Easier linux development via docker and linux fixes

.devcontainer/Dockerfile

@@ -0,0 +1,59 @@
+FROM ubuntu:24.04
+
+ARG VulkanSDKVersion=1.4.335.0
+ARG SDL3TagOrCommit=release-3.4.0
+
+WORKDIR /app
+
+# Install basic build tools
+RUN apt-get update && apt-get install -y \
+    curl \
+    xz-utils \
+    cmake \
+    ninja-build \
+    gdb
+
+# Install other dependencies
+RUN apt-get install -y \
+    # CMake dependencies
+    git pkg-config \
+    # SDL3 dependencies (https://wiki.libsdl.org/SDL3/README-linux#build-dependencies)
+    cmake ninja-build gnome-desktop-testing libasound2-dev libpulse-dev \
+    libaudio-dev libfribidi-dev libjack-dev libsndio-dev libx11-dev libxext-dev \
+    libxrandr-dev libxcursor-dev libxfixes-dev libxi-dev libxss-dev libxtst-dev \
+    libxkbcommon-dev libdrm-dev libgbm-dev libgl1-mesa-dev libgles2-mesa-dev \
+    libegl1-mesa-dev libdbus-1-dev libibus-1.0-dev libudev-dev \
+    libpipewire-0.3-dev libwayland-dev libdecor-0-dev liburing-dev \
+    # SDL3 dependencies not mentioned in the README
+    libusb-1.0-0-dev \
+    # SDL3_mixer dependencies
+    libogg-dev libopus-dev libopusfile-dev libgme-dev libxmp-dev libfluidsynth-dev fluidsynth libwavpack-dev \
+    # Other VVE dependencies
+    libglm-dev \
+    # Documentation tools
+    doxygen graphviz
+
+# During configuration, CMake can't find libunwind - don't know why. It works without it.
+RUN apt-get install -y \
+    build-essential \
+    clang-20 libc++-20-dev libc++abi-20-dev
+
+ENV XDG_RUNTIME_DIR=/run/user
+
+# Download, build and install SDL3 - needed for VECS Console on Linux
+RUN git clone -b ${SDL3TagOrCommit} --depth 1 https://github.com/libsdl-org/SDL.git /tmp/SDL3
+WORKDIR /tmp/SDL3
+RUN cmake -S . -B build -DCMAKE_BUILD_TYPE=Release -G Ninja && \
+    cmake --build build && cmake --install build --prefix /usr/local
+WORKDIR /app
+RUN rm -rf /tmp/SDL3
+
+# Download Vulkan SDK
+RUN curl -o /tmp/vulkansdk.tar.gz https://sdk.lunarg.com/sdk/download/${VulkanSDKVersion}/linux/vulkansdk-linux-x86_64-${VulkanSDKVersion}.tar.xz
+RUN mkdir /opt/VulkanSDK && tar -xf /tmp/vulkansdk.tar.gz -C /opt/VulkanSDK && rm /tmp/vulkansdk.tar.gz
+RUN echo "source /opt/VulkanSDK/${VulkanSDKVersion}/setup-env.sh" >> ~/.bashrc
+ENV VULKAN_SDK=/opt/VulkanSDK/${VulkanSDKVersion}/x86_64
+RUN echo "VULKAN_SDK=${VULKAN_SDK}"
+
+# Clean up download related packages
+RUN apt-get remove -y curl xz-utils

.devcontainer/devcontainer.json

@@ -0,0 +1,72 @@
+// For format details, see https://aka.ms/devcontainer.json.
+{
+	"name": "C++",
+	"build": {
+		"dockerfile": "Dockerfile"
+	},
+    // "dockerComposeFile": "compose.yml",
+    // "service": "cpp-dev",
+    "runArgs": [
+        "--device=/dev/dri",
+        "--group-add=video",
+        "--ipc=host"
+    ],
+
+    "containerEnv": {
+        "DISPLAY": "${localEnv:DISPLAY}",
+        "XAUTHORITY": "/tmp/.docker.xauth",
+        // PulseAudio / PipeWire configuration
+        "PULSE_SERVER": "unix:/run/user/host/pulse/native",
+        "PULSE_COOKIE": "/tmp/pulseaudio.cookie",
+        "PIPEWIRE_RUNTIME_DIR": "/run/user/host"
+    },
+
+    "mounts": [
+        {
+            "type": "bind",
+            "source": "/tmp/.X11-unix",
+            "target": "/tmp/.X11-unix"
+        },
+        {
+            "type": "bind",
+            "source": "${localEnv:HOME}/.Xauthority",
+            "target": "/tmp/.docker.xauth"
+        },
+        // Mount XDG_RUNTIME_DIR for shared sockets (PulseAudio, PipeWire)
+        {
+            "type": "bind",
+            "source": "${localEnv:XDG_RUNTIME_DIR}",
+            "target": "/run/user/host"
+        },
+        // Mount PulseAudio cookie if it exists
+        {
+            "type": "bind",
+            "source": "${localEnv:HOME}/.config/pulse/cookie",
+            "target": "/tmp/pulseaudio.cookie"
+        }
+    ],
+
+
+	// Features to add to the dev container. More info: https://containers.dev/features.
+	// "features": {},
+
+	// Use 'forwardPorts' to make a list of ports inside the container available locally.
+	// "forwardPorts": [],
+
+	// Use 'postCreateCommand' to run commands after the container is created.
+	// "postCreateCommand": "gcc -v",
+
+	// Configure tool-specific properties.
+    "customizations": {
+        "vscode": {
+            "extensions": [
+                "ms-vscode.cpptools-extension-pack",
+                "Gruntfuggly.todo-tree"
+            ]
+        }
+    },
+
+    // Connect as root so the container can read the mounted Xauthority (which is typically 0600 on host)
+    // More info: https://aka.ms/dev-containers-non-root
+    "remoteUser": "root"
+}

.vscode/c_cpp_properties.json

@@ -14,7 +14,7 @@
             ],
             "windowsSdkVersion": "10.0.22000.0",
             "cppStandard": "c++20",
-            "intelliSenseMode": "windows-msvc-x64",
+            "intelliSenseMode": "${default}",
             "configurationProvider": "ms-vscode.cmake-tools"
         }
     ],

.vscode/launch.json

@@ -148,7 +148,7 @@
               "environment": [],
               "externalConsole": false,
               "MIMode": "lldb",
-              "MIDebuggerPath": "/usr/bin/lldb"
+              "miDebuggerPath": "/usr/bin/lldb"
         },
     {
               "name": "AppleClang Helper",
@@ -161,7 +161,7 @@
               "environment": [],
               "externalConsole": false,
               "MIMode": "lldb",
-              "MIDebuggerPath": "/usr/bin/lldb"
+              "miDebuggerPath": "/usr/bin/lldb"
         },
         {
               "name": "AppleClang Game",
@@ -174,7 +174,7 @@
               "environment": [],
               "externalConsole": false,
               "MIMode": "lldb",
-              "MIDebuggerPath": "/usr/bin/lldb"
+              "miDebuggerPath": "/usr/bin/lldb"
         },
         {
               "name": "Linux Clang Test",
@@ -187,7 +187,7 @@
               "environment": [],
               "externalConsole": false,
               "MIMode": "gdb",
-              "MIDebuggerPath": "/usr/bin/gdb"
+              "miDebuggerPath": "/usr/bin/gdb"
         },
     {
               "name": "Linux Clang Helper",
@@ -200,7 +200,7 @@
               "environment": [],
               "externalConsole": false,
               "MIMode": "gdb",
-              "MIDebuggerPath": "/usr/bin/gdb"
+              "miDebuggerPath": "/usr/bin/gdb"
         },
         {
               "name": "Linux Clang Game",
@@ -213,7 +213,20 @@
               "environment": [],
               "externalConsole": false,
               "MIMode": "gdb",
-              "MIDebuggerPath": "/usr/bin/gdb"
+              "miDebuggerPath": "/usr/bin/gdb"
+        },
+        {
+              "name": "Linux Clang Physics",
+              "type": "cppdbg",
+              "request": "launch",
+              "program": "${workspaceFolder}/build/examples/physics/physics",  
+              "args": [],
+              "stopAtEntry": false,
+              "cwd": "${workspaceFolder}",
+              "environment": [],
+              "externalConsole": false,
+              "MIMode": "gdb",
+              "miDebuggerPath": "/usr/bin/gdb"
         }
     ]
 

.vscode/settings.json

@@ -98,5 +98,6 @@
 		"source_location": "cpp",
 		"future": "cpp"
 	},
-	"C_Cpp.errorSquiggles": "enabled"
+	"C_Cpp.errorSquiggles": "enabled",
+    "C_Cpp.default.cppStandard": "c++20"
 }

README_Linux.md

@@ -0,0 +1,42 @@
+# The Vienna Vulkan Engine (VVE) - Linux
+This README describes how to set up the dev enviroment on Linux via VSCode and Docker.
+
+> [!NOTE]
+> Only tested with an AMD GPU and X11 on Linux Mint/Ubuntu. Also works with an Intel iGPU but fullscreening may be broken.
+> 
+> With an NVIDIA GPU you might need the [nvidia-container-toolkit](<https://docs.nvidia.com/datacenter/cloud-native/container-toolkit/latest/install-guide.html>) locally installed and need to edit `.devcontainer/devcontainer.json` and replace `--device=/dev/dri` with `--gpus all`.
+> 
+> For native Wayland you may ask an AI of your choice to assist you.
+> 
+> Also audio may or may not work depending on your setup - it worked fine for me with PipewWire as audio server.
+
+## Prerequesites
+* [VSCode](<https://code.visualstudio.com/>)
+* [Docker Engine](<https://docs.docker.com/engine/install/>) - NOT Docker Desktop!!
+* Be in the `docker` group to use docker commands without root
+* [Dev Container Extension](<https://marketplace.visualstudio.com/items?itemName=ms-vscode-remote.remote-containers>)
+
+## Setup
+After cloning and opening the project in VSCode open the Command Pallete (`F1`) and use the `>Dev Containers: Rebuild and Reopen in Container` command to build the development container and open the project inside it.
+
+Once you are in the container you can check if the GPU is detected by executing
+```bash
+vulkaninfo | head -n 60
+```
+> [!NOTE]
+> If you get an output like this: `Authorization required, but no authorization protocol specified`
+> 
+> Then grant permission to the root user to use your X11 session - RUN ON LOCAL USER, NOT IN THE CONTAINER!:
+> ```bash
+> xhost +si:localuser:root
+> ```
+> You can remove the permissions again with
+> ```bash
+> xhost -si:localuser:root
+> ```
+
+You can now select the right compiler with `>CMake: Select a Kit` - I use *Clang \[...\]* (the one without *-cl*). If the list is empty select the *\[Scan for Kits\]* option and invoke the command again.
+
+And use `>CMake: Configure` and `>CMake: Build`. To change the build type use `>CMake: Select Variant` (e.g. *Debug* or *Release*).
+
+To debug/run an example use the *Run and Debug* (`CTRL+SHIFT+D`) option in the sidebar and select the appropriate option or create your own by modifying `.vscode/launch.json`.

examples/physics/VPE.hpp

@@ -228,12 +228,12 @@ namespace vpe {
 
 	inline static glmmat3 CTrans = glm::transpose(C);
 
-	static constexpr glmvec3 toPhysics(glmvec3 vec) { return C * vec; }
-	static constexpr glmmat3 toPhysics(glmmat3 mat) { return CTrans * mat * C; }
-	static constexpr glmmat4 toPhysics(glmmat4 mat) { return glmmat4{CTrans} * mat * glmmat4{C}; }
-	static constexpr glmvec3 fromPhysics(glmvec3 vec) { return CTrans * vec; }
-	static constexpr glmmat3 fromPhysics(glmmat3 mat) { return C * mat * CTrans; }
-	static constexpr glmmat4 fromPhysics(glmmat4 mat) { return glmmat4{C} * mat * glmmat4{CTrans};}
+	static const glmvec3 toPhysics(glmvec3 vec) { return C * vec; }
+	static const glmmat3 toPhysics(glmmat3 mat) { return CTrans * mat * C; }
+	static const glmmat4 toPhysics(glmmat4 mat) { return glmmat4{CTrans} * mat * glmmat4{C}; }
+	static const glmvec3 fromPhysics(glmvec3 vec) { return CTrans * vec; }
+	static const glmmat3 fromPhysics(glmmat3 mat) { return C * mat * CTrans; }
+	static const glmmat4 fromPhysics(glmmat4 mat) { return glmmat4{C} * mat * glmmat4{CTrans};}
 
 	/// <summary>
 	/// This class  implements a simple rigid body physics engine.
@@ -248,12 +248,12 @@ namespace vpe {
 
 		inline static glmmat3 CTrans = glm::transpose(C);
 
-		static constexpr glmvec3 toPhysics(glmvec3 vec) { return C * vec; }
-		static constexpr glmmat3 toPhysics(glmmat3 mat) { return CTrans * mat * C; }
-		static constexpr glmmat4 toPhysics(glmmat4 mat) { return glmmat4{CTrans} * mat * glmmat4{C}; }
-		static constexpr glmvec3 fromPhysics(glmvec3 vec) { return CTrans * vec; }
-		static constexpr glmmat3 fromPhysics(glmmat3 mat) { return C * mat * CTrans; }
-		static constexpr glmmat4 fromPhysics(glmmat4 mat) { return glmmat4{C} * mat * glmmat4{CTrans};}
+		static const glmvec3 toPhysics(glmvec3 vec) { return C * vec; }
+		static const glmmat3 toPhysics(glmmat3 mat) { return CTrans * mat * C; }
+		static const glmmat4 toPhysics(glmmat4 mat) { return glmmat4{CTrans} * mat * glmmat4{C}; }
+		static const glmvec3 fromPhysics(glmvec3 vec) { return CTrans * vec; }
+		static const glmmat3 fromPhysics(glmmat3 mat) { return C * mat * CTrans; }
+		static const glmmat4 fromPhysics(glmmat4 mat) { return glmmat4{C} * mat * glmmat4{CTrans};}
 
 	public:
 
@@ -1669,8 +1669,8 @@ namespace vpe {
 		/// <param name="contact">Contact between the two bodies.</param>
 		/// <param name="eq">Result of edge query.</param>
 		void createEdgeContact(Contact& contact, EdgeQuery& eq) {
-			Face* ref_face = maxFaceAlignment(eq.m_normalL, eq.m_edge_ref->m_edge_face_ptrs, fabs);	//face of A best aligned with the contact normal
-			Face* inc_face = maxFaceAlignment(-RTOIN(eq.m_normalL), eq.m_edge_inc->m_edge_face_ptrs, fabs);	//face of B best aligned with the contact normal
+			Face* ref_face = maxFaceAlignment(eq.m_normalL, eq.m_edge_ref->m_edge_face_ptrs, [](real x) { return static_cast<real>(fabs(x)); });	//face of A best aligned with the contact normal
+			Face* inc_face = maxFaceAlignment(-RTOIN(eq.m_normalL), eq.m_edge_inc->m_edge_face_ptrs, [](real x) { return static_cast<real>(fabs(x)); });	//face of B best aligned with the contact normal
 
 			real dp_ref = fabs(glm::dot(eq.m_normalL, ref_face->m_normalL));	//Use the better aligned face as reference face.
 			real dp_inc = fabs(glm::dot(eq.m_normalL, inc_face->m_normalL));