w4

CMakeLists.txt

@@ -162,24 +162,11 @@ endif()
 #===============================================================================
 # Build type settings
 #===============================================================================
-if(NOT CMAKE_BUILD_TYPE)
-  set(CMAKE_BUILD_TYPE Release CACHE STRING "Choose the type of build, options are: Debug | Release | RelWithDebInfo | MinSizeRel" FORCE)
-endif()
-string(TOUPPER ${CMAKE_BUILD_TYPE} CMAKE_BUILD_TYPE_UPPERCASE)
-
-set(DART_BUILD_MODE_DEBUG FALSE)
-set(DART_BUILD_MODE_RELEASE FALSE)
-
-if("${CMAKE_BUILD_TYPE_UPPERCASE}" STREQUAL "DEBUG")
-  set(DART_BUILD_MODE_DEBUG TRUE)
-elseif("${CMAKE_BUILD_TYPE_UPPERCASE}" STREQUAL "RELEASE")
-  set(DART_BUILD_MODE_RELEASE TRUE)
-elseif("${CMAKE_BUILD_TYPE_UPPERCASE}" STREQUAL "RELWITHDEBINFO")
-  set(DART_BUILD_MODE_RELEASE TRUE)
-elseif("${CMAKE_BUILD_TYPE_UPPERCASE}" STREQUAL "MINSIZEREL")
-  set(DART_BUILD_MODE_RELEASE TRUE)
-else()
-  message(WARNING "CMAKE_BUILD_TYPE ${CMAKE_BUILD_TYPE} unknown. Valid options are: Debug | Release | RelWithDebInfo | MinSizeRel")
+if(NOT CMAKE_CONFIGURATION_TYPES)
+  if(NOT CMAKE_BUILD_TYPE)
+    set(CMAKE_BUILD_TYPE Release CACHE STRING "Choose the type of build." FORCE)
+    set_property(CACHE CMAKE_BUILD_TYPE PROPERTY STRINGS "Debug" "Release" "MinSizeRel" "RelWithDebInfo")
+  endif()
 endif()
 
 # Active log level:
@@ -191,14 +178,33 @@ endif()
 # - ERROR: To enable log with DART_ERROR() and below
 # - FATAL: To enable log with DART_FATAL()
 # - OFF: To turn off all the logs
-if(DART_BUILD_MODE_DEBUG)
-  set(DART_ACTIVE_LOG_LEVEL "DEBUG" CACHE STRING "Compile time active log level to enable")
+if(NOT DART_ACTIVE_LOG_LEVEL)
+  if(NOT CMAKE_CONFIGURATION_TYPES AND CMAKE_BUILD_TYPE STREQUAL "Debug")
+    set(DART_ACTIVE_LOG_LEVEL "DEBUG" CACHE STRING "Compile time active log level to enable")
+  else()
+    set(DART_ACTIVE_LOG_LEVEL "INFO" CACHE STRING "Compile time active log level to enable")
+  endif()
+  set_property(CACHE DART_ACTIVE_LOG_LEVEL PROPERTY STRINGS TRACE DEBUG INFO WARN ERROR FATAL OFF)
+endif()
+if(DART_ACTIVE_LOG_LEVEL STREQUAL "TRACE")
+  set(DART_ACTIVE_LOG_LEVEL_VALUE 0)
+elseif(DART_ACTIVE_LOG_LEVEL STREQUAL "DEBUG")
+  set(DART_ACTIVE_LOG_LEVEL_VALUE 1)
+elseif(DART_ACTIVE_LOG_LEVEL STREQUAL "INFO")
+  set(DART_ACTIVE_LOG_LEVEL_VALUE 2)
+elseif(DART_ACTIVE_LOG_LEVEL STREQUAL "WARN")
+  set(DART_ACTIVE_LOG_LEVEL_VALUE 3)
+elseif(DART_ACTIVE_LOG_LEVEL STREQUAL "ERROR")
+  set(DART_ACTIVE_LOG_LEVEL_VALUE 4)
+elseif(DART_ACTIVE_LOG_LEVEL STREQUAL "FATAL")
+  set(DART_ACTIVE_LOG_LEVEL_VALUE 5)
+elseif(DART_ACTIVE_LOG_LEVEL STREQUAL "OFF")
+  set(DART_ACTIVE_LOG_LEVEL_VALUE 6)
 else()
-  set(DART_ACTIVE_LOG_LEVEL "INFO" CACHE STRING "Compile time active log level to enable")
+  message(FATAL_ERROR "Unknown DART_ACTIVE_LOG_LEVEL: ${DART_ACTIVE_LOG_LEVEL}")
 endif()
-set_property(CACHE DART_ACTIVE_LOG_LEVEL PROPERTY STRINGS TRACE DEBUG INFO WARN ERROR FATAL OFF)
 
-if(DART_BUILD_MODE_DEBUG)
+if(NOT CMAKE_CONFIGURATION_TYPES AND CMAKE_BUILD_TYPE STREQUAL "Debug")
   option(DART_TREAT_WARNINGS_AS_ERRORS "Treat warnings as errors" OFF)
 else()
   option(DART_TREAT_WARNINGS_AS_ERRORS "Treat warnings as errors" ON)
@@ -355,14 +361,12 @@ if(DART_VERBOSE)
   message(STATUS "Build gui::osg   : ${DART_BUILD_GUI_OSG}")
   message(STATUS "Install path     : ${CMAKE_INSTALL_PREFIX}")
   message(STATUS "CXX_FLAGS        : ${CMAKE_CXX_FLAGS}")
-  if(${CMAKE_BUILD_TYPE_UPPERCASE} STREQUAL "RELEASE")
-    message(STATUS "CXX_FLAGS_RELEASE: ${CMAKE_CXX_FLAGS_RELEASE}")
-  elseif(${CMAKE_BUILD_TYPE_UPPERCASE} STREQUAL "DEBUG")
-    message(STATUS "CXX_FLAGS_DEBUG  : ${CMAKE_CXX_FLAGS_DEBUG}")
-  elseif(${CMAKE_BUILD_TYPE_UPPERCASE} STREQUAL "RELWITHDEBINFO")
+  if(NOT CMAKE_CONFIGURATION_TYPES)
+    message(STATUS "CXX_FLAGS_RELEASE       : ${CMAKE_CXX_FLAGS_RELEASE}")
+    message(STATUS "CXX_FLAGS_DEBUG         : ${CMAKE_CXX_FLAGS_DEBUG}")
+    message(STATUS "CXX_FLAGS_MINSIZEREL    : ${CXX_FLAGS_MINSIZEREL}")
     message(STATUS "CXX_FLAGS_RELWITHDEBINFO: ${CMAKE_CXX_FLAGS_RELWITHDEBINFO}")
-  elseif(${CMAKE_BUILD_TYPE_UPPERCASE} STREQUAL "PROFILE")
-    message(STATUS "CXX_FLAGS_PROFILE: ${CMAKE_CXX_FLAGS_PROFILE}")
+    message(STATUS "CXX_FLAGS_PROFILE       : ${CMAKE_CXX_FLAGS_PROFILE}")
   endif()
   message(STATUS "DART_SOURCE_DIR : ${DART_SOURCE_DIR}")
   message(STATUS "DART_BINARY_DIR : ${DART_BINARY_DIR}")

dart/common/Logging.hpp

@@ -33,6 +33,8 @@
 #ifndef DART_COMMON_LOGGING_HPP_
 #define DART_COMMON_LOGGING_HPP_
 
+#include <dart/config.hpp>
+
 // clang-format off
 #define DART_LOG_LEVEL_TRACE 0
 #define DART_LOG_LEVEL_DEBUG 1
@@ -43,11 +45,6 @@
 #define DART_LOG_LEVEL_OFF   6
 // clang-format on
 
-// Default active log level
-#if !defined(DART_ACTIVE_LOG_LEVEL)
-  #define DART_ACTIVE_LOG_LEVEL DART_LOG_LEVEL_INFO
-#endif
-
 #if DART_ACTIVE_LOG_LEVEL <= DART_LOG_LEVEL_TRACE
   #define DART_TRACE(...) ::dart::common::trace(__VA_ARGS__)
 #else

dart/config.hpp.in

@@ -92,3 +92,5 @@
 #cmakedefine01 DART_USE_SYSTEM_IMGUI
 
 #cmakedefine01 DART_BUILD_PROFILE
+
+#define DART_ACTIVE_LOG_LEVEL @DART_ACTIVE_LOG_LEVEL_VALUE@

dart/constraint/BoxedLcpConstraintSolver.cpp

@@ -51,33 +51,7 @@ namespace constraint {
 
 namespace {
 
-//==============================================================================
 #ifndef NDEBUG
-bool isSymmetric(std::size_t n, double* A)
-{
-  std::size_t nSkip = dPAD(n);
-  for (std::size_t i = 0; i < n; ++i) {
-    for (std::size_t j = 0; j < n; ++j) {
-      if (std::abs(A[nSkip * i + j] - A[nSkip * j + i]) > 1e-6) {
-        std::cout << "A: " << std::endl;
-        for (std::size_t k = 0; k < n; ++k) {
-          for (std::size_t l = 0; l < nSkip; ++l) {
-            std::cout << std::setprecision(4) << A[k * nSkip + l] << " ";
-          }
-          std::cout << std::endl;
-        }
-
-        std::cout << "A(" << i << ", " << j << "): " << A[nSkip * i + j]
-                  << std::endl;
-        std::cout << "A(" << j << ", " << i << "): " << A[nSkip * j + i]
-                  << std::endl;
-        return false;
-      }
-    }
-  }
-
-  return true;
-}
 
 //==============================================================================
 bool isSymmetric(std::size_t n, double* A, std::size_t begin, std::size_t end)
@@ -107,7 +81,13 @@ bool isSymmetric(std::size_t n, double* A, std::size_t begin, std::size_t end)
 }
 
 //==============================================================================
-void print(
+bool isSymmetric(std::size_t n, double* A)
+{
+  return isSymmetric(n, A, 0, n - 1);
+}
+
+//==============================================================================
+[[maybe_unused]] void print(
     std::size_t n,
     double* A,
     double* x,

dart/constraint/DantzigLCPSolver.cpp

@@ -105,7 +105,7 @@ bool isSymmetric(
 }
 
 //==============================================================================
-void print(
+[[maybe_unused]] void print(
     std::size_t _n,
     double* _A,
     double* _x,

dart/constraint/PGSLCPSolver.cpp

@@ -106,7 +106,7 @@ bool isSymmetric(
 }
 
 //==============================================================================
-void print(
+[[maybe_unused]] void print(
     std::size_t _n,
     double* _A,
     double* _x,

pixi.toml

@@ -46,6 +46,7 @@ install-local = { cmd = "cmake --install build --prefix $CONDA_PREFIX", depends_
 ] }
 
 configure = { cmd = "cmake -G Ninja -S . -B build -DCMAKE_BUILD_TYPE=Release -DDART_VERBOSE=ON -DDART_USE_SYSTEM_IMGUI=ON" }
+configure-dev = { cmd = "cmake -G Ninja -S . -B build -DCMAKE_BUILD_TYPE=Debug -DDART_VERBOSE=ON -DDART_USE_SYSTEM_IMGUI=ON" }
 
 lint = { cmd = "cmake --build build --target format && black . && isort .", depends_on = [
     "configure",
@@ -57,6 +58,9 @@ check-lint = { cmd = "cmake --build build --target check-format && black . --che
 build = { cmd = "cmake --build build -j --target all", depends_on = [
     "configure",
 ] }
+build-dev = { cmd = "cmake --build build -j --target all", depends_on = [
+    "configure-dev",
+] }
 build-tests = { cmd = "cmake --build build -j --target tests", depends_on = [
     "configure",
 ] }
@@ -151,6 +155,9 @@ check-lint = { cmd = "black . --check && isort . --check", depends_on = [
 build = { cmd = "cmake --build build --config Release -j", depends_on = [
     "configure",
 ] }
+build-dev = { cmd = "cmake --build build --config Debug -j", depends_on = [
+    "configure",
+] }
 build-tests = { cmd = "cmake --build build --config Release -j --target tests", depends_on = [
     "configure",
 ] }