Add dart7 core library scaffold (#2097)

Author: jslee02

.clang-format

@@ -68,6 +68,10 @@ IncludeCategories:
   # DART library headers (with angle brackets) - ordered from high-level to low-level
   - Regex: '^<dart\/config\.hpp>$' # config first
     Priority: 10
+  - Regex: '^<dart7\/fwd\.hpp>$' # dart7 forward declarations first
+    Priority: 11
+  - Regex: '^<dart7\/.*\.h(pp)?>$' # other dart7 headers
+    Priority: 12
   - Regex: '^<dart\/test\/.*\.h(pp)?>$' # test utilities
     Priority: 20
   - Regex: '^<dart\/python\/.*\.h(pp)?>$' # bindings
@@ -99,24 +103,6 @@ IncludeCategories:
   - Regex: '^<dart\/external\/.*\.h(pp)?>$' # external dependencies
     Priority: 50
 
-  # DART7 experimental library headers (angle brackets)
-  - Regex: '^<dart7\/version\.hpp>$' # core version info
-    Priority: 60
-  - Regex: '^<dart7\/common\/.*\.h(pp)?>$' # common utilities
-    Priority: 61
-  - Regex: '^<dart7\/space\/.*\.h(pp)?>$' # state space utilities
-    Priority: 62
-  - Regex: '^<dart7\/frame\/.*\.h(pp)?>$' # frame subsystem
-    Priority: 63
-  - Regex: '^<dart7\/multi_body\/.*\.h(pp)?>$' # multibody subsystem
-    Priority: 64
-  - Regex: '^<dart7\/.*\.h(pp)?>$' # other dart7 headers
-    Priority: 70
-
-  # dartpy7 experimental bindings
-  - Regex: '^<dartpy7\/.*\.h(pp)?>$'
-    Priority: 80
-
   # 3rd-party headers
   - Regex: '^<.*\.h(pp)?>$'
     Priority: 50

CMakeLists.txt

@@ -111,6 +111,10 @@ set(DART_PKG_EXTERNAL_DEPS "assimp, ccd, eigen3, fcl, octomap")
 #===============================================================================
 # Build options
 #===============================================================================
+
+# DART 7.0 options
+option(DART7_VERBOSE "Show detailed DART7 dependency information" 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)
@@ -163,7 +167,6 @@ dart_option(DART_USE_SYSTEM_IMGUI
 dart_option(DART_USE_SYSTEM_GOOGLEBENCHMARK "Use system GoogleBenchmark" OFF CATEGORY system)
 dart_option(DART_USE_SYSTEM_GOOGLETEST "Use system GoogleTest" OFF CATEGORY system)
 dart_option(DART_USE_SYSTEM_PYBIND11 "Use system pybind11" OFF CATEGORY system)
-dart_option(DART_USE_SYSTEM_NANOBIND "Use system nanobind" OFF CATEGORY system)
 dart_option(DART_USE_SYSTEM_TRACY "Use system Tracy" OFF CATEGORY system)
 dart_option(DART_VERBOSE "Whether print detailed information in CMake process" OFF CATEGORY diagnostics)
 dart_option(DART_BUILD_DART7 "Build experimental DART7 library" OFF CATEGORY build)
@@ -460,6 +463,14 @@ add_subdirectory(dart)
 
 if(DART_BUILD_DART7)
   add_subdirectory(dart7)
+
+  if(MSVC)
+    add_subdirectory(tests_dart7)
+    add_subdirectory(examples_dart7)
+  else()
+    add_subdirectory(tests_dart7 EXCLUDE_FROM_ALL)
+    add_subdirectory(examples_dart7 EXCLUDE_FROM_ALL)
+  endif()
 endif()
 
 set(DART_IN_SOURCE_BUILD TRUE)

benchmarks_dart7/CMakeLists.txt

@@ -0,0 +1,56 @@
+# Copyright (c) 2011-2025, The DART development contributors
+# All rights reserved.
+#
+# The list of contributors can be found at:
+#   https://github.com/dartsim/dart/blob/main/LICENSE
+#
+# This file is provided under the "BSD-style" License
+
+# DART 7.0 Benchmarks
+#
+# Simply list benchmark files here. The benchmark name is derived from filename.
+# Example: bm_profiling.cpp -> bm_profiling
+#
+# Since benchmarks_dart7/ is a sibling to dart7/ (not a subdirectory), we need to
+# include dependencies and helper functions here.
+
+cmake_minimum_required(VERSION 3.22.1)
+
+# Include dart7 utility functions (must come first to define dart7_find_package)
+include(dart7_defs)
+
+# Include dependency finding (makes benchmark available)
+include(dart7_dependencies)
+
+if(NOT DART7_BUILD_BENCHMARKS)
+  message(STATUS "dart7: Benchmarks disabled (benchmark not found)")
+  return()
+endif()
+
+message(STATUS "dart7: Configuring benchmarks...")
+
+#==============================================================================
+# Benchmark List
+#==============================================================================
+# To add a new benchmark, simply add the filename to this list
+
+set(DART7_BENCHMARKS
+  bm_profiling.cpp
+)
+
+# Register all benchmarks
+foreach(bm_file ${DART7_BENCHMARKS})
+  # Extract benchmark name from filename (remove .cpp extension)
+  get_filename_component(bm_name ${bm_file} NAME_WE)
+  dart7_add_benchmark(${bm_name} ${CMAKE_CURRENT_SOURCE_DIR}/${bm_file})
+  list(APPEND DART7_BENCHMARK_TARGETS ${bm_name})
+endforeach()
+
+# Create meta target for all benchmarks
+add_custom_target(dart7_benchmarks
+  DEPENDS ${DART7_BENCHMARK_TARGETS}
+  COMMENT "Building all DART7 benchmarks"
+)
+
+list(LENGTH DART7_BENCHMARKS num_benchmarks)
+message(STATUS "dart7: ${num_benchmarks} benchmark(s)")

benchmarks_dart7/bm_profiling.cpp

@@ -0,0 +1,82 @@
+/*
+ * Copyright (c) 2011-2025, The DART development contributors
+ * All rights reserved.
+ *
+ * The list of contributors can be found at:
+ *   https://github.com/dartsim/dart/blob/main/LICENSE
+ *
+ * This file is provided under the following "BSD-style" License:
+ *   Redistribution and use in source and binary forms, with or
+ *   without modification, are permitted provided that the following
+ *   conditions are met:
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND
+ *   CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES,
+ *   INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
+ *   MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ *   DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
+ *   CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+ *   SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+ *   LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF
+ *   USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ *   AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *   LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *   ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *   POSSIBILITY OF SUCH DAMAGE.
+ */
+
+#include <benchmark/benchmark.h>
+#include <dart7/common/profiling.hpp>
+
+#include <cmath>
+
+using namespace dart7::common;
+
+// Benchmark ScopedTimer overhead
+static void BM_ScopedTimerOverhead(benchmark::State& state)
+{
+  ProfileStats::reset();
+
+  for (auto _ : state) {
+    DART7_PROFILE_SCOPE("test");
+  }
+}
+BENCHMARK(BM_ScopedTimerOverhead);
+
+// Benchmark profiling with actual work
+static void BM_ProfilingWithWork(benchmark::State& state)
+{
+  ProfileStats::reset();
+
+  for (auto _ : state) {
+    DART7_PROFILE_SCOPE("computation");
+    volatile double result = 0.0;
+    for (int i = 0; i < state.range(0); ++i) {
+      result += std::sin(i * 0.001);
+    }
+  }
+}
+BENCHMARK(BM_ProfilingWithWork)->Range(8, 8 << 10);
+
+// Benchmark manual profiling
+static void BM_ManualProfiling(benchmark::State& state)
+{
+  ProfileStats::reset();
+
+  for (auto _ : state) {
+    DART7_PROFILE_BEGIN(manual);
+    volatile double result = 0.0;
+    for (int i = 0; i < 100; ++i) {
+      result += i;
+    }
+    DART7_PROFILE_END(manual);
+  }
+}
+BENCHMARK(BM_ManualProfiling);
+
+BENCHMARK_MAIN();