Add DART_USE_SYSTEM_TRACY option (#1911)

.github/workflows/cache_docker.yml

@@ -185,39 +185,3 @@ jobs:
           tags: ${{ env.DOCKER_REPO }}:${{ matrix.image }}-${{ matrix.dart_version }}
       - name: Image digest
         run: echo ${{ steps.docker_build.outputs.digest }}
-
-  # Tracy Profiler
-  tracy:
-    name: tracy profiler
-    runs-on: ubuntu-latest
-    strategy:
-      fail-fast: false
-      matrix:
-        dart_version: [v6.15]
-        build_min: [ON]
-    env:
-      OS_VERSION: tracy
-      DART_VERSION: ${{ matrix.dart_version }}
-    steps:
-      # https://github.com/marketplace/actions/docker-setup-qemu
-      - name: Set up QEMU
-        uses: docker/setup-qemu-action@v3
-      # https://github.com/marketplace/actions/docker-setup-buildx
-      - name: Set up Docker Buildx
-        uses: docker/setup-buildx-action@v3
-      # https://github.com/marketplace/actions/docker-login
-      - name: Login to DockerHub
-        uses: docker/login-action@v3
-        with:
-          username: ${{ secrets.DOCKER_USERNAME }}
-          password: ${{ secrets.DOCKER_PASSWORD }}
-      # https://github.com/marketplace/actions/build-and-push-docker-images
-      - name: Build and push
-        id: docker_build
-        uses: docker/build-push-action@v6
-        with:
-          file: ./docker/dev/${{ env.DART_VERSION }}/Dockerfile.${{ env.OS_VERSION }}
-          push: true
-          tags: ${{ env.DOCKER_REPO }}:${{ env.OS_VERSION }}-${{ env.DART_VERSION }}
-      - name: Image digest
-        run: echo ${{ steps.docker_build.outputs.digest }}

CMakeLists.txt

@@ -69,14 +69,17 @@ set(DART_PKG_EXTERNAL_DEPS "assimp, ccd, eigen3, fcl, octomap")
 #===============================================================================
 # Build options
 #===============================================================================
-dart_option(DART_VERBOSE "Whether print detailed information in CMake process" OFF)
 if(MSVC)
   set(DART_RUNTIME_LIBRARY "/MD" CACHE STRING "BaseName chosen by the user at CMake configure time")
   set_property(CACHE DART_RUNTIME_LIBRARY PROPERTY STRINGS /MD /MT)
   dart_option(DART_MSVC_DEFAULT_OPTIONS "Build DART with default Visual Studio options" OFF)
 else()
   dart_option(BUILD_SHARED_LIBS "Build shared libraries" ON)
 endif()
+dart_option(DART_BUILD_DARTPY "Build dartpy" OFF)
+dart_option(DART_BUILD_GUI_OSG "Build osgDart library" ON)
+dart_option(DART_BUILD_PROFILE "Build DART with profiling options" OFF)
+dart_option(DART_CODECOV "Turn on codecov support" OFF)
 # Warning: DART_ENABLE_SIMD should be ON only when you build DART and the DART
 # dependent projects on the same machine. If this option is on, then compile
 # option `-march=native` is added to the target `dart` that enables all
@@ -86,10 +89,6 @@ endif()
 # errors.
 dart_option(DART_ENABLE_SIMD
   "Build DART with all SIMD instructions on the current local machine" OFF)
-dart_option(DART_BUILD_GUI_OSG "Build osgDart library" ON)
-dart_option(DART_BUILD_DARTPY "Build dartpy" OFF)
-dart_option(DART_BUILD_PROFILE "Build DART with profiling options" OFF)
-dart_option(DART_CODECOV "Turn on codecov support" OFF)
 dart_option(DART_FAST_DEBUG "Add -O1 option for DEBUG mode build" OFF)
 # GCC and Clang add ANSI-formatted colors when they detect the output medium is a
 # terminal. However, this doesn't work in some cases such as when the makefile is
@@ -102,6 +101,8 @@ dart_option(DART_USE_SYSTEM_IMGUI "Use system ImGui" OFF)
 dart_option(DART_USE_SYSTEM_GOOGLEBENCHMARK "Use system GoogleBenchmark" OFF)
 dart_option(DART_USE_SYSTEM_GOOGLETEST "Use system GoogleTest" OFF)
 dart_option(DART_USE_SYSTEM_PYBIND11 "Use system pybind11" OFF)
+dart_option(DART_USE_SYSTEM_TRACY "Use system Tracy" OFF)
+dart_option(DART_VERBOSE "Whether print detailed information in CMake process" OFF)
 
 #===============================================================================
 # Print intro

cmake/DARTFindDependencies.cmake

@@ -111,18 +111,22 @@ endif()
 #=======================
 
 if(DART_BUILD_PROFILE)
-  include(FetchContent)
-  FetchContent_Declare(tracy
-    GIT_REPOSITORY https://github.com/wolfpld/tracy.git
-    GIT_TAG master  # TODO: Change to a fixed version once > 0.10 is released
-    GIT_SHALLOW TRUE
-    GIT_PROGRESS TRUE
-  )
-  FetchContent_MakeAvailable(tracy)
-  if(MSVC)
-    target_compile_options(TracyClient PRIVATE /W0)
+  if(DART_USE_SYSTEM_TRACY)
+    find_package(Tracy CONFIG REQUIRED)
   else()
-    target_compile_options(TracyClient PRIVATE -w)
+    include(FetchContent)
+    FetchContent_Declare(tracy
+      GIT_REPOSITORY https://github.com/wolfpld/tracy.git
+      GIT_TAG v0.11.1
+      GIT_SHALLOW TRUE
+      GIT_PROGRESS TRUE
+    )
+    FetchContent_MakeAvailable(tracy)
+    if(MSVC)
+      target_compile_options(TracyClient PRIVATE /W0)
+    else()
+      target_compile_options(TracyClient PRIVATE -w)
+    endif()
   endif()
 endif()
 

dart/CMakeLists.txt

@@ -234,7 +234,7 @@ if(DART_CODECOV)
 endif()
 
 if(DART_BUILD_PROFILE)
-  target_link_libraries(dart PUBLIC TracyClient)
+  target_link_libraries(dart PUBLIC Tracy::TracyClient)
 endif()
 
 install(FILES dart.hpp DESTINATION include/dart/ COMPONENT headers)

dart/common/Profile.hpp

@@ -36,9 +36,6 @@
 
 #if DART_BUILD_PROFILE
   #include <tracy/Tracy.hpp>
-#endif
-
-#if DART_BUILD_PROFILE
 
   #define DART_PROFILE_FRAME FrameMark
   #define DART_PROFILE_SCOPED ZoneScoped

dart/simulation/World.cpp

@@ -163,6 +163,8 @@ void World::reset()
 //==============================================================================
 void World::step(bool _resetCommand)
 {
+  DART_PROFILE_FRAME;
+
   // Integrate velocity for unconstrained skeletons
   {
     DART_PROFILE_SCOPED_N("World::step - Integrate velocity");
@@ -202,7 +204,6 @@ void World::step(bool _resetCommand)
 
   mTime += mTimeStep;
   mFrame++;
-  DART_PROFILE_FRAME;
 }
 
 //==============================================================================

dart/utils/mjcf/detail/Compiler.cpp

@@ -180,23 +180,11 @@ Errors Compiler::read(tinyxml2::XMLElement* element)
     const std::string inertiafromgeom
         = getAttributeString(element, "inertiafromgeom");
     if (inertiafromgeom == "false") {
-#if DART_OS_WINDOWS
       mInertiaFromGeom = InertiaFromGeom::IFG_FALSE;
-#else
-      mInertiaFromGeom = InertiaFromGeom::FALSE;
-#endif
     } else if (inertiafromgeom == "true") {
-#if DART_OS_WINDOWS
       mInertiaFromGeom = InertiaFromGeom::IFG_TRUE;
-#else
-      mInertiaFromGeom = InertiaFromGeom::TRUE;
-#endif
     } else if (inertiafromgeom == "auto") {
-#if DART_OS_WINDOWS
       mInertiaFromGeom = InertiaFromGeom::IFG_AUTO;
-#else
-      mInertiaFromGeom = InertiaFromGeom::AUTO;
-#endif
     } else {
       errors.emplace_back(
           ErrorCode::ATTRIBUTE_INVALID,

dart/utils/mjcf/detail/Compiler.hpp

@@ -100,11 +100,7 @@ class Compiler final
   bool mConvexHull{true};
   bool mUserThread{true};
   bool mFuseStatic{false};
-#if DART_OS_WINDOWS
   InertiaFromGeom mInertiaFromGeom{InertiaFromGeom::IFG_AUTO};
-#else
-  InertiaFromGeom mInertiaFromGeom{InertiaFromGeom::AUTO};
-#endif
   Eigen::Vector2i mInertiaGroupRange{Eigen::Vector2i(0, 5)};
 };
 

dart/utils/mjcf/detail/Types.hpp

@@ -77,15 +77,9 @@ enum class Integrator
 
 enum class InertiaFromGeom
 {
-#if DART_OS_WINDOWS
   IFG_FALSE,
   IFG_TRUE,
   IFG_AUTO,
-#else
-  FALSE,
-  TRUE,
-  AUTO,
-#endif
 };
 
 enum class CollisionType