Merge pull request #18 from uos/fix-cuda13

Compilation fix for CUDA 13

Author: amock

CMakeLists.txt

@@ -1,7 +1,7 @@
 cmake_minimum_required(VERSION 3.14)
 project(rmagine 
     LANGUAGES CXX C
-    VERSION 2.3.2)# TODO update this version when merging into main-branch
+    VERSION 2.3.3)# TODO update this version when merging into main-branch
 
 option(RMAGINE_BUILD_TOOLS "Build tools" ON)
 option(RMAGINE_BUILD_TESTS "Build tests" ON)

package.xml

@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="2">
   <name>rmagine</name>
-  <version>2.3.2</version>
+  <version>2.3.3</version>
   <description>
   Library for fast and accurate simulation of range sensors in large 3D environments using ray tracing. The simulations can even be computed on embedded devices installed on a robot.
   </description>

src/rmagine_cuda/src/util/cuda/CudaContext.cpp

@@ -18,6 +18,9 @@ void cuda_initialize()
     cuda_initialized_ = true;
 }
 
+#define STR_HELPER(x) #x
+#define STR(x) STR_HELPER(x)
+
 CudaContext::CudaContext(int device_id)
 {
     if(!cuda_initialized())
@@ -30,7 +33,16 @@ CudaContext::CudaContext(int device_id)
     cudaDeviceProp info = cuda::getDeviceInfo(device_id);
     std::cout << "[RMagine - CudaContext] Construct context on device " << device_id << " - " << info.name << " " << info.luid << std::endl;
 
+    // We use cuCtxCreate which is part of the driver. 
+    // this is why we can use CUDA_VERSION
+    #if CUDA_VERSION >= 13000
+    // New API since CUDA 13: CUctxCreateParams* ctxCreateParams (nullptr)
+    // TODO: check if we should do something with it instead of setting it to nullptr
+    cuCtxCreate(&m_context, nullptr, 0, device_id);
+    #else
+    // CUDA < 13
     cuCtxCreate(&m_context, 0, device_id);
+    #endif
 }
 
 CudaContext::CudaContext(CUcontext ctx)