Optimize the linear and log convex shape support function

.github/workflows/macos-linux-windows-pixi.yml

@@ -82,8 +82,9 @@ jobs:
       env:
         CMAKE_BUILD_PARALLEL_LEVEL: 2
         COAL_BUILD_TYPE: ${{ matrix.build_type }}
-        COAL_CXX_FLAGS: ${{ matrix.cxx_options }}
+      shell: bash -el {0}
       run: |
+        export CXXFLAGS="$CXXFLAGS ${{ matrix.cxx_options }}"
         pixi run -e ${{ matrix.environment }} build
 
     - name: Test Coal [MacOS/Linux/Windows]
@@ -96,9 +97,9 @@ jobs:
       env:
         CMAKE_BUILD_PARALLEL_LEVEL: 2
         COAL_BUILD_TYPE: ${{ matrix.build_type }}
-        COAL_CXX_FLAGS: ${{ matrix.cxx_options }}
       shell: bash -el {0}
       run: |
+        export CXXFLAGS="$CXXFLAGS ${{ matrix.cxx_options }}"
         pixi run -e ${{ matrix.environment }} configure \
           -DBUILD_PYTHON_INTERFACE=OFF \
           -B build_cpp
@@ -109,9 +110,9 @@ jobs:
       env:
         CMAKE_BUILD_PARALLEL_LEVEL: 2
         COAL_BUILD_TYPE: ${{ matrix.build_type }}
-        COAL_CXX_FLAGS: ${{ matrix.cxx_options }}
       shell: bash -el {0}
       run: |
+        export CXXFLAGS="$CXXFLAGS ${{ matrix.cxx_options }}"
         pixi run -e ${{ matrix.environment }} configure \
           -DBUILD_PYTHON_INTERFACE=ON \
           -DBUILD_STANDALONE_PYTHON_INTERFACE=ON \

CMakeLists.txt

@@ -79,6 +79,7 @@ option(
   "Build with tracy profiler for performance analysis"
   FALSE
 )
+option(COAL_BUILD_BENCHMARK "Build benchmarks" FALSE)
 
 # Check if the submodule cmake have been initialized
 set(JRL_CMAKE_MODULES "${CMAKE_CURRENT_LIST_DIR}/cmake")
@@ -523,7 +524,10 @@ if(BUILD_PYTHON_INTERFACE)
 endif()
 if(BUILD_TESTING)
   add_subdirectory(test)
-endif(BUILD_TESTING)
+endif()
+if(COAL_BUILD_BENCHMARK)
+  add_subdirectory(benchmark)
+endif()
 
 PKG_CONFIG_APPEND_LIBS("coal")
 if(COAL_HAS_OCTOMAP)

benchmark/CMakeLists.txt

@@ -0,0 +1,18 @@
+add_project_dependency(benchmark REQUIRED)
+add_project_dependency(hwy REQUIRED)
+
+# Add icosahedron building library
+add_library(coal-bench-utils-icosahedron STATIC utils/icosahedron.cpp)
+target_link_libraries(coal-bench-utils-icosahedron PUBLIC Eigen3::Eigen)
+
+# Add coal-bench-convex-support benchmark
+add_executable(coal-bench-convex-support convex_support.cpp
+                                         convex_support_highway.cpp)
+set_standard_output_directory(coal-bench-convex-support)
+target_link_libraries(
+  coal-bench-convex-support
+  PRIVATE ${LIBRARY_NAME} Eigen3::Eigen Boost::boost benchmark::benchmark
+          hwy::hwy coal-bench-utils-icosahedron)
+# This is mandatory to support highway auto include
+target_include_directories(coal-bench-convex-support
+                           PRIVATE ${CMAKE_CURRENT_SOURCE_DIR})