Merge pull request #7 from andreacasalino/Refactoring

refactoring

.github/workflows/runTests.yml

@@ -1,3 +1,5 @@
+name: Unit Tests
+
 on:
   push:
     branches:
@@ -14,22 +16,31 @@ jobs:
         include:
             - name: ubuntu-gcc
               os: ubuntu-latest
-              compiler_opt: "-DCMAKE_C_COMPILER=gcc -DCMAKE_CXX_COMPILER=g++ -G \"Unix Makefiles\""
+              compiler_opt: "-DCMAKE_C_COMPILER=gcc -DCMAKE_CXX_COMPILER=g++"
+              build_system: '-G Ninja'
             - name: ubuntu-clang
               os: ubuntu-latest
-              compiler_opt: "-DCMAKE_C_COMPILER=clang -DCMAKE_CXX_COMPILER=clang++ -G \"Unix Makefiles\""
+              compiler_opt: "-DCMAKE_C_COMPILER=clang -DCMAKE_CXX_COMPILER=clang++"
+              build_system: '-G Ninja'
             - name: windows-VS
               os: windows-latest
               compiler_opt: ""
+              build_system: ''
 
     runs-on: ${{ matrix.os }}
     steps:
     - name: Checkout
       uses: actions/checkout@v2.0.0
-    - name: Checkout submodules
-      run:  git submodule update --init --recursive
+    - name: show HEAD
+      run: git rev-parse HEAD
+    - name: Install openMp
+      if: matrix.name == 'ubuntu-clang'
+      run: sudo apt-get update; sudo apt-get install -y libomp5 libomp-dev
+    - name: Install Ninja
+      if: matrix.build_system == '-G Ninja'
+      uses: seanmiddleditch/gha-setup-ninja@master
     - name: CMake configure
-      run:  cmake -B./build -DCMAKE_INSTALL_PREFIX:STRING=./artifacts/ -DBUILD_GJK_EPA_TESTS=ON -DCMAKE_CONFIGURATION_TYPES="Release" -DCMAKE_BUILD_TYPE:STRING=Release ${{ matrix.compiler_opt }}     
+      run:  cmake -B./build -DCMAKE_INSTALL_PREFIX:STRING=./artifacts/ -DBUILD_GJK_EPA_SAMPLES=OFF -DBUILD_GJK_EPA_TESTS=ON -DCMAKE_CONFIGURATION_TYPES="Release" -DCMAKE_BUILD_TYPE:STRING=Release ${{ matrix.build_system }} ${{ matrix.compiler_opt }}
     - name: Build
       run:  cmake --build ./build --config Release
     - name: Install
@@ -39,4 +50,4 @@ jobs:
     - uses: actions/upload-artifact@v2
       with:
         path: artifacts
-        name: ${{ matrix.name }}
+        name: ${{ matrix.name }}

CMakeLists.txt

@@ -7,23 +7,22 @@ set(CMAKE_CXX_STANDARD 17)
 set(CMAKE_CXX_STANDARD_REQUIRED ON)
 set(CMAKE_CXX_EXTENSIONS OFF)
 
-# include cmake custom functions
-set(WITH_SOURCE_TREE ON)
-include(${CMAKE_CURRENT_SOURCE_DIR}/cmake/GroupSources.cmake)
-include(${CMAKE_CURRENT_SOURCE_DIR}/cmake/AutoCollect.cmake)
-include(${CMAKE_CURRENT_SOURCE_DIR}/cmake/MakeLibrary.cmake)
+include(${CMAKE_CURRENT_SOURCE_DIR}/cmake/FetchDependency.cmake)
 
 option(GJK_EPA_DIAGNOSTIC "Diagnostic log enabled (ON) or disabled (OFF)" OFF)
+option(BUILD_GJK_EPA_SAMPLES "Build the samples showing how to use the package" ON)
+option(BUILD_GJK_EPA_TESTS "" OFF)
+
 add_subdirectory(src)
 
-option(BUILD_GJK_EPA_SAMPLES "Build the samples showing how to use the package" ON)
+if(BUILD_GJK_EPA_TESTS OR BUILD_GJK_EPA_SAMPLES)
+    add_subdirectory(utils)
+endif()
+
 if(BUILD_GJK_EPA_SAMPLES)
-    project(Flexible-GJK-and-EPA-Samples)
     add_subdirectory(samples)
 endif()
 
-option(BUILD_GJK_EPA_TESTS "" OFF)
 if(BUILD_GJK_EPA_TESTS)
-    project(Flexible-GJK-and-EPA-Tests)
     add_subdirectory(tests)
 endif()

LICENSE

@@ -0,0 +1,13 @@
+Copyright 2024 Andrea Casalino
+
+Licensed 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 CONDITIONS OF ANY KIND, either express or implied.
+See the License for the specific language governing permissions and
+limitations under the License.

README.md

@@ -7,10 +7,10 @@ They are used a lot in the domain of computer graphics, to:
 
 ![Sample](sample.png)
 
-With respect to other similar solvers, the one proposed allows to easily:
+With respect to similar implementations, this one allows to easily:
 
- * account for roto-traslation for the shapes, without explicitly computes the vertices coordinates after the roto-traslation
- * possibility to use a template container to describe your the convex shape, using the 3D coordinate representation
+ * account for roto-traslation, without explicitly computes the vertices coordinates after the roto-traslation
+ * use a template container to describe your the convex shape, using the 3D coordinate representation
    of your favourite algebra library ([Eigen](https://eigen.tuxfamily.org/dox/group__TutorialMatrixArithmetic.html), etc...)
 
 Before diving into the code, it is strongly recomended to have a look at the [documentation](./doc/GJK_EPA.pdf).
@@ -102,9 +102,9 @@ if (result_meaning) {
 
 ## SAMPLES
 
-The relevant code is contained in ./src, while ./Samples contains samples showing how to use this library.
-In particular, after running the samples, some .json files will be produced storing the results.
-A python script can be later used to visualize the results.
+The relevant code is contained in the [src](./src) folder, while [samples](./samples) contains examples showing how to use this library.
+In particular, after running each sample, some .json files will be produced storing the results.
+A python script can be later used to visualize the results. The syntax to use will appear in the console after computing each individual result.
 
 ## CMAKE SUPPORT
 

cmake/FetchDependency.cmake

@@ -0,0 +1,10 @@
+function(FetchDep URL TAG MSG CMAKE_NAME)
+    message(STATUS ${MSG})
+    include(FetchContent)
+    FetchContent_Declare(
+        ${CMAKE_NAME}
+        GIT_REPOSITORY ${URL}
+        GIT_TAG        ${TAG}
+    )
+    FetchContent_MakeAvailable(${CMAKE_NAME})
+endfunction()

samples/CMakeLists.txt

@@ -1,28 +1,9 @@
-message(STATUS "fetching nlohmann json for logging samples results")
-include(FetchContent)
-FetchContent_Declare(
-	nlohmann_json
-	GIT_REPOSITORY https://github.com/nlohmann/json.git
-	GIT_TAG        7194245a314d142a5560f6906a87f7c67ebbcf2e
-)
-FetchContent_MakeAvailable(nlohmann_json)
-
-macro(COPY_SCRIPT TARGET SCRIPT)
-    add_custom_command(TARGET ${TARGET} PRE_BUILD
-        COMMAND ${CMAKE_COMMAND} -E copy ${CMAKE_CURRENT_SOURCE_DIR}/${SCRIPT}.py ${CMAKE_CURRENT_BINARY_DIR}/${SCRIPT}.py)    
-endmacro()
-
 macro(MAKE_SAMPLE NAME)
-    add_executable(${NAME} ${NAME}.cpp 
-        Utils.h Utils.cpp
-        Logger.h Logger.cpp
-    )
+    add_executable(${NAME} ${NAME}.cpp)
     target_link_libraries(${NAME} PUBLIC 
         GJK-EPA
-        nlohmann_json::nlohmann_json
+        GJK-EPA-Utils
     )
-
-    COPY_SCRIPT(${NAME} Visualize)	
 endmacro()
 
 MAKE_SAMPLE(Readme)