Add CMake-format pre-commit hooks and linters

.cmake-format.py

@@ -0,0 +1,14 @@
+# flake8: noqa
+with section("format"):
+    line_width = 88  # Give a little more length
+    max_pargs_hwrap = 5
+    max_subgroups_hwrap = 3  # So set commands dont get wrapped
+    min_prefix_chars = 2
+    dangle_parens = True  # Dangle Parens to make diffs cleaner
+    always_wrap = [
+        "add_library",
+        "target_link_libraries",
+    ]  # Always wrap these ones
+    autosort = True  # Try to autosort lists
+with section("markup"):
+    enable_markup = False  # Don't format comments

.pre-commit-config.yaml

@@ -68,6 +68,7 @@ repos:
             - 'isort==5.4.2'
         always_run: false
         language: python
+        require_serial: true
 
 -   repo: local
     hooks:
@@ -79,6 +80,12 @@ repos:
       files: '.*\.(cpp|h|hpp|cu|cuh)$'
       language: system
 
+-   repo: https://github.com/cheshirekow/cmake-format-precommit
+    rev: v0.6.13
+    hooks:
+    -   id: cmake-format
+        exclude: (^src/(cmake/Find|deps)|configure\.h\.cmake$)
+
 -   repo: https://github.com/pre-commit/mirrors-eslint
     rev: v6.4.0
     hooks:

src/CMakeLists.txt

@@ -4,7 +4,9 @@
 
 cmake_minimum_required(VERSION 3.10)
 
-option(BUILD_WITH_CUDA "Build Habitat-Sim with CUDA features enabled -- Requires CUDA" OFF)
+option(BUILD_WITH_CUDA "Build Habitat-Sim with CUDA features enabled -- Requires CUDA"
+       OFF
+)
 
 if(BUILD_WITH_CUDA)
   project(esp LANGUAGES C CXX CUDA)
@@ -19,8 +21,8 @@ endif()
 
 find_program(CCACHE_FOUND ccache)
 if(CCACHE_FOUND)
-    set_property(GLOBAL PROPERTY RULE_LAUNCH_COMPILE ccache)
-    set_property(GLOBAL PROPERTY RULE_LAUNCH_LINK ccache)
+  set_property(GLOBAL PROPERTY RULE_LAUNCH_COMPILE ccache)
+  set_property(GLOBAL PROPERTY RULE_LAUNCH_LINK ccache)
 endif()
 
 set(SCENE_DATASETS ${CMAKE_CURRENT_SOURCE_DIR}/../data/scene_datasets)
@@ -31,7 +33,9 @@ option(BUILD_PYTHON_BINDINGS "Whether to build python bindings" ON)
 option(BUILD_DATATOOL "Whether to build datatool utility binary" ON)
 option(BUILD_PTEX_SUPPORT "Whether to build ptex mesh support" ON)
 option(BUILD_GUI_VIEWERS "Whether to build GUI viewer utility binary" OFF)
-option(BUILD_WITH_BULLET "Build Habitat-Sim with Bullet physics enabled -- Requires Bullet" OFF)
+option(BUILD_WITH_BULLET
+       "Build Habitat-Sim with Bullet physics enabled -- Requires Bullet" OFF
+)
 option(BUILD_TEST "Build test binaries" OFF)
 option(USE_SYSTEM_ASSIMP "Use system Assimp instead of a bundled submodule" OFF)
 option(USE_SYSTEM_EIGEN "Use system Eigen instead of a bundled submodule" OFF)
@@ -40,14 +44,17 @@ option(USE_SYSTEM_MAGNUM "Use system Magnum instead of a bundled submodule" OFF)
 option(USE_SYSTEM_PYBIND11 "Use system Pybind11 instead of a bundled submodule" OFF)
 option(USE_SYSTEM_RAPIDJSON "Use system RapidJSON instead of a bundled submodule" OFF)
 
-
 set(CMAKE_CXX_STANDARD 14)
 set(CMAKE_POSITION_INDEPENDENT_CODE ON)
 set(CMAKE_EXPORT_COMPILE_COMMANDS ON)
 if(NOT CMAKE_BUILD_TYPE)
-  set(CMAKE_BUILD_TYPE RelWithDebInfo CACHE STRING
-      "Choose build, options are: None Debug Release RelWithDebInfo MinSizeRel"
-      FORCE)
+  set(
+    CMAKE_BUILD_TYPE
+    RelWithDebInfo
+    CACHE STRING
+          "Choose build, options are: None Debug Release RelWithDebInfo MinSizeRel"
+          FORCE
+  )
 endif()
 # avoid ld visibility warnings, should be done by CMAKE_CXX_VISIBILITY_PRESET
 # but need cmake_policy(SET CMP0063 NEW) also which seems to not work

src/cmake/dependencies.cmake

@@ -98,19 +98,18 @@ set(RECASTNAVIGATION_STATIC ON CACHE BOOL "RECASTNAVIGATION_STATIC" FORCE)
 add_subdirectory("${DEPS_DIR}/recastnavigation/Recast")
 add_subdirectory("${DEPS_DIR}/recastnavigation/Detour")
 # Needed so that Detour doesn't hide the implementation of the method on dtQueryFilter
-target_compile_definitions(Detour
-  PUBLIC
-  DT_VIRTUAL_QUERYFILTER)
+target_compile_definitions(Detour PUBLIC DT_VIRTUAL_QUERYFILTER)
 
 if(BUILD_PYTHON_BINDINGS)
   # Before calling find_package(PythonInterp) search for python executable not
   # in the default paths to pick up activated virtualenv/conda python
-  find_program(PYTHON_EXECUTABLE
+  find_program(
+    PYTHON_EXECUTABLE
     # macOS still defaults to `python` being Python 2, so look for `python3`
     # first
     NAMES python3 python
-    PATHS ENV PATH   # look in the PATH environment variable
-    NO_DEFAULT_PATH  # do not look anywhere else...
+    PATHS ENV PATH # look in the PATH environment variable
+    NO_DEFAULT_PATH # do not look anywhere else...
   )
 
   # Let the Find module do proper version checks on what we found (it uses the
@@ -141,7 +140,7 @@ if(NOT USE_SYSTEM_MAGNUM)
 
   # These are not enabled by default but we need them
   set(WITH_ANYSCENEIMPORTER ON CACHE BOOL "WITH_ANYSCENEIMPORTER" FORCE)
-  if (BUILD_ASSIMP_SUPPORT)
+  if(BUILD_ASSIMP_SUPPORT)
     set(WITH_ASSIMPIMPORTER ON CACHE BOOL "WITH_ASSIMPIMPORTER" FORCE)
   endif()
   set(WITH_TINYGLTFIMPORTER ON CACHE BOOL "WITH_TINYGLTFIMPORTER" FORCE)
@@ -171,7 +170,10 @@ if(NOT USE_SYSTEM_MAGNUM)
   # formats (BC7 mode 6 has > 1 MB tables, ATC/FXT1/PVRTC2 are quite rare and
   # not supported by Magnum).
   set(BASIS_UNIVERSAL_DIR "${DEPS_DIR}/basis-universal")
-  set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -DBASISD_SUPPORT_BC7_MODE6_OPAQUE_ONLY=0 -DBASISD_SUPPORT_ATC=0 -DBASISD_SUPPORT_FXT1=0 -DBASISD_SUPPORT_PVRTC2=0")
+  set(
+    CMAKE_CXX_FLAGS
+    "${CMAKE_CXX_FLAGS} -DBASISD_SUPPORT_BC7_MODE6_OPAQUE_ONLY=0 -DBASISD_SUPPORT_ATC=0 -DBASISD_SUPPORT_FXT1=0 -DBASISD_SUPPORT_PVRTC2=0"
+  )
   set(WITH_BASISIMPORTER ON CACHE BOOL "" FORCE)
 
   if(BUILD_WITH_BULLET)
@@ -190,18 +192,32 @@ if(NOT USE_SYSTEM_MAGNUM)
     endif()
   endif()
   if(APPLE)
-    set(WITH_WINDOWLESSCGLAPPLICATION ON CACHE BOOL "WITH_WINDOWLESSCGLAPPLICATION" FORCE)
+    set(WITH_WINDOWLESSCGLAPPLICATION ON CACHE BOOL "WITH_WINDOWLESSCGLAPPLICATION"
+                                               FORCE
+    )
   elseif(WIN32)
-    set(WITH_WINDOWLESSWGLAPPLICATION ON CACHE BOOL "WITH_WINDOWLESSWGLAPPLICATION" FORCE)
+    set(WITH_WINDOWLESSWGLAPPLICATION ON CACHE BOOL "WITH_WINDOWLESSWGLAPPLICATION"
+                                               FORCE
+    )
   elseif(CORRADE_TARGET_EMSCRIPTEN)
-    set(WITH_WINDOWLESSEGLAPPLICATION ON  CACHE INTERNAL "WITH_WINDOWLESSEGLAPPLICATION" FORCE)
+    set(WITH_WINDOWLESSEGLAPPLICATION ON CACHE INTERNAL "WITH_WINDOWLESSEGLAPPLICATION"
+                                               FORCE
+    )
   elseif(UNIX)
     if(BUILD_GUI_VIEWERS)
-      set(WITH_WINDOWLESSGLXAPPLICATION ON  CACHE INTERNAL "WITH_WINDOWLESSGLXAPPLICATION" FORCE)
-      set(WITH_WINDOWLESSEGLAPPLICATION OFF CACHE INTERNAL "WITH_WINDOWLESSEGLAPPLICATION" FORCE)
+      set(WITH_WINDOWLESSGLXAPPLICATION ON CACHE INTERNAL
+                                                 "WITH_WINDOWLESSGLXAPPLICATION" FORCE
+      )
+      set(WITH_WINDOWLESSEGLAPPLICATION OFF CACHE INTERNAL
+                                                  "WITH_WINDOWLESSEGLAPPLICATION" FORCE
+      )
     else()
-      set(WITH_WINDOWLESSGLXAPPLICATION OFF CACHE INTERNAL "WITH_WINDOWLESSGLXAPPLICATION" FORCE)
-      set(WITH_WINDOWLESSEGLAPPLICATION ON  CACHE INTERNAL "WITH_WINDOWLESSEGLAPPLICATION" FORCE)
+      set(WITH_WINDOWLESSGLXAPPLICATION OFF CACHE INTERNAL
+                                                  "WITH_WINDOWLESSGLXAPPLICATION" FORCE
+      )
+      set(WITH_WINDOWLESSEGLAPPLICATION ON CACHE INTERNAL
+                                                 "WITH_WINDOWLESSEGLAPPLICATION" FORCE
+      )
     endif()
   endif()
   add_subdirectory("${DEPS_DIR}/magnum")

src/esp/CMakeLists.txt

@@ -7,8 +7,8 @@
 # set_directory_properties(PROPERTIES CORRADE_USE_PEDANTIC_FLAGS ON)
 
 option(BUILD_WARNINGS_AS_ERRORS "Build with warnings as errors" OFF)
-if (BUILD_WARNINGS_AS_ERRORS)
-  if (MSVC)
+if(BUILD_WARNINGS_AS_ERRORS)
+  if(MSVC)
     add_compile_options(/WX)
   else()
     # TODO(msb) remove -Wall once we enable CORRADE_USE_PEDANTIC

src/esp/agent/CMakeLists.txt

@@ -1,11 +1,9 @@
-add_library(agent STATIC
-  Agent.cpp
-  Agent.h
+add_library(
+  agent STATIC
+  Agent.cpp Agent.h
 )
 
-target_link_libraries(agent
-  PUBLIC
-    core
-    gfx
-    sensor
+target_link_libraries(
+  agent
+  PUBLIC core gfx sensor
 )

src/esp/assets/CMakeLists.txt

@@ -1,4 +1,5 @@
-set(assets_SOURCES
+set(
+  assets_SOURCES
   Asset.cpp
   Asset.h
   attributes/AttributesBase.h
@@ -30,82 +31,74 @@ set(assets_SOURCES
   managers/PhysicsAttributesManager.cpp
   managers/StageAttributesManager.h
   managers/StageAttributesManager.cpp
-
   ResourceManager.cpp
   ResourceManager.h
-
 )
 
 if(BUILD_PTEX_SUPPORT)
-  list(APPEND assets_SOURCES
-    PTexMeshData.cpp
-    PTexMeshData.h
-  )
+  list(APPEND assets_SOURCES PTexMeshData.cpp PTexMeshData.h)
 endif()
 
-find_package(Magnum
+find_package(
+  Magnum
   REQUIRED
-    AnyImageImporter
-    AnySceneImporter
-    GL
-    MeshTools
-    SceneGraph
-    Shaders
-    Trade
-    Primitives
+  AnyImageImporter
+  AnySceneImporter
+  GL
+  MeshTools
+  SceneGraph
+  Shaders
+  Trade
+  Primitives
 )
 
-find_package(MagnumPlugins
+find_package(
+  MagnumPlugins
   REQUIRED
-    BasisImporter
-    PrimitiveImporter
-    StanfordImporter
-    StbImageImporter
-    StbImageConverter
-    TinyGltfImporter
+  BasisImporter
+  PrimitiveImporter
+  StanfordImporter
+  StbImageImporter
+  StbImageConverter
+  TinyGltfImporter
 )
 
 if(BUILD_ASSIMP_SUPPORT)
-  find_package(MagnumPlugins
-    REQUIRED
-      AssimpImporter
-  )
+  find_package(MagnumPlugins REQUIRED AssimpImporter)
 endif()
 
-add_library(assets STATIC ${assets_SOURCES})
+add_library(
+  assets STATIC
+  ${assets_SOURCES}
+)
 
-target_link_libraries(assets
-  PUBLIC
-    core
-    physics
-    scene
-    nav
-    Magnum::AnyImageImporter
-    Magnum::AnySceneImporter
-    Magnum::GL
-    Magnum::Magnum
-    Magnum::MeshTools
-    Magnum::SceneGraph
-    Magnum::Shaders
-    Magnum::Trade
-    Magnum::Primitives
-    MagnumPlugins::BasisImporter
-    MagnumPlugins::PrimitiveImporter
-    MagnumPlugins::StanfordImporter
-    MagnumPlugins::StbImageImporter
-    MagnumPlugins::StbImageConverter
-    MagnumPlugins::TinyGltfImporter
-  PRIVATE
-    geo
-    io
+target_link_libraries(
+  assets
+  PUBLIC core
+         physics
+         scene
+         nav
+         Magnum::AnyImageImporter
+         Magnum::AnySceneImporter
+         Magnum::GL
+         Magnum::Magnum
+         Magnum::MeshTools
+         Magnum::SceneGraph
+         Magnum::Shaders
+         Magnum::Trade
+         Magnum::Primitives
+         MagnumPlugins::BasisImporter
+         MagnumPlugins::PrimitiveImporter
+         MagnumPlugins::StanfordImporter
+         MagnumPlugins::StbImageImporter
+         MagnumPlugins::StbImageConverter
+         MagnumPlugins::TinyGltfImporter
+  PRIVATE geo io
 )
 
 if(BUILD_ASSIMP_SUPPORT)
-  target_link_libraries(assets
-    PUBLIC
-      MagnumPlugins::AssimpImporter
-    PRIVATE
-      Assimp::Assimp
+  target_link_libraries(
+    assets PUBLIC MagnumPlugins::AssimpImporter PRIVATE Assimp::Assimp
   )
 endif()
 

src/esp/bindings/CMakeLists.txt

@@ -1,6 +1,7 @@
 find_package(MagnumBindings REQUIRED Python)
 
-pybind11_add_module(habitat_sim_bindings
+pybind11_add_module(
+  habitat_sim_bindings
   bindings.cpp
   AttributesBindings.cpp
   AttributesManagersBindings.cpp
@@ -13,19 +14,18 @@ pybind11_add_module(habitat_sim_bindings
   ShortestPathBindings.cpp
   SimBindings.cpp
 )
-target_link_libraries(habitat_sim_bindings
-  PRIVATE
-    MagnumBindings::Python
-  PUBLIC
-    agent
-    assets
-    scene
-    core
-    gfx
-    nav
-    sensor
-    physics
-    sim
+target_link_libraries(
+  habitat_sim_bindings
+  PRIVATE MagnumBindings::Python
+  PUBLIC agent
+         assets
+         scene
+         core
+         gfx
+         nav
+         sensor
+         physics
+         sim
 )
 
 # target_include_directories(environment