Disable DART_ENABLE_SIMD by default

CHANGELOG.md

@@ -4,6 +4,7 @@
 
 * Build
 
+  * Modified to build DART without SIMD options by default: [#790](https://github.com/dartsim/dart/pull/790)
   * Modified to build external libraries as separately build targets: [#787](https://github.com/dartsim/dart/pull/787)
   * Modified to export CMake target files separately per target: [#786](https://github.com/dartsim/dart/pull/786)
 

CMakeLists.txt

@@ -69,7 +69,15 @@ if(MSVC)
 else()
   option(BUILD_SHARED_LIBS "Build shared libraries" ON)
 endif()
-option(DART_ENABLE_SIMD "Build DART with SIMD enabled" ON)
+# 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
+# instruction subsets supported by the local machine. If the architecture of
+# local machines are different then the projects will be built with different
+# compile options, which may cause runtime errors especially memory alignment
+# errors.
+option(DART_ENABLE_SIMD
+  "Build DART with all SIMD instructions on the current local machine" OFF)
 option(DART_BUILD_GUI_OSG "Build osgDart library" ON)
 option(DART_COVERALLS "Turn on coveralls support" OFF)
 option(DART_COVERALLS_UPLOAD "Upload the generated coveralls json" ON)
@@ -160,14 +168,6 @@ if(MSVC)
     set(CMAKE_CXX_FLAGS_DEBUG "${CMAKE_CXX_FLAGS_DEBUG} ${DART_RUNTIME_LIBRARY}d /Zi /Gy /W1 /EHsc")
     set(CMAKE_CXX_FLAGS_RELEASE "${CMAKE_CXX_FLAGS_RELEASE} ${DART_RUNTIME_LIBRARY} /Zi /GL /Gy /W1 /EHsc")
   endif(NOT DART_MSVC_DEFAULT_OPTIONS)
-  if(DART_ENABLE_SIMD)
-    add_definitions(/arch:SSE2 /arch:AVX /arch:AVX2)
-    # /arch:SSE2 option is effective only for x86 but not for x64 since it's
-    # enabled for x64 by default. The option will be ignored on x64 with a
-    # warning message. If anyone knows how to detect the system's architecture
-    # in CMake time, then I would gratefully apply these options differently
-    # depending on the architectures.
-  endif()
 
 elseif(CMAKE_COMPILER_IS_GNUCXX)
 
@@ -187,9 +187,6 @@ elseif(CMAKE_COMPILER_IS_GNUCXX)
   set(CMAKE_CXX_FLAGS_DEBUG "-g -fno-omit-frame-pointer -fno-inline-functions -fno-inline-functions-called-once -fno-optimize-sibling-calls")
   set(CMAKE_CXX_FLAGS_RELWITHDEBINFO "${CMAKE_CXX_FLAGS_RELEASE} ${CMAKE_CXX_FLAGS_DEBUG}")
   set(CMAKE_CXX_FLAGS_PROFILE "${CMAKE_CXX_FLAGS_DEBUG} -pg")
-  if(DART_ENABLE_SIMD)
-    add_definitions(-march=native)
-  endif()
 
 elseif("${CMAKE_CXX_COMPILER_ID}" STREQUAL "Clang")
 
@@ -214,9 +211,6 @@ elseif("${CMAKE_CXX_COMPILER_ID}" STREQUAL "Clang")
   set(CMAKE_CXX_FLAGS_DEBUG "-g -fno-omit-frame-pointer -fno-inline-functions -fno-optimize-sibling-calls")
   set(CMAKE_CXX_FLAGS_RELWITHDEBINFO "${CMAKE_CXX_FLAGS_RELEASE} ${CMAKE_CXX_FLAGS_DEBUG}")
   set(CMAKE_CXX_FLAGS_PROFILE "${CMAKE_CXX_FLAGS_DEBUG} -pg")
-  if(DART_ENABLE_SIMD)
-    add_definitions(-march=native)
-  endif()
 
 else()
 

dart/CMakeLists.txt

@@ -146,6 +146,22 @@ target_link_libraries(
     ${PROJECT_NAME}-external-odelcpsolver
 )
 
+# Build DART with all available SIMD instructions
+if(DART_ENABLE_SIMD)
+  if(MSVC)
+    target_compile_options(dart PUBLIC /arch:SSE2 /arch:AVX /arch:AVX2)
+    # /arch:SSE2 option is effective only for x86 but not for x64 since it's
+    # enabled for x64 by default. The option will be ignored on x64 with a
+    # warning message. If anyone knows how to detect the system's architecture
+    # in CMake time, then I would gratefully apply these options differently
+    # depending on the architectures.
+  elseif(CMAKE_COMPILER_IS_GNUCXX)
+    target_compile_options(dart PUBLIC -march=native)
+  elseif("${CMAKE_CXX_COMPILER_ID}" STREQUAL "Clang")
+    target_compile_options(dart PUBLIC -march=native)
+  endif()
+endif()
+
 # Default component
 add_component_targets(
   ${PROJECT_NAME}

dart/dynamics/detail/EulerJointAspect.hpp

@@ -70,7 +70,7 @@ struct EulerJointProperties :
 {
   /// Composed constructor
   EulerJointProperties(
-      const GenericJoint<math::R3Space>::Properties& GenericJointProperties =
+      const GenericJoint<math::R3Space>::Properties& genericJointProperties =
           GenericJoint<math::R3Space>::Properties(),
       const EulerJointUniqueProperties& eulerJointProperties =
           EulerJointUniqueProperties());

dart/dynamics/detail/PlanarJointAspect.cpp

@@ -136,9 +136,9 @@ void PlanarJointUniqueProperties::setArbitraryPlane(
 
 //==============================================================================
 PlanarJointProperties::PlanarJointProperties(
-    const GenericJoint<math::R3Space>::Properties& GenericJointProperties,
+    const GenericJoint<math::R3Space>::Properties& genericJointProperties,
     const PlanarJointUniqueProperties& planarProperties)
-  : GenericJoint<math::R3Space>::Properties(GenericJointProperties),
+  : GenericJoint<math::R3Space>::Properties(genericJointProperties),
     PlanarJointUniqueProperties(planarProperties)
 {
   // Do nothing

dart/dynamics/detail/PlanarJointAspect.hpp

@@ -109,7 +109,7 @@ struct PlanarJointProperties :
     PlanarJointUniqueProperties
 {
   PlanarJointProperties(
-      const GenericJoint<math::R3Space>::Properties& GenericJointProperties =
+      const GenericJoint<math::R3Space>::Properties& genericJointProperties =
           GenericJoint<math::R3Space>::Properties(),
       const PlanarJointUniqueProperties& planarProperties =
           PlanarJointUniqueProperties());

dart/dynamics/detail/PrismaticJointAspect.cpp

@@ -45,9 +45,9 @@ PrismaticJointUniqueProperties::PrismaticJointUniqueProperties(
 
 //==============================================================================
 PrismaticJointProperties::PrismaticJointProperties(
-    const GenericJoint<math::R1Space>::Properties& GenericJointProperties,
+    const GenericJoint<math::R1Space>::Properties& genericJointProperties,
     const PrismaticJointUniqueProperties& prismaticProperties)
-  : GenericJoint<math::R1Space>::Properties(GenericJointProperties),
+  : GenericJoint<math::R1Space>::Properties(genericJointProperties),
     PrismaticJointUniqueProperties(prismaticProperties)
 {
   // Do nothing

dart/dynamics/detail/PrismaticJointAspect.hpp

@@ -62,7 +62,7 @@ struct PrismaticJointProperties :
     PrismaticJointUniqueProperties
 {
   PrismaticJointProperties(
-      const GenericJoint<math::R1Space>::Properties& GenericJointProperties =
+      const GenericJoint<math::R1Space>::Properties& genericJointProperties =
           GenericJoint<math::R1Space>::Properties(),
       const PrismaticJointUniqueProperties& prismaticProperties =
           PrismaticJointUniqueProperties());

dart/dynamics/detail/RevoluteJointAspect.cpp

@@ -45,9 +45,9 @@ RevoluteJointUniqueProperties::RevoluteJointUniqueProperties(
 
 //==============================================================================
 RevoluteJointProperties::RevoluteJointProperties(
-    const GenericJoint<math::R1Space>::Properties& GenericJointProperties,
+    const GenericJoint<math::R1Space>::Properties& genericJointProperties,
     const RevoluteJointUniqueProperties& revoluteProperties)
-  : GenericJoint<math::R1Space>::Properties(GenericJointProperties),
+  : GenericJoint<math::R1Space>::Properties(genericJointProperties),
     RevoluteJointUniqueProperties(revoluteProperties)
 {
   // Do nothing

dart/dynamics/detail/RevoluteJointAspect.hpp

@@ -62,7 +62,7 @@ struct RevoluteJointProperties :
     RevoluteJointUniqueProperties
 {
   RevoluteJointProperties(
-      const GenericJoint<math::R1Space>::Properties& GenericJointProperties =
+      const GenericJoint<math::R1Space>::Properties& genericJointProperties =
           GenericJoint<math::R1Space>::Properties(),
       const RevoluteJointUniqueProperties& revoluteProperties =
           RevoluteJointUniqueProperties());

dart/dynamics/detail/ScrewJointAspect.cpp

@@ -46,9 +46,9 @@ ScrewJointUniqueProperties::ScrewJointUniqueProperties(
 
 //==============================================================================
 ScrewJointProperties::ScrewJointProperties(
-    const GenericJoint<math::R1Space>::Properties& GenericJointProperties,
+    const GenericJoint<math::R1Space>::Properties& genericJointProperties,
     const ScrewJointUniqueProperties& screwProperties)
-  : GenericJoint<math::R1Space>::Properties(GenericJointProperties),
+  : GenericJoint<math::R1Space>::Properties(genericJointProperties),
     ScrewJointUniqueProperties(screwProperties)
 {
   // Do nothing

dart/dynamics/detail/ScrewJointAspect.hpp

@@ -66,7 +66,7 @@ struct ScrewJointProperties : GenericJoint<math::R1Space>::Properties,
                     ScrewJointUniqueProperties
 {
   ScrewJointProperties(
-      const GenericJoint<math::R1Space>::Properties& GenericJointProperties =
+      const GenericJoint<math::R1Space>::Properties& genericJointProperties =
           GenericJoint<math::R1Space>::Properties(),
       const ScrewJointUniqueProperties& screwProperties =
           ScrewJointUniqueProperties());

dart/dynamics/detail/UniversalJointAspect.cpp

@@ -45,9 +45,9 @@ UniversalJointUniqueProperties::UniversalJointUniqueProperties(
 
 //==============================================================================
 UniversalJointProperties::UniversalJointProperties(
-    const GenericJoint<math::R2Space>::Properties& GenericJointProperties,
+    const GenericJoint<math::R2Space>::Properties& genericJointProperties,
     const UniversalJointUniqueProperties& universalProperties)
-  : GenericJoint<math::R2Space>::Properties(GenericJointProperties),
+  : GenericJoint<math::R2Space>::Properties(genericJointProperties),
     UniversalJointUniqueProperties(universalProperties)
 {
   // Do nothing

dart/dynamics/detail/UniversalJointAspect.hpp

@@ -63,7 +63,7 @@ struct UniversalJointProperties :
     UniversalJointUniqueProperties
 {
   UniversalJointProperties(
-      const GenericJoint<math::R2Space>::Properties& GenericJointProperties =
+      const GenericJoint<math::R2Space>::Properties& genericJointProperties =
           GenericJoint<math::R2Space>::Properties(),
       const UniversalJointUniqueProperties& universalProperties =
           UniversalJointUniqueProperties());