Update dependencies and build for CMake 4.0

CMakeLists.txt

@@ -1,3 +1,5 @@
+set(CMAKE_POLICY_VERSION_MINIMUM 3.5)
+
 # Detects whether this is a top-level project
 get_directory_property(HAS_PARENT PARENT_DIRECTORY)
 if(HAS_PARENT)
@@ -41,7 +43,7 @@ option(RIGID_IPC_WITH_DERIVATIVE_CHECK      "Check derivatives using finite diff
 
 # Set default minimum C++ standard
 if(RIGID_IPC_TOPLEVEL_PROJECT)
-    set(CMAKE_CXX_STANDARD 14)
+    set(CMAKE_CXX_STANDARD 17)
     set(CMAKE_CXX_STANDARD_REQUIRED ON)
     set(CMAKE_CXX_EXTENSIONS OFF)
 endif()
@@ -57,30 +59,10 @@ include(rigid_ipc_use_colors)
 
 include(rigid_ipc_autogen)
 
-mark_as_advanced(CLEAR CMAKE_BUILD_TYPE)
-
 ################################################################################
 # External project settings
 ################################################################################
 
-# libigl options
-option(LIBIGL_USE_STATIC_LIBRARY "Use libigl as static library" OFF)
-option(LIBIGL_WITH_PREDICATES    "Use exact predicates"          ON)
-set(LIBIGL_WITH_OPENGL_GLFW_IMGUI ${RIGID_IPC_WITH_OPENGL} CACHE BOOL "Use OpenGL" FORCE)
-set(LIBIGL_WITH_OPENGL_GLFW       ${RIGID_IPC_WITH_OPENGL} CACHE BOOL "Use GLFW"   FORCE)
-set(LIBIGL_WITH_OPENGL            ${RIGID_IPC_WITH_OPENGL} CACHE BOOL "Use IMGUI"  FORCE)
-set(LIBIGL_WITH_PNG               ${RIGID_IPC_WITH_OPENGL} CACHE BOOL "Use PNG"    FORCE)
-
-# PolySolve settings
-option(POLYSOLVE_WITH_CHOLMOD          "Enable Cholmod library"            ON)
-option(POLYSOLVE_WITH_UMFPACK          "Enable UmfPack library"            OFF)
-option(POLYSOLVE_WITH_SUPERLU          "Enable SuperLU library"            OFF)
-option(POLYSOLVE_WITH_MKL              "Enable MKL library"                OFF)
-option(POLYSOLVE_WITH_PARDISO          "Enable Pardiso library"            OFF)
-option(POLYSOLVE_WITH_HYPRE            "Enable hypre"                      OFF)
-option(POLYSOLVE_WITH_AMGCL            "Use AMGCL"                         OFF)
-option(POLYSOLVE_WITH_SPECTRA          "Enable computing spectrum"         OFF)
-
 set(TIGHT_INCLUSION_WITH_NO_ZERO_TOI OFF CACHE BOOL "Enable refinement if CCD produces a zero ToI" FORCE)
 
 ################################################################################
@@ -201,7 +183,7 @@ target_link_libraries(ipc_rigid PUBLIC
 
 # JSON Parser
 include(json)
-target_link_libraries(ipc_rigid PUBLIC nlohmann::json)
+target_link_libraries(ipc_rigid PUBLIC nlohmann_json::nlohmann_json)
 
 # Logger
 include(spdlog)
@@ -216,17 +198,13 @@ include(boost)
 target_link_libraries(ipc_rigid PUBLIC Boost::boost)
 
 # TBB
-include(tbb)
+include(onetbb)
 target_link_libraries(ipc_rigid PUBLIC TBB::tbb)
 
 # MSCCD
 include(tight_inclusion)
 target_link_libraries(ipc_rigid PUBLIC tight_inclusion::tight_inclusion)
 
-# PolySolve for wrapping linear solvers
-include(polysolve)
-target_link_libraries(ipc_rigid PUBLIC PolyFEM::polysolve)
-
 # IPC Toolkit
 include(ipc_toolkit)
 target_link_libraries(ipc_rigid PUBLIC ipc::toolkit)
@@ -243,10 +221,6 @@ target_link_libraries(ipc_rigid PUBLIC simple_bvh::simple_bvh)
 include(tinygltf)
 target_link_libraries(ipc_rigid PUBLIC tinygltf::tinygltf)
 
-# Filesystem
-include(filesystem)
-target_link_libraries(ipc_rigid PUBLIC ghc::filesystem)
-
 ################################################################################
 # Compiler options
 ################################################################################
@@ -284,7 +258,7 @@ add_executable(rigid_ipc_sim src/main.cpp)
 if(RIGID_IPC_WITH_OPENGL)
     target_sources(rigid_ipc_sim PUBLIC
       src/viewer/imgui_ext.cpp
-      src/viewer/igl_viewer_ext.cpp
+      src/viewer/viewer_data.cpp
       src/viewer/UISimState.cpp
       src/viewer/UIMenu.cpp
     )
@@ -298,13 +272,13 @@ target_link_libraries(rigid_ipc_sim PUBLIC CLI11::CLI11)
 if(RIGID_IPC_WITH_OPENGL)
     target_compile_definitions(rigid_ipc_sim PUBLIC RIGID_IPC_WITH_OPENGL)
 
-    include(libigl)
-    target_link_libraries(rigid_ipc_sim PUBLIC
-        igl::opengl igl::opengl_glfw igl::opengl_glfw_imgui igl::png)
-
     # Charlie Tangora's gif-h library
     include(gif_h)
     target_link_libraries(rigid_ipc_sim PRIVATE gif_h::gif_h)
+
+    # Polyscope visualization library
+    include(polyscope)
+    target_link_libraries(rigid_ipc_sim PUBLIC polyscope::polyscope)
 endif()
 
 ################################################################################

cmake/recipes/eigen.cmake

@@ -1,53 +1,39 @@
-#
-# 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.
-#
+# Eigen (https://gitlab.com/libeigen/eigen)
+# License: MPL 2.0
 if(TARGET Eigen3::Eigen)
     return()
 endif()
 
 option(EIGEN_WITH_MKL "Use Eigen with MKL" OFF)
+option(EIGEN_DONT_VECTORIZE "Disable Eigen vectorization" OFF)
+option(EIGEN_MPL2_ONLY "Enable Eigen MPL2 license only" OFF)
 
-if(EIGEN_ROOT)
-    message(STATUS "Third-party: creating target 'Eigen3::Eigen' for external path: ${EIGEN_ROOT}")
-    set(EIGEN_INCLUDE_DIRS ${EIGEN_ROOT})
-else()
-    message(STATUS "Third-party: creating target 'Eigen3::Eigen'")
+message(STATUS "Third-party: creating target 'Eigen3::Eigen'")
 
-    include(FetchContent)
-    FetchContent_Declare(
-        eigen
-        GIT_REPOSITORY https://gitlab.com/libeigen/eigen.git
-        GIT_TAG tags/3.3.7
-        GIT_SHALLOW TRUE
-    )
-    FetchContent_GetProperties(eigen)
-    if(NOT eigen_POPULATED)
-        FetchContent_Populate(eigen)
-    endif()
-    set(EIGEN_INCLUDE_DIRS ${eigen_SOURCE_DIR})
-
-    install(DIRECTORY ${EIGEN_INCLUDE_DIRS}/Eigen
-        DESTINATION include
-    )
-endif()
+include(CPM)
+CPMAddPackage(
+    NAME eigen
+    GITLAB_REPOSITORY libeigen/eigen
+    GIT_TAG 3.3.7
+    DOWNLOAD_ONLY YES
+)
 
 add_library(Eigen3_Eigen INTERFACE)
 add_library(Eigen3::Eigen ALIAS Eigen3_Eigen)
 
 include(GNUInstallDirs)
 target_include_directories(Eigen3_Eigen SYSTEM INTERFACE
-    $<BUILD_INTERFACE:${EIGEN_INCLUDE_DIRS}>
+    $<BUILD_INTERFACE:${eigen_SOURCE_DIR}>
     $<INSTALL_INTERFACE:${CMAKE_INSTALL_INCLUDEDIR}>
 )
-# target_compile_definitions(Eigen3_Eigen INTERFACE EIGEN_MPL2_ONLY)
+
+if(EIGEN_MPL2_ONLY)
+  target_compile_definitions(Eigen3_Eigen INTERFACE EIGEN_MPL2_ONLY)
+endif()
+
+if(EIGEN_DONT_VECTORIZE)
+  target_compile_definitions(Eigen3_Eigen INTERFACE EIGEN_DONT_VECTORIZE)
+endif()
 
 if(EIGEN_WITH_MKL)
     # TODO: Checks that, on 64bits systems, `mkl::mkl` is using the LP64 interface
@@ -58,6 +44,27 @@ if(EIGEN_WITH_MKL)
         EIGEN_USE_MKL_ALL
         EIGEN_USE_LAPACKE_STRICT
     )
+elseif(APPLE)
+    find_package(BLAS REQUIRED)
+    find_library(LAPACKE lapacke PATHS
+        "/opt/local/lib/lapack"
+        "/opt/homebrew/opt/lapack/lib"
+    )
+    if (NOT LAPACKE)
+        # BLAS should be available on macOS, but LAPACKE might not be
+        message(WARNING "LAPACKE library not found (required for EIGEN_USE_LAPACKE on macOS)! "
+            "Perhaps you need to install it (e.g., brew install lapack). "
+            "Eigen will be built without LAPACKE support.")
+    else()
+        message(STATUS "Found BLAS and LAPACKE. Enabling Eigen LAPACKE support.")
+        target_link_libraries(Eigen3_Eigen INTERFACE
+            ${BLAS_LIBRARIES} ${LAPACKE}
+        )
+        target_compile_definitions(Eigen3_Eigen INTERFACE
+            EIGEN_USE_BLAS
+            EIGEN_USE_LAPACKE_STRICT
+        )
+    endif()
 endif()
 
 # On Windows, enable natvis files to improve debugging experience
@@ -68,6 +75,6 @@ endif()
 # Install rules
 set(CMAKE_INSTALL_DEFAULT_COMPONENT_NAME eigen)
 set_target_properties(Eigen3_Eigen PROPERTIES EXPORT_NAME Eigen)
-install(DIRECTORY ${EIGEN_INCLUDE_DIRS} DESTINATION ${CMAKE_INSTALL_INCLUDEDIR})
+install(DIRECTORY ${eigen_SOURCE_DIR} DESTINATION ${CMAKE_INSTALL_INCLUDEDIR})
 install(TARGETS Eigen3_Eigen EXPORT Eigen_Targets)
-install(EXPORT Eigen_Targets DESTINATION ${CMAKE_INSTALL_LIBDIR}/cmake/eigen NAMESPACE Eigen3::)
+install(EXPORT Eigen_Targets DESTINATION ${CMAKE_INSTALL_LIBDIR}/cmake/eigen NAMESPACE Eigen3::)

cmake/recipes/json.cmake

@@ -9,11 +9,13 @@
 # OF ANY KIND, either express or implied. See the License for the specific language
 # governing permissions and limitations under the License.
 #
-if(TARGET nlohmann::json)
+
+# JSON MIT
+if(TARGET nlohmann_json::nlohmann_json)
     return()
 endif()
 
-message(STATUS "Third-party: creating target 'nlohmann::json'")
+message(STATUS "Third-party: creating target 'nlohmann_json::nlohmann_json'")
 
 # nlohmann_json is a big repo for a single header, so we just download the release archive
 set(NLOHMANNJSON_VERSION "v3.10.2")
@@ -27,7 +29,7 @@ FetchContent_Declare(
 FetchContent_MakeAvailable(nlohmann_json)
 
 add_library(nlohmann_json INTERFACE)
-add_library(nlohmann::json ALIAS nlohmann_json)
+add_library(nlohmann_json::nlohmann_json ALIAS nlohmann_json)
 
 include(GNUInstallDirs)
 target_include_directories(nlohmann_json INTERFACE

cmake/recipes/libigl.cmake

@@ -1,43 +1,19 @@
-#
-# 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.
-#
+# libigl (https://github.com/libigl/libigl)
+# License: MPL-2.0
 if(TARGET igl::core)
     return()
 endif()
 
 message(STATUS "Third-party: creating target 'igl::core'")
 
-include(FetchContent)
-FetchContent_Declare(
-    libigl
-    GIT_REPOSITORY https://github.com/libigl/libigl.git
-    GIT_TAG v2.3.0
-    GIT_SHALLOW TRUE
-)
-FetchContent_GetProperties(libigl)
-if(libigl_POPULATED)
-    return()
-endif()
-FetchContent_Populate(libigl)
+set(LIBIGL_PREDICATES ON CACHE BOOL "Use exact predicates" FORCE)
 
 include(eigen)
 
-set(LIBIGL_WITH_PREDICATES ON CACHE BOOL "Use exact predicates" FORCE)
-
-list(APPEND CMAKE_MODULE_PATH ${libigl_SOURCE_DIR}/cmake)
-include(${libigl_SOURCE_DIR}/cmake/libigl.cmake ${libigl_BINARY_DIR})
+include(CPM)
+CPMAddPackage("gh:libigl/[email protected]")
 
-# Install rules
-set(CMAKE_INSTALL_DEFAULT_COMPONENT_NAME libigl)
-set_target_properties(igl PROPERTIES EXPORT_NAME core)
-install(DIRECTORY ${libigl_SOURCE_DIR}/include/igl DESTINATION ${CMAKE_INSTALL_INCLUDEDIR})
-install(TARGETS igl igl_common EXPORT Libigl_Targets)
-install(EXPORT Libigl_Targets DESTINATION ${CMAKE_INSTALL_LIBDIR}/cmake/igl NAMESPACE igl::)
+# Folder name for IDE
+foreach(target_name IN ITEMS core predicates)
+    set_target_properties(igl_${target_name} PROPERTIES FOLDER "ThirdParty/libigl")
+endforeach()