Parallel CPU LBVH Implementation (#188)

* Add Linear Bounding Volume Hierarchy (LBVH) implementation and profiling support

Author: zfergus

.clang-format

@@ -1,5 +1,4 @@
 ---
-Language: Cpp
 BasedOnStyle: WebKit
 AlignAfterOpenBracket: AlwaysBreak
 AlignTrailingComments:
@@ -38,6 +37,5 @@ IncludeCategories:
     SortPriority:    1
     CaseSensitive:   true
 PackConstructorInitializers: CurrentLine
-RemoveEmptyLinesInUnwrappedLines: true
 SortIncludes: CaseInsensitive
 ...

.github/workflows/python.yml

@@ -27,7 +27,7 @@ jobs:
       fail-fast: false
       matrix:
         os: [ubuntu-latest, macos-latest, windows-latest]
-        python-version: ${{ github.event_name == 'pull_request' && fromJSON('["3.13"]') || fromJSON('["3.9", "3.10", "3.11", "3.12", "3.13"]') }}
+        python-version: ${{ github.event_name == 'pull_request' && fromJSON('["3.14"]') || fromJSON('["3.10", "3.11", "3.12", "3.13", "3.14"]') }}
         include:
           - os: ubuntu-latest
             name: Linux

CMakeLists.txt

@@ -80,6 +80,7 @@ option(IPC_TOOLKIT_WITH_ROBIN_MAP             "Use Tessil's robin-map rather tha
 option(IPC_TOOLKIT_WITH_ABSEIL                "Use Abseil's hash functions"                    ON)
 option(IPC_TOOLKIT_WITH_FILIB                 "Use filib for interval arithmetic"              ON)
 option(IPC_TOOLKIT_WITH_INEXACT_CCD           "Use the original inexact CCD method of IPC"    OFF)
+option(IPC_TOOLKIT_WITH_PROFILER              "Enable performance profiler"                   OFF)
 
 # Advanced options
 option(IPC_TOOLKIT_WITH_SIMD                  "Enable SIMD"                                   OFF)
@@ -230,6 +231,12 @@ if(IPC_TOOLKIT_WITH_FILIB)
   target_link_libraries(ipc_toolkit PUBLIC filib::filib)
 endif()
 
+if(IPC_TOOLKIT_WITH_PROFILER)
+  # Add nlohmann/json for the profiler
+  include(json)
+  target_link_libraries(ipc_toolkit PUBLIC nlohmann_json::nlohmann_json)
+endif()
+
 # Extra warnings (link last for highest priority)
 include(ipc_toolkit_warnings)
 target_link_libraries(ipc_toolkit PRIVATE ipc::toolkit::warnings)

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 7ca6db695adcc00d3d6d978767dfc0d81722a515
+        GIT_TAG c7eba549d9a80d15569a013c473f0aff104ac44a
 
         CONFIGURE_COMMAND ""
         BUILD_COMMAND ""

cmake/ipc_toolkit/ipc_toolkit_warnings.cmake

@@ -100,6 +100,9 @@ else()
 
     -Wno-sign-compare
 
+    -Wno-gnu-anonymous-struct
+    -Wno-nested-anon-types
+
     ###########
     # GCC 6.1 #
     ###########

cmake/recipes/evouga_ccd.cmake

@@ -1,4 +1,4 @@
-# Etienne Vouga's CCD Library (https://github.com/evouga/collisiondetection.git)
+# Etienne Vouga's CCD Library (https://github.com/evouga/collisiondetection)
 # License: ???
 if(TARGET evouga::ccd)
     return()

cmake/recipes/filib.cmake

@@ -1,4 +1,4 @@
-# filib (https://github.com/zfergus/filib.git)
+# filib (https://github.com/zfergus/filib)
 # License: LGPL-2.1
 if(TARGET filib::filib)
   return()

cmake/recipes/pybind11_json.cmake

@@ -0,0 +1,26 @@
+# pybind11_json (https://github.com/pybind/pybind11_json)
+# License: MIT
+if(TARGET pybind11::json)
+    return()
+endif()
+
+message(STATUS "Third-party: creating target 'pybind11::json'")
+
+include(CPM)
+CPMAddPackage(
+    URI "gh:pybind/pybind11_json#0.2.15"
+    DOWNLOAD_ONLY YES
+)
+
+add_library(pybind11_json INTERFACE)
+add_library(pybind11::json ALIAS pybind11_json)
+
+target_include_directories(pybind11_json INTERFACE
+    "$<BUILD_INTERFACE:${pybind11_json_SOURCE_DIR}/include>"
+)
+
+include(pybind11)
+target_link_libraries(pybind11_json INTERFACE pybind11::pybind11)
+
+include(json)
+target_link_libraries(pybind11_json INTERFACE nlohmann_json::nlohmann_json)

docs/source/_static/graphviz/dependencies.dot

@@ -83,4 +83,7 @@ digraph "IPC Toolkit Dependencies" {
     "node5" -> "node13" [color = "#8FB976";];
     "node13" -> "node0" [color = "#BE6562";];
     "node13" -> "node9" [color = "#BE6562";];
+    // ipc_toolkit -> nlohmann_json
+    "node14" [label = "nlohmann_json\n(nlohmann_json::nlohmann_json)";shape = box;style = "rounded,filled";fillcolor = "#FFE6CC";color = "#DAA52D";];
+    "node5" -> "node14" [color = "#8FB976";];
 }