ThirdParty")

cmake/recipes/filib.cmake

@@ -12,4 +12,7 @@ message(STATUS "Third-party: creating target 'filib::filib'")
 option(FILIB_BUILD_SHARED_LIB "Build shared library" OFF)
 
 include(CPM)
-CPMAddPackage("gh:zfergus/filib#7cf13519b0db72df2493c9c8997a8bef9e372848")
+CPMAddPackage("gh:zfergus/filib#7cf13519b0db72df2493c9c8997a8bef9e372848")
+
+# Folder name for IDE
+set_target_properties(filib PROPERTIES FOLDER "ThirdParty")

cmake/recipes/finite_diff.cmake

@@ -7,4 +7,7 @@ endif()
 message(STATUS "Third-party: creating target 'finitediff::finitediff'")
 
 include(CPM)
-CPMAddPackage("gh:zfergus/[email protected]")
+CPMAddPackage("gh:zfergus/[email protected]")
+
+# Folder name for IDE
+set_target_properties(finitediff_finitediff PROPERTIES FOLDER "ThirdParty")

cmake/recipes/libigl.cmake

@@ -11,4 +11,9 @@ set(LIBIGL_PREDICATES ON CACHE BOOL "Use exact predicates" FORCE)
 include(eigen)
 
 include(CPM)
-CPMAddPackage("gh:libigl/libigl#89267b4a80b1904de3f6f2812a2053e5e9332b7e")
+CPMAddPackage("gh:libigl/libigl#89267b4a80b1904de3f6f2812a2053e5e9332b7e")
+
+# Folder name for IDE
+foreach(target_name IN ITEMS core predicates)
+    set_target_properties(igl_${target_name} PROPERTIES FOLDER "ThirdParty/libigl")
+endforeach()

cmake/recipes/onetbb.cmake

@@ -67,7 +67,7 @@ endif()
 foreach(name IN ITEMS tbb tbbmalloc tbbmalloc_proxy)
     if(TARGET ${name})
         # Folder name for IDE
-        set_target_properties(${name} PROPERTIES FOLDER "third_party//tbb")
+        set_target_properties(${name} PROPERTIES FOLDER "ThirdParty/tbb")
 
         # Force debug postfix for library name. Our pre-compiled MKL library expects "tbb12.dll" (without postfix).
         set_target_properties(${name} PROPERTIES DEBUG_POSTFIX "")