Merge branch 'main' into issue/1096_float_equal

Author: jslee02

.clang-format

@@ -110,7 +110,7 @@ IncludeCategories:
     Priority: 50
 
   # C++ standard library headers, then C
-  # TODO(JS): Add when new C++ STL header begins with "c" is found
+  # C-prefix headers (including the full C++20 set) are matched by the "^<c.*>$" regex
   - Regex: "^<charconv>$"
     Priority: 100
   - Regex: "^<chrono>$"

.codespellrc

@@ -0,0 +1,6 @@
+[codespell]
+# Exclude generated and third-party content to keep signal-to-noise low.
+skip = ./.git,./.pixi,./build,./build-*,./docs/readthedocs/_build,./docs/readthedocs/_generated,./external,./node_modules,*/_build/*,*/_generated/*,*/.venv/*,*/__pycache__/*
+# Ignore domain terms that are not typos.
+ignore-words-list = DOUBLECLICK,mKe,Reacher,reacher,abd
+quiet-level = 3

.devcontainer/Dockerfile

@@ -1 +1,23 @@
-FROM jslee02/dart-dev:ubuntu-jammy-v6.16
+FROM ubuntu:questing
+
+ARG DEBIAN_FRONTEND=noninteractive
+ARG PIXI_VERSION=0.59.0
+
+SHELL ["/bin/bash", "-c"]
+
+# Base utilities; pixi manages the toolchain and dependencies (see docs/onboarding/building.md)
+RUN apt-get update -qq && apt-get install -y --no-install-recommends \
+    ca-certificates \
+    curl \
+    git \
+    tini && \
+    rm -rf /var/lib/apt/lists/*
+
+# Install pixi globally so the devcontainer uses the managed workflow
+ENV PIXI_HOME="/opt/pixi" PATH="/opt/pixi/bin:${PATH}"
+RUN curl -fsSL https://pixi.sh/install.sh | PIXI_VERSION=${PIXI_VERSION} PIXI_HOME=${PIXI_HOME} bash
+
+WORKDIR /workspaces/dart
+
+ENTRYPOINT ["/usr/bin/tini", "--"]
+CMD ["bash", "-lc", "pixi shell || exec bash"]

.devcontainer/devcontainer.json

@@ -7,12 +7,10 @@
         "ghcr.io/devcontainers/features/common-utils:1": {
             "installZsh": "true",
             "username": "vscode",
-            "uid": "1000",
-            "gid": "1000",
             "upgradePackages": "true"
         }
     },
     "capAdd": ["SYS_PTRACE"],
     "securityOpt": ["seccomp=unconfined"],
     "remoteUser": "vscode"
-}
+}

.github/ISSUE_TEMPLATE/bug_report.md

@@ -1,36 +1,40 @@
 ---
 name: Bug report
 about: Create a report to help us improve
-title: ''
-labels: 'type: bug'
-assignees: ''
-
+title: ""
+labels: "type: bug"
+assignees: ""
 ---
 
 > For questions, use [Discussions](https://github.com/dartsim/dart/discussions) instead.
 
 **Before submitting:**
+
 - [ ] Checked [documentation](http://dartsim.github.io/) and existing issues
 
 **Environment:**
-* DART version: [e.g., main, 6.15.0]
-* OS: [e.g., Ubuntu 24.04, macOS Sequoia, Windows 11]
-* Installation: [e.g., pixi, conda, apt, homebrew, vcpkg, source]
-* Compiler (if source): [e.g., GCC 13.2.0, Clang 18.0.0, MSVC 2022]
+
+- DART version: [e.g., main, 6.15.0]
+- OS: [e.g., Ubuntu 24.04, macOS Sequoia, Windows 11]
+- Installation: [e.g., pixi, conda, apt, homebrew, vcpkg, source]
+- Compiler (if source): [e.g., GCC 13.2.0, Clang 18.0.0, MSVC 2022]
 
 **Expected vs Current Behavior:**
 Describe what you expected and what actually happens.
 
 **Steps to Reproduce:**
+
 1.
 2.
 3.
 
 **Code to Reproduce:**
+
 ```cpp
 // Minimal reproducible example
 ```
 
 **Additional Info:**
-* For build issues, share verbose build output: `pixi run config` with `DART_VERBOSE=ON`
-* Share gist links for long outputs
+
+- For build issues, share verbose build output: `pixi run config` with `DART_VERBOSE=ON`
+- Share gist links for long outputs

.github/ISSUE_TEMPLATE/feature_request.md

@@ -1,10 +1,9 @@
 ---
 name: Feature request
 about: Suggest an idea for this project
-title: ''
-labels: 'type: enhancement'
-assignees: ''
-
+title: ""
+labels: "type: enhancement"
+assignees: ""
 ---
 
 > For general questions, use [Discussions](https://github.com/dartsim/dart/discussions) instead.
@@ -19,6 +18,7 @@ Describe your proposed solution.
 Alternative solutions considered.
 
 **Target API:**
+
 - [ ] C++
 - [ ] Python (dartpy)
 - [ ] Both

.github/PULL_REQUEST_TEMPLATE.md

@@ -2,7 +2,7 @@
 
 Describe your changes here.
 
-***
+---
 
 #### Before creating a pull request
 

.github/workflows/cache_docker.yml

@@ -42,9 +42,14 @@ jobs:
   test_gazebo:
     name: GZ Physics Tests
     runs-on: ubuntu-latest
+    env:
+      # Keep parallelism modest to avoid process limits on shared runners.
+      DART_PARALLEL_JOBS: 8
+      # Avoid spawning too many ninja processes on shared runners (posix_spawn failures)
+      CMAKE_BUILD_PARALLEL_LEVEL: 1
     steps:
       - name: Checkout
-        uses: actions/checkout@v5
+        uses: actions/checkout@v6
 
       - name: Setup pixi
         uses: prefix-dev/[email protected]
@@ -59,10 +64,16 @@ jobs:
 
       - name: Setup sccache
         uses: mozilla-actions/[email protected]
+        with:
+          disable_annotations: true
 
       - name: Configure environment for compiler cache
         run: |
-          echo "SCCACHE_GHA_ENABLED=true" >> $GITHUB_ENV
+          if [ -n "${ACTIONS_CACHE_URL:-}" ]; then
+            echo "SCCACHE_GHA_ENABLED=true" >> $GITHUB_ENV
+          else
+            echo "SCCACHE_GHA_ENABLED=false" >> $GITHUB_ENV
+          fi
           echo "DART_COMPILER_CACHE=sccache" >> $GITHUB_ENV
           echo "CMAKE_C_COMPILER_LAUNCHER=sccache" >> $GITHUB_ENV
           echo "CMAKE_CXX_COMPILER_LAUNCHER=sccache" >> $GITHUB_ENV
@@ -73,5 +84,7 @@ jobs:
           mkdir -p "${RUNNER_TEMP}/ccache"
 
       - name: Test gz-physics
+        env:
+          DART_PARALLEL_JOBS: 8
         run: |
           pixi r -e gazebo test-gz

.github/workflows/ci_gz_physics.yml

@@ -44,22 +44,26 @@ jobs:
     runs-on: macos-latest
     steps:
       - name: Checkout
-        uses: actions/checkout@v5
-
-      - name: Remove preinstalled pixi (if any)
-        run: rm -f "$HOME/.pixi/bin/pixi"
+        uses: actions/checkout@v6
 
       - name: Setup pixi
         uses: prefix-dev/[email protected]
         with:
-          cache: true
+          # Avoid cache key generation failures on macOS self-hosted runners
+          cache: false
 
       - name: Setup sccache
         uses: mozilla-actions/[email protected]
+        with:
+          disable_annotations: true
 
       - name: Configure environment for compiler cache
         run: |
-          echo "SCCACHE_GHA_ENABLED=true" >> $GITHUB_ENV
+          if [ -n "${ACTIONS_CACHE_URL:-}" ]; then
+            echo "SCCACHE_GHA_ENABLED=true" >> $GITHUB_ENV
+          else
+            echo "SCCACHE_GHA_ENABLED=false" >> $GITHUB_ENV
+          fi
           echo "DART_COMPILER_CACHE=sccache" >> $GITHUB_ENV
           echo "CMAKE_C_COMPILER_LAUNCHER=sccache" >> $GITHUB_ENV
           echo "CMAKE_CXX_COMPILER_LAUNCHER=sccache" >> $GITHUB_ENV
@@ -76,6 +80,7 @@ jobs:
         run: |
           DART_VERBOSE=ON \
           BUILD_TYPE=Release \
+          DART_BUILD_DART8_OVERRIDE=OFF \
           pixi run test-all
 
       - name: Install
@@ -90,22 +95,26 @@ jobs:
     # Run Debug builds on every push/PR so regressions are caught before landing on main
     steps:
       - name: Checkout
-        uses: actions/checkout@v5
-
-      - name: Remove preinstalled pixi (if any)
-        run: rm -f "$HOME/.pixi/bin/pixi"
+        uses: actions/checkout@v6
 
       - name: Setup pixi
         uses: prefix-dev/[email protected]
         with:
-          cache: true
+          # Avoid cache key generation failures on macOS self-hosted runners
+          cache: false
 
       - name: Setup sccache
         uses: mozilla-actions/[email protected]
+        with:
+          disable_annotations: true
 
       - name: Configure environment for compiler cache
         run: |
-          echo "SCCACHE_GHA_ENABLED=true" >> $GITHUB_ENV
+          if [ -n "${ACTIONS_CACHE_URL:-}" ]; then
+            echo "SCCACHE_GHA_ENABLED=true" >> $GITHUB_ENV
+          else
+            echo "SCCACHE_GHA_ENABLED=false" >> $GITHUB_ENV
+          fi
           echo "DART_COMPILER_CACHE=sccache" >> $GITHUB_ENV
           echo "CMAKE_C_COMPILER_LAUNCHER=sccache" >> $GITHUB_ENV
           echo "CMAKE_CXX_COMPILER_LAUNCHER=sccache" >> $GITHUB_ENV
@@ -119,4 +128,5 @@ jobs:
         run: |
           DART_VERBOSE=ON \
           BUILD_TYPE=Debug \
+          DART_BUILD_DART8_OVERRIDE=OFF \
           pixi run test-all