Update pybind11 to version 2.6.1

14 files changed, 1291 insertions, 763 deletions

diff --git a/3rdparty/pybind11/tools/FindCatch.cmake b/3rdparty/pybind11/tools/FindCatch.cmake
index 9d490c5a..4d6bffcf 100644
--- a/3rdparty/pybind11/tools/FindCatch.cmake
+++ b/3rdparty/pybind11/tools/FindCatch.cmake
@@ -19,9 +19,14 @@ endif()
 
 # Extract the version number from catch.hpp
 function(_get_catch_version)
-  file(STRINGS "${CATCH_INCLUDE_DIR}/catch.hpp" version_line REGEX "Catch v.*" LIMIT_COUNT 1)
+  file(
+    STRINGS "${CATCH_INCLUDE_DIR}/catch.hpp" version_line
+    REGEX "Catch v.*"
+    LIMIT_COUNT 1)
   if(version_line MATCHES "Catch v([0-9]+)\\.([0-9]+)\\.([0-9]+)")
-    set(CATCH_VERSION "${CMAKE_MATCH_1}.${CMAKE_MATCH_2}.${CMAKE_MATCH_3}" PARENT_SCOPE)
+    set(CATCH_VERSION
+        "${CMAKE_MATCH_1}.${CMAKE_MATCH_2}.${CMAKE_MATCH_3}"
+        PARENT_SCOPE)
   endif()
 endfunction()
 
@@ -34,11 +39,16 @@ function(_download_catch version destination_dir)
   if(error)
     message(FATAL_ERROR "Could not download ${url}")
   endif()
-  set(CATCH_INCLUDE_DIR "${destination_dir}" CACHE INTERNAL "")
+  set(CATCH_INCLUDE_DIR
+      "${destination_dir}"
+      CACHE INTERNAL "")
 endfunction()
 
 # Look for catch locally
-find_path(CATCH_INCLUDE_DIR NAMES catch.hpp PATH_SUFFIXES catch)
+find_path(
+  CATCH_INCLUDE_DIR
+  NAMES catch.hpp
+  PATH_SUFFIXES catch2)
 if(CATCH_INCLUDE_DIR)
   _get_catch_version()
 endif()
@@ -54,4 +64,7 @@ if(NOT CATCH_VERSION OR CATCH_VERSION VERSION_LESS ${Catch_FIND_VERSION})
   endif()
 endif()
 
+add_library(Catch2::Catch2 IMPORTED INTERFACE)
+set_property(TARGET Catch2::Catch2 PROPERTY INTERFACE_INCLUDE_DIRECTORIES "${CATCH_INCLUDE_DIR}")
+
 set(CATCH_FOUND TRUE)
diff --git a/3rdparty/pybind11/tools/FindEigen3.cmake b/3rdparty/pybind11/tools/FindEigen3.cmake
index 9c546a05..98ab43d9 100644
--- a/3rdparty/pybind11/tools/FindEigen3.cmake
+++ b/3rdparty/pybind11/tools/FindEigen3.cmake
@@ -26,17 +26,21 @@ if(NOT Eigen3_FIND_VERSION)
     set(Eigen3_FIND_VERSION_PATCH 0)
   endif(NOT Eigen3_FIND_VERSION_PATCH)
 
-  set(Eigen3_FIND_VERSION "${Eigen3_FIND_VERSION_MAJOR}.${Eigen3_FIND_VERSION_MINOR}.${Eigen3_FIND_VERSION_PATCH}")
+  set(Eigen3_FIND_VERSION
+      "${Eigen3_FIND_VERSION_MAJOR}.${Eigen3_FIND_VERSION_MINOR}.${Eigen3_FIND_VERSION_PATCH}")
 endif(NOT Eigen3_FIND_VERSION)
 
 macro(_eigen3_check_version)
   file(READ "${EIGEN3_INCLUDE_DIR}/Eigen/src/Core/util/Macros.h" _eigen3_version_header)
 
-  string(REGEX MATCH "define[ \t]+EIGEN_WORLD_VERSION[ \t]+([0-9]+)" _eigen3_world_version_match "${_eigen3_version_header}")
+  string(REGEX MATCH "define[ \t]+EIGEN_WORLD_VERSION[ \t]+([0-9]+)" _eigen3_world_version_match
+               "${_eigen3_version_header}")
   set(EIGEN3_WORLD_VERSION "${CMAKE_MATCH_1}")
-  string(REGEX MATCH "define[ \t]+EIGEN_MAJOR_VERSION[ \t]+([0-9]+)" _eigen3_major_version_match "${_eigen3_version_header}")
+  string(REGEX MATCH "define[ \t]+EIGEN_MAJOR_VERSION[ \t]+([0-9]+)" _eigen3_major_version_match
+               "${_eigen3_version_header}")
   set(EIGEN3_MAJOR_VERSION "${CMAKE_MATCH_1}")
-  string(REGEX MATCH "define[ \t]+EIGEN_MINOR_VERSION[ \t]+([0-9]+)" _eigen3_minor_version_match "${_eigen3_version_header}")
+  string(REGEX MATCH "define[ \t]+EIGEN_MINOR_VERSION[ \t]+([0-9]+)" _eigen3_minor_version_match
+               "${_eigen3_version_header}")
   set(EIGEN3_MINOR_VERSION "${CMAKE_MATCH_1}")
 
   set(EIGEN3_VERSION ${EIGEN3_WORLD_VERSION}.${EIGEN3_MAJOR_VERSION}.${EIGEN3_MINOR_VERSION})
@@ -53,20 +57,19 @@ macro(_eigen3_check_version)
   endif(NOT EIGEN3_VERSION_OK)
 endmacro(_eigen3_check_version)
 
-if (EIGEN3_INCLUDE_DIR)
+if(EIGEN3_INCLUDE_DIR)
 
   # in cache already
   _eigen3_check_version()
   set(EIGEN3_FOUND ${EIGEN3_VERSION_OK})
 
-else (EIGEN3_INCLUDE_DIR)
+else(EIGEN3_INCLUDE_DIR)
 
-  find_path(EIGEN3_INCLUDE_DIR NAMES signature_of_eigen3_matrix_library
-      PATHS
-      ${CMAKE_INSTALL_PREFIX}/include
-      ${KDE4_INCLUDE_DIR}
-      PATH_SUFFIXES eigen3 eigen
-    )
+  find_path(
+    EIGEN3_INCLUDE_DIR
+    NAMES signature_of_eigen3_matrix_library
+    PATHS ${CMAKE_INSTALL_PREFIX}/include ${KDE4_INCLUDE_DIR}
+    PATH_SUFFIXES eigen3 eigen)
 
   if(EIGEN3_INCLUDE_DIR)
     _eigen3_check_version()
@@ -78,4 +81,3 @@ else (EIGEN3_INCLUDE_DIR)
   mark_as_advanced(EIGEN3_INCLUDE_DIR)
 
 endif(EIGEN3_INCLUDE_DIR)
-
diff --git a/3rdparty/pybind11/tools/FindPythonLibsNew.cmake b/3rdparty/pybind11/tools/FindPythonLibsNew.cmake
index 9ea6036e..b7125912 100644
--- a/3rdparty/pybind11/tools/FindPythonLibsNew.cmake
+++ b/3rdparty/pybind11/tools/FindPythonLibsNew.cmake
@@ -52,58 +52,92 @@
 
 # Checking for the extension makes sure that `LibsNew` was found and not just `Libs`.
 if(PYTHONLIBS_FOUND AND PYTHON_MODULE_EXTENSION)
-    return()
+  return()
+endif()
+
+if(PythonLibsNew_FIND_QUIETLY)
+  set(_pythonlibs_quiet QUIET)
 endif()
 
-# Use the Python interpreter to find the libs.
 if(PythonLibsNew_FIND_REQUIRED)
-    find_package(PythonInterp ${PythonLibsNew_FIND_VERSION} REQUIRED)
-else()
-    find_package(PythonInterp ${PythonLibsNew_FIND_VERSION})
+  set(_pythonlibs_required REQUIRED)
+endif()
+
+# Check to see if the `python` command is present and from a virtual
+# environment, conda, or GHA activation - if it is, try to use that.
+
+if(NOT DEFINED PYTHON_EXECUTABLE)
+  if(DEFINED ENV{VIRTUAL_ENV})
+    find_program(
+      PYTHON_EXECUTABLE python
+      PATHS "$ENV{VIRTUAL_ENV}" "$ENV{VIRTUAL_ENV}/bin"
+      NO_DEFAULT_PATH)
+  elseif(DEFINED ENV{CONDA_PREFIX})
+    find_program(
+      PYTHON_EXECUTABLE python
+      PATHS "$ENV{CONDA_PREFIX}" "$ENV{CONDA_PREFIX}/bin"
+      NO_DEFAULT_PATH)
+  elseif(DEFINED ENV{pythonLocation})
+    find_program(
+      PYTHON_EXECUTABLE python
+      PATHS "$ENV{pythonLocation}" "$ENV{pythonLocation}/bin"
+      NO_DEFAULT_PATH)
+  endif()
+  if(NOT PYTHON_EXECUTABLE)
+    unset(PYTHON_EXECUTABLE)
+  endif()
 endif()
 
+# Use the Python interpreter to find the libs.
+if(NOT PythonLibsNew_FIND_VERSION)
+  set(PythonLibsNew_FIND_VERSION "")
+endif()
+
+find_package(PythonInterp ${PythonLibsNew_FIND_VERSION} ${_pythonlibs_required}
+             ${_pythonlibs_quiet})
+
 if(NOT PYTHONINTERP_FOUND)
-    set(PYTHONLIBS_FOUND FALSE)
-    set(PythonLibsNew_FOUND FALSE)
-    return()
+  set(PYTHONLIBS_FOUND FALSE)
+  set(PythonLibsNew_FOUND FALSE)
+  return()
 endif()
 
-# According to http://stackoverflow.com/questions/646518/python-how-to-detect-debug-interpreter
+# According to https://stackoverflow.com/questions/646518/python-how-to-detect-debug-interpreter
 # testing whether sys has the gettotalrefcount function is a reliable, cross-platform
 # way to detect a CPython debug interpreter.
 #
 # The library suffix is from the config var LDVERSION sometimes, otherwise
 # VERSION. VERSION will typically be like "2.7" on unix, and "27" on windows.
-execute_process(COMMAND "${PYTHON_EXECUTABLE}" "-c"
-    "from distutils import sysconfig as s;import sys;import struct;
+execute_process(
+  COMMAND
+    "${PYTHON_EXECUTABLE}" "-c" "from distutils import sysconfig as s;import sys;import struct;
 print('.'.join(str(v) for v in sys.version_info));
 print(sys.prefix);
 print(s.get_python_inc(plat_specific=True));
 print(s.get_python_lib(plat_specific=True));
-print(s.get_config_var('SO'));
+print(s.get_config_var('EXT_SUFFIX') or s.get_config_var('SO'));
 print(hasattr(sys, 'gettotalrefcount')+0);
 print(struct.calcsize('@P'));
 print(s.get_config_var('LDVERSION') or s.get_config_var('VERSION'));
 print(s.get_config_var('LIBDIR') or '');
 print(s.get_config_var('MULTIARCH') or '');
 "
-    RESULT_VARIABLE _PYTHON_SUCCESS
-    OUTPUT_VARIABLE _PYTHON_VALUES
-    ERROR_VARIABLE _PYTHON_ERROR_VALUE)
+  RESULT_VARIABLE _PYTHON_SUCCESS
+  OUTPUT_VARIABLE _PYTHON_VALUES
+  ERROR_VARIABLE _PYTHON_ERROR_VALUE)
 
 if(NOT _PYTHON_SUCCESS MATCHES 0)
-    if(PythonLibsNew_FIND_REQUIRED)
-        message(FATAL_ERROR
-            "Python config failure:\n${_PYTHON_ERROR_VALUE}")
-    endif()
-    set(PYTHONLIBS_FOUND FALSE)
-    set(PythonLibsNew_FOUND FALSE)
-    return()
+  if(PythonLibsNew_FIND_REQUIRED)
+    message(FATAL_ERROR "Python config failure:\n${_PYTHON_ERROR_VALUE}")
+  endif()
+  set(PYTHONLIBS_FOUND FALSE)
+  set(PythonLibsNew_FOUND FALSE)
+  return()
 endif()
 
 # Convert the process output into a list
 if(WIN32)
-    string(REGEX REPLACE "\\\\" "/" _PYTHON_VALUES ${_PYTHON_VALUES})
+  string(REGEX REPLACE "\\\\" "/" _PYTHON_VALUES ${_PYTHON_VALUES})
 endif()
 string(REGEX REPLACE ";" "\\\\;" _PYTHON_VALUES ${_PYTHON_VALUES})
 string(REGEX REPLACE "\n" ";" _PYTHON_VALUES ${_PYTHON_VALUES})
@@ -121,16 +155,15 @@ list(GET _PYTHON_VALUES 9 PYTHON_MULTIARCH)
 # Make sure the Python has the same pointer-size as the chosen compiler
 # Skip if CMAKE_SIZEOF_VOID_P is not defined
 if(CMAKE_SIZEOF_VOID_P AND (NOT "${PYTHON_SIZEOF_VOID_P}" STREQUAL "${CMAKE_SIZEOF_VOID_P}"))
-    if(PythonLibsNew_FIND_REQUIRED)
-        math(EXPR _PYTHON_BITS "${PYTHON_SIZEOF_VOID_P} * 8")
-        math(EXPR _CMAKE_BITS "${CMAKE_SIZEOF_VOID_P} * 8")
-        message(FATAL_ERROR
-            "Python config failure: Python is ${_PYTHON_BITS}-bit, "
-            "chosen compiler is  ${_CMAKE_BITS}-bit")
-    endif()
-    set(PYTHONLIBS_FOUND FALSE)
-    set(PythonLibsNew_FOUND FALSE)
-    return()
+  if(PythonLibsNew_FIND_REQUIRED)
+    math(EXPR _PYTHON_BITS "${PYTHON_SIZEOF_VOID_P} * 8")
+    math(EXPR _CMAKE_BITS "${CMAKE_SIZEOF_VOID_P} * 8")
+    message(FATAL_ERROR "Python config failure: Python is ${_PYTHON_BITS}-bit, "
+                        "chosen compiler is  ${_CMAKE_BITS}-bit")
+  endif()
+  set(PYTHONLIBS_FOUND FALSE)
+  set(PythonLibsNew_FOUND FALSE)
+  return()
 endif()
 
 # The built-in FindPython didn't always give the version numbers
@@ -138,65 +171,85 @@ string(REGEX REPLACE "\\." ";" _PYTHON_VERSION_LIST ${_PYTHON_VERSION_LIST})
 list(GET _PYTHON_VERSION_LIST 0 PYTHON_VERSION_MAJOR)
 list(GET _PYTHON_VERSION_LIST 1 PYTHON_VERSION_MINOR)
 list(GET _PYTHON_VERSION_LIST 2 PYTHON_VERSION_PATCH)
+set(PYTHON_VERSION "${PYTHON_VERSION_MAJOR}.${PYTHON_VERSION_MINOR}.${PYTHON_VERSION_PATCH}")
 
 # Make sure all directory separators are '/'
 string(REGEX REPLACE "\\\\" "/" PYTHON_PREFIX "${PYTHON_PREFIX}")
 string(REGEX REPLACE "\\\\" "/" PYTHON_INCLUDE_DIR "${PYTHON_INCLUDE_DIR}")
 string(REGEX REPLACE "\\\\" "/" PYTHON_SITE_PACKAGES "${PYTHON_SITE_PACKAGES}")
 
-if(CMAKE_HOST_WIN32 AND NOT (MINGW AND DEFINED ENV{MSYSTEM}))
-    set(PYTHON_LIBRARY
-        "${PYTHON_PREFIX}/libs/Python${PYTHON_LIBRARY_SUFFIX}.lib")
-
-    # when run in a venv, PYTHON_PREFIX points to it. But the libraries remain in the
-    # original python installation. They may be found relative to PYTHON_INCLUDE_DIR.
-    if(NOT EXISTS "${PYTHON_LIBRARY}")
-        get_filename_component(_PYTHON_ROOT ${PYTHON_INCLUDE_DIR} DIRECTORY)
-        set(PYTHON_LIBRARY
-            "${_PYTHON_ROOT}/libs/Python${PYTHON_LIBRARY_SUFFIX}.lib")
-    endif()
+if(CMAKE_HOST_WIN32)
+  set(PYTHON_LIBRARY "${PYTHON_PREFIX}/libs/python${PYTHON_LIBRARY_SUFFIX}.lib")
 
-    # raise an error if the python libs are still not found.
-    if(NOT EXISTS "${PYTHON_LIBRARY}")
-        message(FATAL_ERROR "Python libraries not found")
-    endif()
+  # when run in a venv, PYTHON_PREFIX points to it. But the libraries remain in the
+  # original python installation. They may be found relative to PYTHON_INCLUDE_DIR.
+  if(NOT EXISTS "${PYTHON_LIBRARY}")
+    get_filename_component(_PYTHON_ROOT ${PYTHON_INCLUDE_DIR} DIRECTORY)
+    set(PYTHON_LIBRARY "${_PYTHON_ROOT}/libs/python${PYTHON_LIBRARY_SUFFIX}.lib")
+  endif()
 
-else()
+  # if we are in MSYS & MINGW, and we didn't find windows python lib, look for system python lib
+  if(DEFINED ENV{MSYSTEM}
+     AND MINGW
+     AND NOT EXISTS "${PYTHON_LIBRARY}")
     if(PYTHON_MULTIARCH)
-        set(_PYTHON_LIBS_SEARCH "${PYTHON_LIBDIR}/${PYTHON_MULTIARCH}" "${PYTHON_LIBDIR}")
+      set(_PYTHON_LIBS_SEARCH "${PYTHON_LIBDIR}/${PYTHON_MULTIARCH}" "${PYTHON_LIBDIR}")
     else()
-        set(_PYTHON_LIBS_SEARCH "${PYTHON_LIBDIR}")
-    endif()
-    #message(STATUS "Searching for Python libs in ${_PYTHON_LIBS_SEARCH}")
-    # Probably this needs to be more involved. It would be nice if the config
-    # information the python interpreter itself gave us were more complete.
-    find_library(PYTHON_LIBRARY
-        NAMES "python${PYTHON_LIBRARY_SUFFIX}"
-        PATHS ${_PYTHON_LIBS_SEARCH}
-        NO_DEFAULT_PATH)
-
-    # If all else fails, just set the name/version and let the linker figure out the path.
-    if(NOT PYTHON_LIBRARY)
-        set(PYTHON_LIBRARY python${PYTHON_LIBRARY_SUFFIX})
+      set(_PYTHON_LIBS_SEARCH "${PYTHON_LIBDIR}")
     endif()
+    unset(PYTHON_LIBRARY)
+    find_library(
+      PYTHON_LIBRARY
+      NAMES "python${PYTHON_LIBRARY_SUFFIX}"
+      PATHS ${_PYTHON_LIBS_SEARCH}
+      NO_DEFAULT_PATH)
+  endif()
+
+  # raise an error if the python libs are still not found.
+  if(NOT EXISTS "${PYTHON_LIBRARY}")
+    message(FATAL_ERROR "Python libraries not found")
+  endif()
+
+else()
+  if(PYTHON_MULTIARCH)
+    set(_PYTHON_LIBS_SEARCH "${PYTHON_LIBDIR}/${PYTHON_MULTIARCH}" "${PYTHON_LIBDIR}")
+  else()
+    set(_PYTHON_LIBS_SEARCH "${PYTHON_LIBDIR}")
+  endif()
+  #message(STATUS "Searching for Python libs in ${_PYTHON_LIBS_SEARCH}")
+  # Probably this needs to be more involved. It would be nice if the config
+  # information the python interpreter itself gave us were more complete.
+  find_library(
+    PYTHON_LIBRARY
+    NAMES "python${PYTHON_LIBRARY_SUFFIX}"
+    PATHS ${_PYTHON_LIBS_SEARCH}
+    NO_DEFAULT_PATH)
+
+  # If all else fails, just set the name/version and let the linker figure out the path.
+  if(NOT PYTHON_LIBRARY)
+    set(PYTHON_LIBRARY python${PYTHON_LIBRARY_SUFFIX})
+  endif()
 endif()
 
-MARK_AS_ADVANCED(
-  PYTHON_LIBRARY
-  PYTHON_INCLUDE_DIR
-)
+mark_as_advanced(PYTHON_LIBRARY PYTHON_INCLUDE_DIR)
 
 # We use PYTHON_INCLUDE_DIR, PYTHON_LIBRARY and PYTHON_DEBUG_LIBRARY for the
 # cache entries because they are meant to specify the location of a single
 # library. We now set the variables listed by the documentation for this
 # module.
-SET(PYTHON_INCLUDE_DIRS "${PYTHON_INCLUDE_DIR}")
-SET(PYTHON_LIBRARIES "${PYTHON_LIBRARY}")
-SET(PYTHON_DEBUG_LIBRARIES "${PYTHON_DEBUG_LIBRARY}")
+set(PYTHON_INCLUDE_DIRS "${PYTHON_INCLUDE_DIR}")
+set(PYTHON_LIBRARIES "${PYTHON_LIBRARY}")
+if(NOT PYTHON_DEBUG_LIBRARY)
+  set(PYTHON_DEBUG_LIBRARY "")
+endif()
+set(PYTHON_DEBUG_LIBRARIES "${PYTHON_DEBUG_LIBRARY}")
 
-find_package_message(PYTHON
-    "Found PythonLibs: ${PYTHON_LIBRARY}"
-    "${PYTHON_EXECUTABLE}${PYTHON_VERSION}")
+find_package_message(PYTHON "Found PythonLibs: ${PYTHON_LIBRARY}"
+                     "${PYTHON_EXECUTABLE}${PYTHON_VERSION_STRING}")
 
 set(PYTHONLIBS_FOUND TRUE)
 set(PythonLibsNew_FOUND TRUE)
+
+if(NOT PYTHON_MODULE_PREFIX)
+  set(PYTHON_MODULE_PREFIX "")
+endif()
diff --git a/3rdparty/pybind11/tools/check-style.sh b/3rdparty/pybind11/tools/check-style.sh
index 0a9f7d24..f7af2a41 100755
--- a/3rdparty/pybind11/tools/check-style.sh
+++ b/3rdparty/pybind11/tools/check-style.sh
@@ -4,45 +4,19 @@
 #
 # This script currently checks for
 #
-# 1. use of tabs instead of spaces
-# 2. MSDOS-style CRLF endings
-# 3. trailing spaces
-# 4. missing space between keyword and parenthesis, e.g.: for(, if(, while(
-# 5. Missing space between right parenthesis and brace, e.g. 'for (...){'
-# 6. opening brace on its own line. It should always be on the same line as the
+# 1. missing space between keyword and parenthesis, e.g.: for(, if(, while(
+# 2. Missing space between right parenthesis and brace, e.g. 'for (...){'
+# 3. opening brace on its own line. It should always be on the same line as the
 #    if/while/for/do statement.
 #
-# Invoke as: tools/check-style.sh
+# Invoke as: tools/check-style.sh <filenames>
 #
 
 check_style_errors=0
 IFS=$'\n'
 
-found="$( GREP_COLORS='mt=41' GREP_COLOR='41' grep $'\t' include tests/*.{cpp,py,h} docs/*.rst -rn --color=always )"
-if [ -n "$found" ]; then
-    # The mt=41 sets a red background for matched tabs:
-    echo -e '\033[31;01mError: found tab characters in the following files:\033[0m'
-    check_style_errors=1
-    echo "$found" | sed -e 's/^/    /'
-fi
-
-
-found="$( grep -IUlr $'\r' include tests/*.{cpp,py,h} docs/*.rst --color=always )"
-if [ -n "$found" ]; then
-    echo -e '\033[31;01mError: found CRLF characters in the following files:\033[0m'
-    check_style_errors=1
-    echo "$found" | sed -e 's/^/    /'
-fi
-
-found="$(GREP_COLORS='mt=41' GREP_COLOR='41' grep '[[:blank:]]\+$' include tests/*.{cpp,py,h} docs/*.rst -rn --color=always )"
-if [ -n "$found" ]; then
-    # The mt=41 sets a red background for matched trailing spaces
-    echo -e '\033[31;01mError: found trailing spaces in the following files:\033[0m'
-    check_style_errors=1
-    echo "$found" | sed -e 's/^/    /'
-fi
 
-found="$(grep '\<\(if\|for\|while\|catch\)(\|){' include tests/*.{cpp,h} -rn --color=always)"
+found="$(grep '\<\(if\|for\|while\|catch\)(\|){' $@ -rn --color=always)"
 if [ -n "$found" ]; then
     echo -e '\033[31;01mError: found the following coding style problems:\033[0m'
     check_style_errors=1
@@ -60,7 +34,7 @@ last && /^\s*{/ {
     last=""
 }
 { last = /(if|for|while|catch|switch)\s*\(.*\)\s*$/ ? $0 : "" }
-' $(find include -type f) tests/*.{cpp,h} docs/*.rst)"
+' $(find include -type f) $@)"
 if [ -n "$found" ]; then
     check_style_errors=1
     echo -e '\033[31;01mError: braces should occur on the same line as the if/while/.. statement. Found issues in the following files:\033[0m'
diff --git a/3rdparty/pybind11/tools/cmake_uninstall.cmake.in b/3rdparty/pybind11/tools/cmake_uninstall.cmake.in
new file mode 100644
index 00000000..1e5d2bb8
--- /dev/null
+++ b/3rdparty/pybind11/tools/cmake_uninstall.cmake.in
@@ -0,0 +1,23 @@
+# Source: https://gitlab.kitware.com/cmake/community/-/wikis/FAQ#can-i-do-make-uninstall-with-cmake
+
+if(NOT EXISTS "@CMAKE_BINARY_DIR@/install_manifest.txt")
+  message(FATAL_ERROR "Cannot find install manifest: @CMAKE_BINARY_DIR@/install_manifest.txt")
+endif()
+
+file(READ "@CMAKE_BINARY_DIR@/install_manifest.txt" files)
+string(REGEX REPLACE "\n" ";" files "${files}")
+foreach(file ${files})
+  message(STATUS "Uninstalling $ENV{DESTDIR}${file}")
+  if(IS_SYMLINK "$ENV{DESTDIR}${file}" OR EXISTS "$ENV{DESTDIR}${file}")
+    exec_program(
+      "@CMAKE_COMMAND@" ARGS
+      "-E remove \"$ENV{DESTDIR}${file}\""
+      OUTPUT_VARIABLE rm_out
+      RETURN_VALUE rm_retval)
+    if(NOT "${rm_retval}" STREQUAL 0)
+      message(FATAL_ERROR "Problem when removing $ENV{DESTDIR}${file}")
+    endif()
+  else(IS_SYMLINK "$ENV{DESTDIR}${file}" OR EXISTS "$ENV{DESTDIR}${file}")
+    message(STATUS "File $ENV{DESTDIR}${file} does not exist.")
+  endif()
+endforeach()
diff --git a/3rdparty/pybind11/tools/libsize.py b/3rdparty/pybind11/tools/libsize.py
index 5dcb8b0d..589c317f 100644
--- a/3rdparty/pybind11/tools/libsize.py
+++ b/3rdparty/pybind11/tools/libsize.py
@@ -1,3 +1,4 @@
+# -*- coding: utf-8 -*-
 from __future__ import print_function, division
 import os
 import sys
@@ -18,7 +19,7 @@ if not os.path.exists(lib):
 
 libsize = os.path.getsize(lib)
 
-print("------", os.path.basename(lib), "file size:", libsize, end='')
+print("------", os.path.basename(lib), "file size:", libsize, end="")
 
 if os.path.exists(save):
     with open(save) as sf:
@@ -33,6 +34,5 @@ if os.path.exists(save):
 else:
     print()
 
-with open(save, 'w') as sf:
+with open(save, "w") as sf:
     sf.write(str(libsize))
-
diff --git a/3rdparty/pybind11/tools/mkdoc.py b/3rdparty/pybind11/tools/mkdoc.py
deleted file mode 100755
index 44164af3..00000000
--- a/3rdparty/pybind11/tools/mkdoc.py
+++ /dev/null
@@ -1,379 +0,0 @@
-#!/usr/bin/env python3
-#
-#  Syntax: mkdoc.py [-I<path> ..] [.. a list of header files ..]
-#
-#  Extract documentation from C++ header files to use it in Python bindings
-#
-
-import os
-import sys
-import platform
-import re
-import textwrap
-
-from clang import cindex
-from clang.cindex import CursorKind
-from collections import OrderedDict
-from glob import glob
-from threading import Thread, Semaphore
-from multiprocessing import cpu_count
-
-RECURSE_LIST = [
-    CursorKind.TRANSLATION_UNIT,
-    CursorKind.NAMESPACE,
-    CursorKind.CLASS_DECL,
-    CursorKind.STRUCT_DECL,
-    CursorKind.ENUM_DECL,
-    CursorKind.CLASS_TEMPLATE
-]
-
-PRINT_LIST = [
-    CursorKind.CLASS_DECL,
-    CursorKind.STRUCT_DECL,
-    CursorKind.ENUM_DECL,
-    CursorKind.ENUM_CONSTANT_DECL,
-    CursorKind.CLASS_TEMPLATE,
-    CursorKind.FUNCTION_DECL,
-    CursorKind.FUNCTION_TEMPLATE,
-    CursorKind.CONVERSION_FUNCTION,
-    CursorKind.CXX_METHOD,
-    CursorKind.CONSTRUCTOR,
-    CursorKind.FIELD_DECL
-]
-
-PREFIX_BLACKLIST = [
-    CursorKind.TRANSLATION_UNIT
-]
-
-CPP_OPERATORS = {
-    '<=': 'le', '>=': 'ge', '==': 'eq', '!=': 'ne', '[]': 'array',
-    '+=': 'iadd', '-=': 'isub', '*=': 'imul', '/=': 'idiv', '%=':
-    'imod', '&=': 'iand', '|=': 'ior', '^=': 'ixor', '<<=': 'ilshift',
-    '>>=': 'irshift', '++': 'inc', '--': 'dec', '<<': 'lshift', '>>':
-    'rshift', '&&': 'land', '||': 'lor', '!': 'lnot', '~': 'bnot',
-    '&': 'band', '|': 'bor', '+': 'add', '-': 'sub', '*': 'mul', '/':
-    'div', '%': 'mod', '<': 'lt', '>': 'gt', '=': 'assign', '()': 'call'
-}
-
-CPP_OPERATORS = OrderedDict(
-    sorted(CPP_OPERATORS.items(), key=lambda t: -len(t[0])))
-
-job_count = cpu_count()
-job_semaphore = Semaphore(job_count)
-
-
-class NoFilenamesError(ValueError):
-    pass
-
-
-def d(s):
-    return s if isinstance(s, str) else s.decode('utf8')
-
-
-def sanitize_name(name):
-    name = re.sub(r'type-parameter-0-([0-9]+)', r'T\1', name)
-    for k, v in CPP_OPERATORS.items():
-        name = name.replace('operator%s' % k, 'operator_%s' % v)
-    name = re.sub('<.*>', '', name)
-    name = ''.join([ch if ch.isalnum() else '_' for ch in name])
-    name = re.sub('_$', '', re.sub('_+', '_', name))
-    return '__doc_' + name
-
-
-def process_comment(comment):
-    result = ''
-
-    # Remove C++ comment syntax
-    leading_spaces = float('inf')
-    for s in comment.expandtabs(tabsize=4).splitlines():
-        s = s.strip()
-        if s.startswith('/*'):
-            s = s[2:].lstrip('*')
-        elif s.endswith('*/'):
-            s = s[:-2].rstrip('*')
-        elif s.startswith('///'):
-            s = s[3:]
-        if s.startswith('*'):
-            s = s[1:]
-        if len(s) > 0:
-            leading_spaces = min(leading_spaces, len(s) - len(s.lstrip()))
-        result += s + '\n'
-
-    if leading_spaces != float('inf'):
-        result2 = ""
-        for s in result.splitlines():
-            result2 += s[leading_spaces:] + '\n'
-        result = result2
-
-    # Doxygen tags
-    cpp_group = '([\w:]+)'
-    param_group = '([\[\w:\]]+)'
-
-    s = result
-    s = re.sub(r'\\c\s+%s' % cpp_group, r'``\1``', s)
-    s = re.sub(r'\\a\s+%s' % cpp_group, r'*\1*', s)
-    s = re.sub(r'\\e\s+%s' % cpp_group, r'*\1*', s)
-    s = re.sub(r'\\em\s+%s' % cpp_group, r'*\1*', s)
-    s = re.sub(r'\\b\s+%s' % cpp_group, r'**\1**', s)
-    s = re.sub(r'\\ingroup\s+%s' % cpp_group, r'', s)
-    s = re.sub(r'\\param%s?\s+%s' % (param_group, cpp_group),
-               r'\n\n$Parameter ``\2``:\n\n', s)
-    s = re.sub(r'\\tparam%s?\s+%s' % (param_group, cpp_group),
-               r'\n\n$Template parameter ``\2``:\n\n', s)
-
-    for in_, out_ in {
-        'return': 'Returns',
-        'author': 'Author',
-        'authors': 'Authors',
-        'copyright': 'Copyright',
-        'date': 'Date',
-        'remark': 'Remark',
-        'sa': 'See also',
-        'see': 'See also',
-        'extends': 'Extends',
-        'throw': 'Throws',
-        'throws': 'Throws'
-    }.items():
-        s = re.sub(r'\\%s\s*' % in_, r'\n\n$%s:\n\n' % out_, s)
-
-    s = re.sub(r'\\details\s*', r'\n\n', s)
-    s = re.sub(r'\\brief\s*', r'', s)
-    s = re.sub(r'\\short\s*', r'', s)
-    s = re.sub(r'\\ref\s*', r'', s)
-
-    s = re.sub(r'\\code\s?(.*?)\s?\\endcode',
-               r"```\n\1\n```\n", s, flags=re.DOTALL)
-
-    # HTML/TeX tags
-    s = re.sub(r'<tt>(.*?)</tt>', r'``\1``', s, flags=re.DOTALL)
-    s = re.sub(r'<pre>(.*?)</pre>', r"```\n\1\n```\n", s, flags=re.DOTALL)
-    s = re.sub(r'<em>(.*?)</em>', r'*\1*', s, flags=re.DOTALL)
-    s = re.sub(r'<b>(.*?)</b>', r'**\1**', s, flags=re.DOTALL)
-    s = re.sub(r'\\f\$(.*?)\\f\$', r'$\1$', s, flags=re.DOTALL)
-    s = re.sub(r'<li>', r'\n\n* ', s)
-    s = re.sub(r'</?ul>', r'', s)
-    s = re.sub(r'</li>', r'\n\n', s)
-
-    s = s.replace('``true``', '``True``')
-    s = s.replace('``false``', '``False``')
-
-    # Re-flow text
-    wrapper = textwrap.TextWrapper()
-    wrapper.expand_tabs = True
-    wrapper.replace_whitespace = True
-    wrapper.drop_whitespace = True
-    wrapper.width = 70
-    wrapper.initial_indent = wrapper.subsequent_indent = ''
-
-    result = ''
-    in_code_segment = False
-    for x in re.split(r'(```)', s):
-        if x == '```':
-            if not in_code_segment:
-                result += '```\n'
-            else:
-                result += '\n```\n\n'
-            in_code_segment = not in_code_segment
-        elif in_code_segment:
-            result += x.strip()
-        else:
-            for y in re.split(r'(?: *\n *){2,}', x):
-                wrapped = wrapper.fill(re.sub(r'\s+', ' ', y).strip())
-                if len(wrapped) > 0 and wrapped[0] == '$':
-                    result += wrapped[1:] + '\n'
-                    wrapper.initial_indent = \
-                        wrapper.subsequent_indent = ' ' * 4
-                else:
-                    if len(wrapped) > 0:
-                        result += wrapped + '\n\n'
-                    wrapper.initial_indent = wrapper.subsequent_indent = ''
-    return result.rstrip().lstrip('\n')
-
-
-def extract(filename, node, prefix, output):
-    if not (node.location.file is None or
-            os.path.samefile(d(node.location.file.name), filename)):
-        return 0
-    if node.kind in RECURSE_LIST:
-        sub_prefix = prefix
-        if node.kind not in PREFIX_BLACKLIST:
-            if len(sub_prefix) > 0:
-                sub_prefix += '_'
-            sub_prefix += d(node.spelling)
-        for i in node.get_children():
-            extract(filename, i, sub_prefix, output)
-    if node.kind in PRINT_LIST:
-        comment = d(node.raw_comment) if node.raw_comment is not None else ''
-        comment = process_comment(comment)
-        sub_prefix = prefix
-        if len(sub_prefix) > 0:
-            sub_prefix += '_'
-        if len(node.spelling) > 0:
-            name = sanitize_name(sub_prefix + d(node.spelling))
-            output.append((name, filename, comment))
-
-
-class ExtractionThread(Thread):
-    def __init__(self, filename, parameters, output):
-        Thread.__init__(self)
-        self.filename = filename
-        self.parameters = parameters
-        self.output = output
-        job_semaphore.acquire()
-
-    def run(self):
-        print('Processing "%s" ..' % self.filename, file=sys.stderr)
-        try:
-            index = cindex.Index(
-                cindex.conf.lib.clang_createIndex(False, True))
-            tu = index.parse(self.filename, self.parameters)
-            extract(self.filename, tu.cursor, '', self.output)
-        finally:
-            job_semaphore.release()
-
-
-def read_args(args):
-    parameters = []
-    filenames = []
-    if "-x" not in args:
-        parameters.extend(['-x', 'c++'])
-    if not any(it.startswith("-std=") for it in args):
-        parameters.append('-std=c++11')
-
-    if platform.system() == 'Darwin':
-        dev_path = '/Applications/Xcode.app/Contents/Developer/'
-        lib_dir = dev_path + 'Toolchains/XcodeDefault.xctoolchain/usr/lib/'
-        sdk_dir = dev_path + 'Platforms/MacOSX.platform/Developer/SDKs'
-        libclang = lib_dir + 'libclang.dylib'
-
-        if os.path.exists(libclang):
-            cindex.Config.set_library_path(os.path.dirname(libclang))
-
-        if os.path.exists(sdk_dir):
-            sysroot_dir = os.path.join(sdk_dir, next(os.walk(sdk_dir))[1][0])
-            parameters.append('-isysroot')
-            parameters.append(sysroot_dir)
-    elif platform.system() == 'Linux':
-        # clang doesn't find its own base includes by default on Linux,
-        # but different distros install them in different paths.
-        # Try to autodetect, preferring the highest numbered version.
-        def clang_folder_version(d):
-            return [int(ver) for ver in re.findall(r'(?<!lib)(?<!\d)\d+', d)]
-        clang_include_dir = max((
-            path
-            for libdir in ['lib64', 'lib', 'lib32']
-            for path in glob('/usr/%s/clang/*/include' % libdir)
-            if os.path.isdir(path)
-        ), default=None, key=clang_folder_version)
-        if clang_include_dir:
-            parameters.extend(['-isystem', clang_include_dir])
-
-    for item in args:
-        if item.startswith('-'):
-            parameters.append(item)
-        else:
-            filenames.append(item)
-
-    if len(filenames) == 0:
-        raise NoFilenamesError("args parameter did not contain any filenames")
-
-    return parameters, filenames
-
-
-def extract_all(args):
-    parameters, filenames = read_args(args)
-    output = []
-    for filename in filenames:
-        thr = ExtractionThread(filename, parameters, output)
-        thr.start()
-
-    print('Waiting for jobs to finish ..', file=sys.stderr)
-    for i in range(job_count):
-        job_semaphore.acquire()
-
-    return output
-
-
-def write_header(comments, out_file=sys.stdout):
-    print('''/*
-  This file contains docstrings for the Python bindings.
-  Do not edit! These were automatically extracted by mkdoc.py
- */
-
-#define __EXPAND(x)                                      x
-#define __COUNT(_1, _2, _3, _4, _5, _6, _7, COUNT, ...)  COUNT
-#define __VA_SIZE(...)                                   __EXPAND(__COUNT(__VA_ARGS__, 7, 6, 5, 4, 3, 2, 1))
-#define __CAT1(a, b)                                     a ## b
-#define __CAT2(a, b)                                     __CAT1(a, b)
-#define __DOC1(n1)                                       __doc_##n1
-#define __DOC2(n1, n2)                                   __doc_##n1##_##n2
-#define __DOC3(n1, n2, n3)                               __doc_##n1##_##n2##_##n3
-#define __DOC4(n1, n2, n3, n4)                           __doc_##n1##_##n2##_##n3##_##n4
-#define __DOC5(n1, n2, n3, n4, n5)                       __doc_##n1##_##n2##_##n3##_##n4##_##n5
-#define __DOC6(n1, n2, n3, n4, n5, n6)                   __doc_##n1##_##n2##_##n3##_##n4##_##n5##_##n6
-#define __DOC7(n1, n2, n3, n4, n5, n6, n7)               __doc_##n1##_##n2##_##n3##_##n4##_##n5##_##n6##_##n7
-#define DOC(...)                                         __EXPAND(__EXPAND(__CAT2(__DOC, __VA_SIZE(__VA_ARGS__)))(__VA_ARGS__))
-
-#if defined(__GNUG__)
-#pragma GCC diagnostic push
-#pragma GCC diagnostic ignored "-Wunused-variable"
-#endif
-''', file=out_file)
-
-
-    name_ctr = 1
-    name_prev = None
-    for name, _, comment in list(sorted(comments, key=lambda x: (x[0], x[1]))):
-        if name == name_prev:
-            name_ctr += 1
-            name = name + "_%i" % name_ctr
-        else:
-            name_prev = name
-            name_ctr = 1
-        print('\nstatic const char *%s =%sR"doc(%s)doc";' %
-              (name, '\n' if '\n' in comment else ' ', comment), file=out_file)
-
-    print('''
-#if defined(__GNUG__)
-#pragma GCC diagnostic pop
-#endif
-''', file=out_file)
-
-
-def mkdoc(args):
-    args = list(args)
-    out_path = None
-    for idx, arg in enumerate(args):
-        if arg.startswith("-o"):
-            args.remove(arg)
-            try:
-                out_path = arg[2:] or args.pop(idx)
-            except IndexError:
-                print("-o flag requires an argument")
-                exit(-1)
-            break
-
-    comments = extract_all(args)
-
-    if out_path:
-        try:
-            with open(out_path, 'w') as out_file:
-                write_header(comments, out_file)
-        except:
-            # In the event of an error, don't leave a partially-written
-            # output file.
-            try:
-                os.unlink(out_path)
-            except:
-                pass
-            raise
-    else:
-        write_header(comments)
-
-
-if __name__ == '__main__':
-    try:
-        mkdoc(sys.argv[1:])
-    except NoFilenamesError:
-        print('Syntax: %s [.. a list of header files ..]' % sys.argv[0])
-        exit(-1)
diff --git a/3rdparty/pybind11/tools/pybind11Common.cmake b/3rdparty/pybind11/tools/pybind11Common.cmake
new file mode 100644
index 00000000..3c05c682
--- /dev/null
+++ b/3rdparty/pybind11/tools/pybind11Common.cmake
@@ -0,0 +1,393 @@
+#[======================================================[.rst
+
+Adds the following targets::
+
+    pybind11::pybind11 - link to headers and pybind11
+    pybind11::module - Adds module links
+    pybind11::embed - Adds embed links
+    pybind11::lto - Link time optimizations (manual selection)
+    pybind11::thin_lto - Link time optimizations (manual selection)
+    pybind11::python_link_helper - Adds link to Python libraries
+    pybind11::python2_no_register - Avoid warning/error with Python 2 + C++14/7
+    pybind11::windows_extras - MSVC bigobj and mp for building multithreaded
+    pybind11::opt_size - avoid optimizations that increase code size
+
+Adds the following functions::
+
+    pybind11_strip(target) - strip target after building on linux/macOS
+    pybind11_find_import(module) - See if a module is installed.
+
+#]======================================================]
+
+# CMake 3.10 has an include_guard command, but we can't use that yet
+if(TARGET pybind11::lto)
+  return()
+endif()
+
+# If we are in subdirectory mode, all IMPORTED targets must be GLOBAL. If we
+# are in CONFIG mode, they should be "normal" targets instead.
+# In CMake 3.11+ you can promote a target to global after you create it,
+# which might be simpler than this check.
+get_property(
+  is_config
+  TARGET pybind11::headers
+  PROPERTY IMPORTED)
+if(NOT is_config)
+  set(optional_global GLOBAL)
+endif()
+
+# If not run in Python mode, we still would like this to at least
+# include pybind11's include directory:
+set(pybind11_INCLUDE_DIRS
+    "${pybind11_INCLUDE_DIR}"
+    CACHE INTERNAL "Include directory for pybind11 (Python not requested)")
+
+# --------------------- Shared targets ----------------------------
+
+# Build an interface library target:
+add_library(pybind11::pybind11 IMPORTED INTERFACE ${optional_global})
+set_property(
+  TARGET pybind11::pybind11
+  APPEND
+  PROPERTY INTERFACE_LINK_LIBRARIES pybind11::headers)
+
+# Build a module target:
+add_library(pybind11::module IMPORTED INTERFACE ${optional_global})
+set_property(
+  TARGET pybind11::module
+  APPEND
+  PROPERTY INTERFACE_LINK_LIBRARIES pybind11::pybind11)
+
+# Build an embed library target:
+add_library(pybind11::embed IMPORTED INTERFACE ${optional_global})
+set_property(
+  TARGET pybind11::embed
+  APPEND
+  PROPERTY INTERFACE_LINK_LIBRARIES pybind11::pybind11)
+
+# ----------------------- no register ----------------------
+
+# Workaround for Python 2.7 and C++17 (C++14 as a warning) incompatibility
+# This adds the flags -Wno-register and -Wno-deprecated-register if the compiler
+# is Clang 3.9+ or AppleClang and the compile language is CXX, or /wd5033 for MSVC (all languages,
+# since MSVC didn't recognize COMPILE_LANGUAGE until CMake 3.11+).
+
+add_library(pybind11::python2_no_register INTERFACE IMPORTED ${optional_global})
+set(clang_4plus
+    "$<AND:$<CXX_COMPILER_ID:Clang>,$<NOT:$<VERSION_LESS:$<CXX_COMPILER_VERSION>,3.9>>>")
+set(no_register "$<OR:${clang_4plus},$<CXX_COMPILER_ID:AppleClang>>")
+
+if(MSVC AND CMAKE_VERSION VERSION_LESS 3.11)
+  set(cxx_no_register "${no_register}")
+else()
+  set(cxx_no_register "$<AND:$<COMPILE_LANGUAGE:CXX>,${no_register}>")
+endif()
+
+set(msvc "$<CXX_COMPILER_ID:MSVC>")
+
+set_property(
+  TARGET pybind11::python2_no_register
+  PROPERTY INTERFACE_COMPILE_OPTIONS
+           "$<${cxx_no_register}:-Wno-register;-Wno-deprecated-register>" "$<${msvc}:/wd5033>")
+
+# --------------------------- link helper ---------------------------
+
+add_library(pybind11::python_link_helper IMPORTED INTERFACE ${optional_global})
+
+if(CMAKE_VERSION VERSION_LESS 3.13)
+  # In CMake 3.11+, you can set INTERFACE properties via the normal methods, and
+  # this would be simpler.
+  set_property(
+    TARGET pybind11::python_link_helper
+    APPEND
+    PROPERTY INTERFACE_LINK_LIBRARIES "$<$<PLATFORM_ID:Darwin>:-undefined dynamic_lookup>")
+else()
+  # link_options was added in 3.13+
+  # This is safer, because you are ensured the deduplication pass in CMake will not consider
+  # these separate and remove one but not the other.
+  set_property(
+    TARGET pybind11::python_link_helper
+    APPEND
+    PROPERTY INTERFACE_LINK_OPTIONS "$<$<PLATFORM_ID:Darwin>:LINKER:-undefined,dynamic_lookup>")
+endif()
+
+# ------------------------ Windows extras -------------------------
+
+add_library(pybind11::windows_extras IMPORTED INTERFACE ${optional_global})
+
+if(MSVC)
+  # /MP enables multithreaded builds (relevant when there are many files), /bigobj is
+  # needed for bigger binding projects due to the limit to 64k addressable sections
+  set_property(
+    TARGET pybind11::windows_extras
+    APPEND
+    PROPERTY INTERFACE_COMPILE_OPTIONS /bigobj)
+
+  if(CMAKE_VERSION VERSION_LESS 3.11)
+    set_property(
+      TARGET pybind11::windows_extras
+      APPEND
+      PROPERTY INTERFACE_COMPILE_OPTIONS $<$<NOT:$<CONFIG:Debug>>:/MP>)
+  else()
+    # Only set these options for C++ files.  This is important so that, for
+    # instance, projects that include other types of source files like CUDA
+    # .cu files don't get these options propagated to nvcc since that would
+    # cause the build to fail.
+    set_property(
+      TARGET pybind11::windows_extras
+      APPEND
+      PROPERTY INTERFACE_COMPILE_OPTIONS $<$<NOT:$<CONFIG:Debug>>:$<$<COMPILE_LANGUAGE:CXX>:/MP>>)
+  endif()
+endif()
+
+# ----------------------- Optimize binary size --------------------------
+
+add_library(pybind11::opt_size IMPORTED INTERFACE ${optional_global})
+
+if(MSVC)
+  set(PYBIND11_OPT_SIZE /Os)
+else()
+  set(PYBIND11_OPT_SIZE -Os)
+endif()
+
+set_property(
+  TARGET pybind11::opt_size
+  APPEND
+  PROPERTY INTERFACE_COMPILE_OPTIONS $<$<CONFIG:Release>:${PYBIND11_OPT_SIZE}>
+           $<$<CONFIG:MinSizeRel>:${PYBIND11_OPT_SIZE}>
+           $<$<CONFIG:RelWithDebInfo>:${PYBIND11_OPT_SIZE}>)
+
+# ----------------------- Legacy option --------------------------
+
+# Warn or error if old variable name used
+if(PYBIND11_CPP_STANDARD)
+  string(REGEX MATCH [[..$]] VAL "${PYBIND11_CPP_STANDARD}")
+  if(CMAKE_CXX_STANDARD)
+    if(NOT CMAKE_CXX_STANDARD STREQUAL VAL)
+      message(WARNING "CMAKE_CXX_STANDARD=${CMAKE_CXX_STANDARD} does not match "
+                      "PYBIND11_CPP_STANDARD=${PYBIND11_CPP_STANDARD}, "
+                      "please remove PYBIND11_CPP_STANDARD from your cache")
+    endif()
+  else()
+    set(supported_standards 11 14 17 20)
+    if("${VAL}" IN_LIST supported_standards)
+      message(WARNING "USE -DCMAKE_CXX_STANDARD=${VAL} instead of PYBIND11_CPP_STANDARD")
+      set(CMAKE_CXX_STANDARD
+          ${VAL}
+          CACHE STRING "From PYBIND11_CPP_STANDARD")
+    else()
+      message(FATAL_ERROR "PYBIND11_CPP_STANDARD should be replaced with CMAKE_CXX_STANDARD "
+                          "(last two chars: ${VAL} not understood as a valid CXX std)")
+    endif()
+  endif()
+endif()
+
+# --------------------- Python specifics -------------------------
+
+# Check to see which Python mode we are in, new, old, or no python
+if(PYBIND11_NOPYTHON)
+  set(_pybind11_nopython ON)
+elseif(
+  PYBIND11_FINDPYTHON
+  OR Python_FOUND
+  OR Python2_FOUND
+  OR Python3_FOUND)
+  # New mode
+  include("${CMAKE_CURRENT_LIST_DIR}/pybind11NewTools.cmake")
+
+else()
+
+  # Classic mode
+  include("${CMAKE_CURRENT_LIST_DIR}/pybind11Tools.cmake")
+
+endif()
+
+# --------------------- pybind11_find_import -------------------------------
+
+if(NOT _pybind11_nopython)
+  # Check to see if modules are importable. Use REQUIRED to force an error if
+  # one of the modules is not found. <package_name>_FOUND will be set if the
+  # package was found (underscores replace dashes if present). QUIET will hide
+  # the found message, and VERSION will require a minimum version. A successful
+  # find will cache the result.
+  function(pybind11_find_import PYPI_NAME)
+    # CMake variables need underscores (PyPI doesn't care)
+    string(REPLACE "-" "_" NORM_PYPI_NAME "${PYPI_NAME}")
+
+    # Return if found previously
+    if(${NORM_PYPI_NAME}_FOUND)
+      return()
+    endif()
+
+    set(options "REQUIRED;QUIET")
+    set(oneValueArgs "VERSION")
+    cmake_parse_arguments(ARG "${options}" "${oneValueArgs}" "" ${ARGN})
+
+    if(ARG_REQUIRED)
+      set(status_level FATAL_ERROR)
+    else()
+      set(status_level WARNING)
+    endif()
+
+    execute_process(
+      COMMAND
+        ${${_Python}_EXECUTABLE} -c
+        "from pkg_resources import get_distribution; print(get_distribution('${PYPI_NAME}').version)"
+      RESULT_VARIABLE RESULT_PRESENT
+      OUTPUT_VARIABLE PKG_VERSION
+      ERROR_QUIET)
+
+    string(STRIP "${PKG_VERSION}" PKG_VERSION)
+
+    # If a result is present, this failed
+    if(RESULT_PRESENT)
+      set(${NORM_PYPI_NAME}_FOUND
+          ${NORM_PYPI_NAME}-NOTFOUND
+          CACHE INTERNAL "")
+      # Always warn or error
+      message(
+        ${status_level}
+        "Missing: ${PYPI_NAME} ${ARG_VERSION}\nTry: ${${_Python}_EXECUTABLE} -m pip install ${PYPI_NAME}"
+      )
+    else()
+      if(ARG_VERSION AND PKG_VERSION VERSION_LESS ARG_VERSION)
+        message(
+          ${status_level}
+          "Version incorrect: ${PYPI_NAME} ${PKG_VERSION} found, ${ARG_VERSION} required - try upgrading"
+        )
+      else()
+        set(${NORM_PYPI_NAME}_FOUND
+            YES
+            CACHE INTERNAL "")
+        set(${NORM_PYPI_NAME}_VERSION
+            ${PKG_VERSION}
+            CACHE INTERNAL "")
+      endif()
+      if(NOT ARG_QUIET)
+        message(STATUS "Found ${PYPI_NAME} ${PKG_VERSION}")
+      endif()
+    endif()
+    if(NOT ARG_VERSION OR (NOT PKG_VERSION VERSION_LESS ARG_VERSION))
+      # We have successfully found a good version, cache to avoid calling again.
+    endif()
+  endfunction()
+endif()
+
+# --------------------- LTO -------------------------------
+
+include(CheckCXXCompilerFlag)
+
+# Checks whether the given CXX/linker flags can compile and link a cxx file.
+# cxxflags and linkerflags are lists of flags to use.  The result variable is a
+# unique variable name for each set of flags: the compilation result will be
+# cached base on the result variable.  If the flags work, sets them in
+# cxxflags_out/linkerflags_out internal cache variables (in addition to
+# ${result}).
+function(_pybind11_return_if_cxx_and_linker_flags_work result cxxflags linkerflags cxxflags_out
+         linkerflags_out)
+  set(CMAKE_REQUIRED_LIBRARIES ${linkerflags})
+  check_cxx_compiler_flag("${cxxflags}" ${result})
+  if(${result})
+    set(${cxxflags_out}
+        "${cxxflags}"
+        PARENT_SCOPE)
+    set(${linkerflags_out}
+        "${linkerflags}"
+        PARENT_SCOPE)
+  endif()
+endfunction()
+
+function(_pybind11_generate_lto target prefer_thin_lto)
+  if(CMAKE_CXX_COMPILER_ID MATCHES "GNU|Clang")
+    set(cxx_append "")
+    set(linker_append "")
+    if(CMAKE_CXX_COMPILER_ID MATCHES "Clang" AND NOT APPLE)
+      # Clang Gold plugin does not support -Os; append -O3 to MinSizeRel builds to override it
+      set(linker_append ";$<$<CONFIG:MinSizeRel>:-O3>")
+    elseif(CMAKE_CXX_COMPILER_ID MATCHES "GNU")
+      set(cxx_append ";-fno-fat-lto-objects")
+    endif()
+
+    if(CMAKE_CXX_COMPILER_ID MATCHES "Clang" AND prefer_thin_lto)
+      _pybind11_return_if_cxx_and_linker_flags_work(
+        HAS_FLTO_THIN "-flto=thin${cxx_append}" "-flto=thin${linker_append}"
+        PYBIND11_LTO_CXX_FLAGS PYBIND11_LTO_LINKER_FLAGS)
+    endif()
+
+    if(NOT HAS_FLTO_THIN)
+      _pybind11_return_if_cxx_and_linker_flags_work(
+        HAS_FLTO "-flto${cxx_append}" "-flto${linker_append}" PYBIND11_LTO_CXX_FLAGS
+        PYBIND11_LTO_LINKER_FLAGS)
+    endif()
+  elseif(CMAKE_CXX_COMPILER_ID MATCHES "Intel")
+    # Intel equivalent to LTO is called IPO
+    _pybind11_return_if_cxx_and_linker_flags_work(HAS_INTEL_IPO "-ipo" "-ipo"
+                                                  PYBIND11_LTO_CXX_FLAGS PYBIND11_LTO_LINKER_FLAGS)
+  elseif(MSVC)
+    # cmake only interprets libraries as linker flags when they start with a - (otherwise it
+    # converts /LTCG to \LTCG as if it was a Windows path).  Luckily MSVC supports passing flags
+    # with - instead of /, even if it is a bit non-standard:
+    _pybind11_return_if_cxx_and_linker_flags_work(HAS_MSVC_GL_LTCG "/GL" "-LTCG"
+                                                  PYBIND11_LTO_CXX_FLAGS PYBIND11_LTO_LINKER_FLAGS)
+  endif()
+
+  # Enable LTO flags if found, except for Debug builds
+  if(PYBIND11_LTO_CXX_FLAGS)
+    # CONFIG takes multiple values in CMake 3.19+, until then we have to use OR
+    set(is_debug "$<OR:$<CONFIG:Debug>,$<CONFIG:RelWithDebInfo>>")
+    set(not_debug "$<NOT:${is_debug}>")
+    set(cxx_lang "$<COMPILE_LANGUAGE:CXX>")
+    if(MSVC AND CMAKE_VERSION VERSION_LESS 3.11)
+      set(genex "${not_debug}")
+    else()
+      set(genex "$<AND:${not_debug},${cxx_lang}>")
+    endif()
+    set_property(
+      TARGET ${target}
+      APPEND
+      PROPERTY INTERFACE_COMPILE_OPTIONS "$<${genex}:${PYBIND11_LTO_CXX_FLAGS}>")
+    if(CMAKE_PROJECT_NAME STREQUAL "pybind11")
+      message(STATUS "${target} enabled")
+    endif()
+  else()
+    if(CMAKE_PROJECT_NAME STREQUAL "pybind11")
+      message(STATUS "${target} disabled (not supported by the compiler and/or linker)")
+    endif()
+  endif()
+
+  if(PYBIND11_LTO_LINKER_FLAGS)
+    if(CMAKE_VERSION VERSION_LESS 3.11)
+      set_property(
+        TARGET ${target}
+        APPEND
+        PROPERTY INTERFACE_LINK_LIBRARIES "$<${not_debug}:${PYBIND11_LTO_LINKER_FLAGS}>")
+    else()
+      set_property(
+        TARGET ${target}
+        APPEND
+        PROPERTY INTERFACE_LINK_OPTIONS "$<${not_debug}:${PYBIND11_LTO_LINKER_FLAGS}>")
+    endif()
+  endif()
+endfunction()
+
+add_library(pybind11::lto IMPORTED INTERFACE ${optional_global})
+_pybind11_generate_lto(pybind11::lto FALSE)
+
+add_library(pybind11::thin_lto IMPORTED INTERFACE ${optional_global})
+_pybind11_generate_lto(pybind11::thin_lto TRUE)
+
+# ---------------------- pybind11_strip -----------------------------
+
+function(pybind11_strip target_name)
+  # Strip unnecessary sections of the binary on Linux/macOS
+  if(CMAKE_STRIP)
+    if(APPLE)
+      set(x_opt -x)
+    endif()
+
+    add_custom_command(
+      TARGET ${target_name}
+      POST_BUILD
+      COMMAND ${CMAKE_STRIP} ${x_opt} $<TARGET_FILE:${target_name}>)
+  endif()
+endfunction()
diff --git a/3rdparty/pybind11/tools/pybind11Config.cmake.in b/3rdparty/pybind11/tools/pybind11Config.cmake.in
index 8a7272ff..9808f3d2 100644
--- a/3rdparty/pybind11/tools/pybind11Config.cmake.in
+++ b/3rdparty/pybind11/tools/pybind11Config.cmake.in
@@ -1,104 +1,232 @@
-# pybind11Config.cmake
-# --------------------
-#
-# PYBIND11 cmake module.
-# This module sets the following variables in your project::
-#
-#   pybind11_FOUND - true if pybind11 and all required components found on the system
-#   pybind11_VERSION - pybind11 version in format Major.Minor.Release
-#   pybind11_INCLUDE_DIRS - Directories where pybind11 and python headers are located.
-#   pybind11_INCLUDE_DIR - Directory where pybind11 headers are located.
-#   pybind11_DEFINITIONS - Definitions necessary to use pybind11, namely USING_pybind11.
-#   pybind11_LIBRARIES - compile flags and python libraries (as needed) to link against.
-#   pybind11_LIBRARY - empty.
-#   CMAKE_MODULE_PATH - appends location of accompanying FindPythonLibsNew.cmake and
-#                       pybind11Tools.cmake modules.
-#
-#
-# Available components: None
-#
-#
-# Exported targets::
-#
-# If pybind11 is found, this module defines the following :prop_tgt:`IMPORTED`
-# interface library targets::
-#
-#   pybind11::module - for extension modules
-#   pybind11::embed - for embedding the Python interpreter
-#
-# Python headers, libraries (as needed by platform), and the C++ standard
-# are attached to the target. Set PythonLibsNew variables to influence
-# python detection and PYBIND11_CPP_STANDARD (-std=c++11 or -std=c++14) to
-# influence standard setting. ::
-#
-#   find_package(pybind11 CONFIG REQUIRED)
-#   message(STATUS "Found pybind11 v${pybind11_VERSION}: ${pybind11_INCLUDE_DIRS}")
-#
-#   # Create an extension module
-#   add_library(mylib MODULE main.cpp)
-#   target_link_libraries(mylib pybind11::module)
-#
-#   # Or embed the Python interpreter into an executable
-#   add_executable(myexe main.cpp)
-#   target_link_libraries(myexe pybind11::embed)
-#
-# Suggested usage::
-#
-# find_package with version info is not recommended except for release versions. ::
-#
-#   find_package(pybind11 CONFIG)
-#   find_package(pybind11 2.0 EXACT CONFIG REQUIRED)
-#
-#
-# The following variables can be set to guide the search for this package::
-#
-#   pybind11_DIR - CMake variable, set to directory containing this Config file
-#   CMAKE_PREFIX_PATH - CMake variable, set to root directory of this package
-#   PATH - environment variable, set to bin directory of this package
-#   CMAKE_DISABLE_FIND_PACKAGE_pybind11 - CMake variable, disables
-#     find_package(pybind11) when not REQUIRED, perhaps to force internal build
+#[=============================================================================[.rst:
 
-@PACKAGE_INIT@
+pybind11Config.cmake
+####################
+
+Exported variables
+==================
+
+This module sets the following variables in your project:
+
+``pybind11_FOUND``
+  true if pybind11 and all required components found on the system
+``pybind11_VERSION``
+  pybind11 version in format Major.Minor.Release
+``pybind11_VERSION_TYPE``
+  pybind11 version type (dev, release)
+``pybind11_INCLUDE_DIRS``
+  Directories where pybind11 and python headers are located.
+``pybind11_INCLUDE_DIR``
+  Directory where pybind11 headers are located.
+``pybind11_DEFINITIONS``
+  Definitions necessary to use pybind11, namely USING_pybind11.
+``pybind11_LIBRARIES``
+  Compile flags and python libraries (as needed) to link against.
+``pybind11_LIBRARY``
+  Empty.
+
+Available components: None
+
+
+Exported targets
+================
+
+If pybind11 is found, this module defines the following ``IMPORTED``
+interface library targets:
+
+``pybind11::module``
+  for extension modules.
+``pybind11::embed``
+  for embedding the Python interpreter.
+
+Python headers, libraries (as needed by platform), and the C++ standard
+are attached to the target.
+
+Advanced targets are also supplied - these are primary for users building
+complex applications, and they are available in all modes:
+
+``pybind11::headers``
+  Just the pybind11 headers and minimum compile requirements.
+``pybind11::pybind11``
+  Python headers too.
+``pybind11::python_link_helper``
+  Just the "linking" part of ``pybind11:module``, for CMake < 3.15.
+``pybind11::python2_no_register``
+  Quiets the warning/error when mixing C++14+ and Python 2, also included in ``pybind11::module``.
+``pybind11::thin_lto``
+  An alternative to ``INTERPROCEDURAL_OPTIMIZATION``.
+``pybind11::lto``
+  An alternative to ``INTERPROCEDURAL_OPTIMIZATION`` (also avoids thin LTO on clang).
+``pybind11::windows_extras``
+  Adds bigobj and mp for MSVC.
+
+Modes
+=====
+
+There are two modes provided; classic, which is built on the old Python
+discovery packages in CMake, or the new FindPython mode, which uses FindPython
+from 3.12+ forward (3.15+ _highly_ recommended).
+
+New FindPython mode
+^^^^^^^^^^^^^^^^^^^
+
+To activate this mode, either call ``find_package(Python COMPONENTS Interpreter Development)``
+before finding this package, or set the ``PYBIND11_FINDPYTHON`` variable to ON. In this mode,
+you can either use the basic targets, or use the FindPython tools:
+
+.. code-block:: cmake
+
+  find_package(Python COMPONENTS Interpreter Development)
+  find_package(pybind11 CONFIG)
+
+  # pybind11 method:
+  pybind11_add_module(MyModule1 src1.cpp)
+
+  # Python method:
+  Python_add_library(MyModule2 src2.cpp)
+  target_link_libraries(MyModule2 pybind11::headers)
+  set_target_properties(MyModule2 PROPERTIES
+                                  INTERPROCEDURAL_OPTIMIZATION ON
+                                  CXX__VISIBILITY_PRESET ON
+                                  VISIBLITY_INLINES_HIDDEN ON)
+
+If you build targets yourself, you may be interested in stripping the output
+for reduced size; this is the one other feature that the helper function gives you.
+
+Classic mode
+^^^^^^^^^^^^
+
+Set PythonLibsNew variables to influence python detection and
+CMAKE_CXX_STANDARD to influence standard setting.
+
+.. code-block:: cmake
+
+  find_package(pybind11 CONFIG REQUIRED)
+
+  # Create an extension module
+  add_library(mylib MODULE main.cpp)
+  target_link_libraries(mylib PUBLIC pybind11::module)
+
+  # Or embed the Python interpreter into an executable
+  add_executable(myexe main.cpp)
+  target_link_libraries(myexe PUBLIC pybind11::embed)
 
-set(PN pybind11)
 
-# location of pybind11/pybind11.h
-set(${PN}_INCLUDE_DIR "${PACKAGE_PREFIX_DIR}/@CMAKE_INSTALL_INCLUDEDIR@")
+Hints
+=====
 
-set(${PN}_LIBRARY "")
-set(${PN}_DEFINITIONS USING_${PN})
+The following variables can be set to guide the search for this package:
 
-check_required_components(${PN})
+``pybind11_DIR``
+  CMake variable, set to directory containing this Config file.
+``CMAKE_PREFIX_PATH``
+  CMake variable, set to root directory of this package.
+``PATH``
+  Environment variable, set to bin directory of this package.
+``CMAKE_DISABLE_FIND_PACKAGE_pybind11``
+  CMake variable, disables ``find_package(pybind11)`` when not ``REQUIRED``,
+  perhaps to force internal build.
 
-# make detectable the FindPythonLibsNew.cmake module
-list(APPEND CMAKE_MODULE_PATH ${CMAKE_CURRENT_LIST_DIR})
+Commands
+========
 
-include(pybind11Tools)
+pybind11_add_module
+^^^^^^^^^^^^^^^^^^^
 
-if(NOT (CMAKE_VERSION VERSION_LESS 3.0))
-#-----------------------------------------------------------------------------
-# Don't include targets if this file is being picked up by another
-# project which has already built this as a subproject
-#-----------------------------------------------------------------------------
-if(NOT TARGET ${PN}::pybind11)
-    include("${CMAKE_CURRENT_LIST_DIR}/${PN}Targets.cmake")
+This module defines the following commands to assist with creating Python modules:
 
-    find_package(PythonLibsNew ${PYBIND11_PYTHON_VERSION} MODULE REQUIRED)
-    set_property(TARGET ${PN}::pybind11 APPEND PROPERTY INTERFACE_INCLUDE_DIRECTORIES ${PYTHON_INCLUDE_DIRS})
-    set_property(TARGET ${PN}::embed APPEND PROPERTY INTERFACE_LINK_LIBRARIES ${PYTHON_LIBRARIES})
-    if(WIN32 OR CYGWIN)
-      set_property(TARGET ${PN}::module APPEND PROPERTY INTERFACE_LINK_LIBRARIES ${PYTHON_LIBRARIES})
-    endif()
+.. code-block:: cmake
 
-    if(CMAKE_VERSION VERSION_LESS 3.3)
-      set_property(TARGET ${PN}::pybind11 APPEND PROPERTY INTERFACE_COMPILE_OPTIONS "${PYBIND11_CPP_STANDARD}")
-    else()
-      set_property(TARGET ${PN}::pybind11 APPEND PROPERTY INTERFACE_COMPILE_OPTIONS $<$<COMPILE_LANGUAGE:CXX>:${PYBIND11_CPP_STANDARD}>)
-    endif()
+  pybind11_add_module(<target>
+    [STATIC|SHARED|MODULE]
+    [THIN_LTO] [OPT_SIZE] [NO_EXTRAS] [WITHOUT_SOBAI]
+    <files>...
+    )
 
-    get_property(_iid TARGET ${PN}::pybind11 PROPERTY INTERFACE_INCLUDE_DIRECTORIES)
-    get_property(_ill TARGET ${PN}::module PROPERTY INTERFACE_LINK_LIBRARIES)
-    set(${PN}_INCLUDE_DIRS ${_iid})
-    set(${PN}_LIBRARIES ${_ico} ${_ill})
+Add a module and setup all helpers. You can select the type of the library; the
+default is ``MODULE``. There are several options:
+
+``OPT_SIZE``
+  Optimize for size, even if the ``CMAKE_BUILD_TYPE`` is not ``RelSize``.
+``THIN_LTO``
+  Use thin TLO instead of regular if there's a choice (pybind11's selection
+  is disabled if ``CMAKE_INTERPROCEDURAL_OPTIMIZATIONS`` is set).
+``WITHOUT_SOABI``
+  Disable the SOABI component (``PYBIND11_NEWPYTHON`` mode only).
+``NO_EXTRAS``
+  Disable all extras, exit immediately after making the module.
+
+pybind11_strip
+^^^^^^^^^^^^^^
+
+.. code-block:: cmake
+
+  pybind11_strip(<target>)
+
+Strip a target after building it (linux/macOS), called by ``pybind11_add_module``.
+
+pybind11_extension
+^^^^^^^^^^^^^^^^^^
+
+.. code-block:: cmake
+
+    pybind11_extension(<target>)
+
+Sets the Python extension name correctly for Python on your platform, called by
+``pybind11_add_module``.
+
+pybind11_find_import(module)
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+.. code-block:: cmake
+
+    pybind11_find_import(<module> [VERSION <number>] [REQUIRED] [QUIET])
+
+See if a module is installed. Use the registered name (the one on PyPI). You
+can specify a ``VERSION``, and you can specify ``REQUIRED`` or ``QUIET``. Only available if
+``NOPYTHON`` mode is not active.  Sets ``module_VERSION`` and ``module_FOUND``. Caches the
+result once a valid install is found.
+
+Suggested usage
+===============
+
+Using ``find_package`` with version info is not recommended except for release versions.
+
+.. code-block:: cmake
+
+  find_package(pybind11 CONFIG)
+  find_package(pybind11 2.0 EXACT CONFIG REQUIRED)
+
+#]=============================================================================]
+@PACKAGE_INIT@
+
+# Location of pybind11/pybind11.h
+set(pybind11_INCLUDE_DIR "${PACKAGE_PREFIX_DIR}/@CMAKE_INSTALL_INCLUDEDIR@")
+
+set(pybind11_LIBRARY "")
+set(pybind11_DEFINITIONS USING_pybind11)
+set(pybind11_VERSION_TYPE "@pybind11_VERSION_TYPE@")
+
+check_required_components(pybind11)
+
+if(TARGET pybind11::python_link_helper)
+  # This has already been setup elsewhere, such as with a previous call or
+  # add_subdirectory
+  return()
 endif()
+
+include("${CMAKE_CURRENT_LIST_DIR}/pybind11Targets.cmake")
+
+# Easier to use / remember
+add_library(pybind11::headers IMPORTED INTERFACE)
+set_target_properties(pybind11::headers PROPERTIES INTERFACE_LINK_LIBRARIES
+                                                   pybind11::pybind11_headers)
+
+include("${CMAKE_CURRENT_LIST_DIR}/pybind11Common.cmake")
+
+if(NOT pybind11_FIND_QUIETLY)
+  message(
+    STATUS
+      "Found pybind11: ${pybind11_INCLUDE_DIR} (found version \"${pybind11_VERSION}\" ${pybind11_VERSION_TYPE})"
+  )
 endif()
diff --git a/3rdparty/pybind11/tools/pybind11NewTools.cmake b/3rdparty/pybind11/tools/pybind11NewTools.cmake
new file mode 100644
index 00000000..357cc61c
--- /dev/null
+++ b/3rdparty/pybind11/tools/pybind11NewTools.cmake
@@ -0,0 +1,246 @@
+# tools/pybind11NewTools.cmake -- Build system for the pybind11 modules
+#
+# Copyright (c) 2020 Wenzel Jakob <wenzel@inf.ethz.ch> and Henry Schreiner
+#
+# All rights reserved. Use of this source code is governed by a
+# BSD-style license that can be found in the LICENSE file.
+
+get_property(
+  is_config
+  TARGET pybind11::headers
+  PROPERTY IMPORTED)
+
+if(pybind11_FIND_QUIETLY)
+  set(_pybind11_quiet QUIET)
+endif()
+
+if(CMAKE_VERSION VERSION_LESS 3.12)
+  message(FATAL_ERROR "You cannot use the new FindPython module with CMake < 3.12")
+endif()
+
+if(NOT Python_FOUND
+   AND NOT Python3_FOUND
+   AND NOT Python2_FOUND)
+  if(NOT DEFINED Python_FIND_IMPLEMENTATIONS)
+    set(Python_FIND_IMPLEMENTATIONS CPython PyPy)
+  endif()
+
+  # GitHub Actions like activation
+  if(NOT DEFINED Python_ROOT_DIR AND DEFINED ENV{pythonLocation})
+    set(Python_ROOT_DIR "$ENV{pythonLocation}")
+  endif()
+
+  find_package(Python REQUIRED COMPONENTS Interpreter Development ${_pybind11_quiet})
+
+  # If we are in submodule mode, export the Python targets to global targets.
+  # If this behavior is not desired, FindPython _before_ pybind11.
+  if(NOT is_config)
+    set_property(TARGET Python::Python PROPERTY IMPORTED_GLOBAL TRUE)
+    set_property(TARGET Python::Interpreter PROPERTY IMPORTED_GLOBAL TRUE)
+    if(TARGET Python::Module)
+      set_property(TARGET Python::Module PROPERTY IMPORTED_GLOBAL TRUE)
+    endif()
+  endif()
+endif()
+
+if(Python_FOUND)
+  set(_Python
+      Python
+      CACHE INTERNAL "" FORCE)
+elseif(Python3_FOUND AND NOT Python2_FOUND)
+  set(_Python
+      Python3
+      CACHE INTERNAL "" FORCE)
+elseif(Python2_FOUND AND NOT Python3_FOUND)
+  set(_Python
+      Python2
+      CACHE INTERNAL "" FORCE)
+else()
+  message(AUTHOR_WARNING "Python2 and Python3 both present, pybind11 in "
+                         "PYBIND11_NOPYTHON mode (manually activate to silence warning)")
+  set(_pybind11_nopython ON)
+  return()
+endif()
+
+if(PYBIND11_MASTER_PROJECT)
+  if(${_Python}_INTERPRETER_ID MATCHES "PyPy")
+    message(STATUS "PyPy ${${_Python}_PyPy_VERSION} (Py ${${_Python}_VERSION})")
+  else()
+    message(STATUS "${_Python} ${${_Python}_VERSION}")
+  endif()
+endif()
+
+# If a user finds Python, they may forget to include the Interpreter component
+# and the following two steps require it. It is highly recommended by CMake
+# when finding development libraries anyway, so we will require it.
+if(NOT DEFINED ${_Python}_EXECUTABLE)
+  message(
+    FATAL_ERROR
+      "${_Python} was found without the Interpreter component. Pybind11 requires this component.")
+
+endif()
+
+if(NOT DEFINED PYTHON_IS_DEBUG)
+  # Debug check - see https://stackoverflow.com/questions/646518/python-how-to-detect-debug-Interpreter
+  execute_process(
+    COMMAND "${${_Python}_EXECUTABLE}" "-c"
+            "import sys; sys.exit(hasattr(sys, 'gettotalrefcount'))"
+    RESULT_VARIABLE _PYTHON_IS_DEBUG)
+  set(PYTHON_IS_DEBUG
+      "${_PYTHON_IS_DEBUG}"
+      CACHE INTERNAL "Python debug status")
+endif()
+
+# Get the suffix - SO is deprecated, should use EXT_SUFFIX, but this is
+# required for PyPy3 (as of 7.3.1)
+if(NOT DEFINED PYTHON_MODULE_EXTENSION)
+  execute_process(
+    COMMAND
+      "${${_Python}_EXECUTABLE}" "-c"
+      "from distutils import sysconfig as s;print(s.get_config_var('EXT_SUFFIX') or s.get_config_var('SO'))"
+    OUTPUT_VARIABLE _PYTHON_MODULE_EXTENSION
+    ERROR_VARIABLE _PYTHON_MODULE_EXTENSION_ERR
+    OUTPUT_STRIP_TRAILING_WHITESPACE)
+
+  if(_PYTHON_MODULE_EXTENSION STREQUAL "")
+    message(
+      FATAL_ERROR "pybind11 could not query the module file extension, likely the 'distutils'"
+                  "package is not installed. Full error message:\n${_PYTHON_MODULE_EXTENSION_ERR}")
+  endif()
+
+  # This needs to be available for the pybind11_extension function
+  set(PYTHON_MODULE_EXTENSION
+      "${_PYTHON_MODULE_EXTENSION}"
+      CACHE INTERNAL "")
+endif()
+
+# Python debug libraries expose slightly different objects before 3.8
+# https://docs.python.org/3.6/c-api/intro.html#debugging-builds
+# https://stackoverflow.com/questions/39161202/how-to-work-around-missing-pymodule-create2-in-amd64-win-python35-d-lib
+if(PYTHON_IS_DEBUG)
+  set_property(
+    TARGET pybind11::pybind11
+    APPEND
+    PROPERTY INTERFACE_COMPILE_DEFINITIONS Py_DEBUG)
+endif()
+
+# Check on every access - since Python2 and Python3 could have been used - do nothing in that case.
+
+if(DEFINED ${_Python}_INCLUDE_DIRS)
+  set_property(
+    TARGET pybind11::pybind11
+    APPEND
+    PROPERTY INTERFACE_INCLUDE_DIRECTORIES $<BUILD_INTERFACE:${${_Python}_INCLUDE_DIRS}>)
+  set(pybind11_INCLUDE_DIRS
+      "${pybind11_INCLUDE_DIR}" "${${_Python}_INCLUDE_DIRS}"
+      CACHE INTERNAL "Directories where pybind11 and possibly Python headers are located")
+endif()
+
+if(DEFINED ${_Python}_VERSION AND ${_Python}_VERSION VERSION_LESS 3)
+  set_property(
+    TARGET pybind11::pybind11
+    APPEND
+    PROPERTY INTERFACE_LINK_LIBRARIES pybind11::python2_no_register)
+endif()
+
+# In CMake 3.18+, you can find these separately, so include an if
+if(TARGET ${_Python}::${_Python})
+  set_property(
+    TARGET pybind11::embed
+    APPEND
+    PROPERTY INTERFACE_LINK_LIBRARIES ${_Python}::${_Python})
+endif()
+
+# CMake 3.15+ has this
+if(TARGET ${_Python}::Module)
+  set_property(
+    TARGET pybind11::module
+    APPEND
+    PROPERTY INTERFACE_LINK_LIBRARIES ${_Python}::Module)
+else()
+  set_property(
+    TARGET pybind11::module
+    APPEND
+    PROPERTY INTERFACE_LINK_LIBRARIES pybind11::python_link_helper)
+endif()
+
+# WITHOUT_SOABI and WITH_SOABI will disable the custom extension handling used by pybind11.
+# WITH_SOABI is passed on to python_add_library.
+function(pybind11_add_module target_name)
+  cmake_parse_arguments(PARSE_ARGV 1 ARG
+                        "STATIC;SHARED;MODULE;THIN_LTO;OPT_SIZE;NO_EXTRAS;WITHOUT_SOABI" "" "")
+
+  if(ARG_ADD_LIBRARY_STATIC)
+    set(type STATIC)
+  elseif(ARG_ADD_LIBRARY_SHARED)
+    set(type SHARED)
+  else()
+    set(type MODULE)
+  endif()
+
+  if("${_Python}" STREQUAL "Python")
+    python_add_library(${target_name} ${type} ${ARG_UNPARSED_ARGUMENTS})
+  elseif("${_Python}" STREQUAL "Python3")
+    python3_add_library(${target_name} ${type} ${ARG_UNPARSED_ARGUMENTS})
+  elseif("${_Python}" STREQUAL "Python2")
+    python2_add_library(${target_name} ${type} ${ARG_UNPARSED_ARGUMENTS})
+  else()
+    message(FATAL_ERROR "Cannot detect FindPython version: ${_Python}")
+  endif()
+
+  target_link_libraries(${target_name} PRIVATE pybind11::headers)
+
+  if(type STREQUAL "MODULE")
+    target_link_libraries(${target_name} PRIVATE pybind11::module)
+  else()
+    target_link_libraries(${target_name} PRIVATE pybind11::embed)
+  endif()
+
+  if(MSVC)
+    target_link_libraries(${target_name} PRIVATE pybind11::windows_extras)
+  endif()
+
+  if(DEFINED ${_Python}_VERSION AND ${_Python}_VERSION VERSION_LESS 3)
+    target_link_libraries(${target_name} PRIVATE pybind11::python2_no_register)
+  endif()
+
+  set_target_properties(${target_name} PROPERTIES CXX_VISIBILITY_PRESET "hidden"
+                                                  CUDA_VISIBILITY_PRESET "hidden")
+
+  # If we don't pass a WITH_SOABI or WITHOUT_SOABI, use our own default handling of extensions
+  if("${type}" STREQUAL "MODULE" AND (NOT ARG_WITHOUT_SOABI OR NOT "WITH_SOABI" IN_LIST
+                                                               ARG_UNPARSED_ARGUMENTS))
+    pybind11_extension(${target_name})
+  endif()
+
+  if(ARG_NO_EXTRAS)
+    return()
+  endif()
+
+  if(NOT DEFINED CMAKE_INTERPROCEDURAL_OPTIMIZATION)
+    if(ARG_THIN_LTO)
+      target_link_libraries(${target_name} PRIVATE pybind11::thin_lto)
+    else()
+      target_link_libraries(${target_name} PRIVATE pybind11::lto)
+    endif()
+  endif()
+
+  if(NOT MSVC AND NOT ${CMAKE_BUILD_TYPE} MATCHES Debug|RelWithDebInfo)
+    # Strip unnecessary sections of the binary on Linux/macOS
+    pybind11_strip(${target_name})
+  endif()
+
+  if(MSVC)
+    target_link_libraries(${target_name} PRIVATE pybind11::windows_extras)
+  endif()
+
+  if(ARG_OPT_SIZE)
+    target_link_libraries(${target_name} PRIVATE pybind11::opt_size)
+  endif()
+endfunction()
+
+function(pybind11_extension name)
+  # The extension is precomputed
+  set_target_properties(${name} PROPERTIES PREFIX "" SUFFIX "${PYTHON_MODULE_EXTENSION}")
+
+endfunction()
diff --git a/3rdparty/pybind11/tools/pybind11Tools.cmake b/3rdparty/pybind11/tools/pybind11Tools.cmake
index 508e4742..23cff98e 100644
--- a/3rdparty/pybind11/tools/pybind11Tools.cmake
+++ b/3rdparty/pybind11/tools/pybind11Tools.cmake
@@ -1,119 +1,137 @@
 # tools/pybind11Tools.cmake -- Build system for the pybind11 modules
 #
-# Copyright (c) 2015 Wenzel Jakob <wenzel@inf.ethz.ch>
+# Copyright (c) 2020 Wenzel Jakob <wenzel.jakob@epfl.ch>
 #
 # All rights reserved. Use of this source code is governed by a
 # BSD-style license that can be found in the LICENSE file.
 
-cmake_minimum_required(VERSION 2.8.12)
+# Built-in in CMake 3.5+
+include(CMakeParseArguments)
 
-# Add a CMake parameter for choosing a desired Python version
-if(NOT PYBIND11_PYTHON_VERSION)
-  set(PYBIND11_PYTHON_VERSION "" CACHE STRING "Python version to use for compiling modules")
+if(pybind11_FIND_QUIETLY)
+  set(_pybind11_quiet QUIET)
 endif()
 
-set(Python_ADDITIONAL_VERSIONS 3.9 3.8 3.7 3.6 3.5 3.4)
-find_package(PythonLibsNew ${PYBIND11_PYTHON_VERSION} REQUIRED)
-
-include(CheckCXXCompilerFlag)
-include(CMakeParseArguments)
-
-if(NOT PYBIND11_CPP_STANDARD AND NOT CMAKE_CXX_STANDARD)
-  if(NOT MSVC)
-    check_cxx_compiler_flag("-std=c++14" HAS_CPP14_FLAG)
+# If this is the first run, PYTHON_VERSION can stand in for PYBIND11_PYTHON_VERSION
+if(NOT DEFINED PYBIND11_PYTHON_VERSION AND DEFINED PYTHON_VERSION)
+  message(WARNING "Set PYBIND11_PYTHON_VERSION to search for a specific version, not "
+                  "PYTHON_VERSION (which is an output). Assuming that is what you "
+                  "meant to do and continuing anyway.")
+  set(PYBIND11_PYTHON_VERSION
+      "${PYTHON_VERSION}"
+      CACHE STRING "Python version to use for compiling modules")
+  unset(PYTHON_VERSION)
+  unset(PYTHON_VERSION CACHE)
+else()
+  # If this is set as a normal variable, promote it, otherwise, make an empty cache variable.
+  set(PYBIND11_PYTHON_VERSION
+      "${PYBIND11_PYTHON_VERSION}"
+      CACHE STRING "Python version to use for compiling modules")
+endif()
 
-    if (HAS_CPP14_FLAG)
-      set(PYBIND11_CPP_STANDARD -std=c++14)
-    else()
-      check_cxx_compiler_flag("-std=c++11" HAS_CPP11_FLAG)
-      if (HAS_CPP11_FLAG)
-        set(PYBIND11_CPP_STANDARD -std=c++11)
-      else()
-        message(FATAL_ERROR "Unsupported compiler -- pybind11 requires C++11 support!")
-      endif()
+# A user can set versions manually too
+set(Python_ADDITIONAL_VERSIONS
+    "3.9;3.8;3.7;3.6;3.5;3.4"
+    CACHE INTERNAL "")
+
+list(APPEND CMAKE_MODULE_PATH "${CMAKE_CURRENT_LIST_DIR}")
+find_package(PythonLibsNew ${PYBIND11_PYTHON_VERSION} MODULE REQUIRED ${_pybind11_quiet})
+list(REMOVE_AT CMAKE_MODULE_PATH -1)
+
+# Cache variables so pybind11_add_module can be used in parent projects
+set(PYTHON_INCLUDE_DIRS
+    ${PYTHON_INCLUDE_DIRS}
+    CACHE INTERNAL "")
+set(PYTHON_LIBRARIES
+    ${PYTHON_LIBRARIES}
+    CACHE INTERNAL "")
+set(PYTHON_MODULE_PREFIX
+    ${PYTHON_MODULE_PREFIX}
+    CACHE INTERNAL "")
+set(PYTHON_MODULE_EXTENSION
+    ${PYTHON_MODULE_EXTENSION}
+    CACHE INTERNAL "")
+set(PYTHON_VERSION_MAJOR
+    ${PYTHON_VERSION_MAJOR}
+    CACHE INTERNAL "")
+set(PYTHON_VERSION_MINOR
+    ${PYTHON_VERSION_MINOR}
+    CACHE INTERNAL "")
+set(PYTHON_VERSION
+    ${PYTHON_VERSION}
+    CACHE INTERNAL "")
+set(PYTHON_IS_DEBUG
+    "${PYTHON_IS_DEBUG}"
+    CACHE INTERNAL "")
+
+if(PYBIND11_MASTER_PROJECT)
+  if(PYTHON_MODULE_EXTENSION MATCHES "pypy")
+    if(NOT DEFINED PYPY_VERSION)
+      execute_process(
+        COMMAND ${PYTHON_EXECUTABLE} -c
+                [=[import sys; sys.stdout.write(".".join(map(str, sys.pypy_version_info[:3])))]=]
+        OUTPUT_VARIABLE pypy_version)
+      set(PYPY_VERSION
+          ${pypy_version}
+          CACHE INTERNAL "")
     endif()
-  elseif(MSVC)
-    set(PYBIND11_CPP_STANDARD /std:c++14)
+    message(STATUS "PYPY ${PYPY_VERSION} (Py ${PYTHON_VERSION})")
+  else()
+    message(STATUS "PYTHON ${PYTHON_VERSION}")
   endif()
-
-  set(PYBIND11_CPP_STANDARD ${PYBIND11_CPP_STANDARD} CACHE STRING
-      "C++ standard flag, e.g. -std=c++11, -std=c++14, /std:c++14.  Defaults to C++14 mode." FORCE)
 endif()
 
-# Checks whether the given CXX/linker flags can compile and link a cxx file.  cxxflags and
-# linkerflags are lists of flags to use.  The result variable is a unique variable name for each set
-# of flags: the compilation result will be cached base on the result variable.  If the flags work,
-# sets them in cxxflags_out/linkerflags_out internal cache variables (in addition to ${result}).
-function(_pybind11_return_if_cxx_and_linker_flags_work result cxxflags linkerflags cxxflags_out linkerflags_out)
-  set(CMAKE_REQUIRED_LIBRARIES ${linkerflags})
-  check_cxx_compiler_flag("${cxxflags}" ${result})
-  if (${result})
-    set(${cxxflags_out} "${cxxflags}" CACHE INTERNAL "" FORCE)
-    set(${linkerflags_out} "${linkerflags}" CACHE INTERNAL "" FORCE)
-  endif()
-endfunction()
+# Only add Python for build - must be added during the import for config since it has to be re-discovered.
+set_property(
+  TARGET pybind11::pybind11
+  APPEND
+  PROPERTY INTERFACE_INCLUDE_DIRECTORIES $<BUILD_INTERFACE:${PYTHON_INCLUDE_DIRS}>)
+
+set(pybind11_INCLUDE_DIRS
+    "${pybind11_INCLUDE_DIR}" "${PYTHON_INCLUDE_DIRS}"
+    CACHE INTERNAL "Directories where pybind11 and possibly Python headers are located")
+
+# Python debug libraries expose slightly different objects before 3.8
+# https://docs.python.org/3.6/c-api/intro.html#debugging-builds
+# https://stackoverflow.com/questions/39161202/how-to-work-around-missing-pymodule-create2-in-amd64-win-python35-d-lib
+if(PYTHON_IS_DEBUG)
+  set_property(
+    TARGET pybind11::pybind11
+    APPEND
+    PROPERTY INTERFACE_COMPILE_DEFINITIONS Py_DEBUG)
+endif()
 
-# Internal: find the appropriate link time optimization flags for this compiler
-function(_pybind11_add_lto_flags target_name prefer_thin_lto)
-  if (NOT DEFINED PYBIND11_LTO_CXX_FLAGS)
-    set(PYBIND11_LTO_CXX_FLAGS "" CACHE INTERNAL "")
-    set(PYBIND11_LTO_LINKER_FLAGS "" CACHE INTERNAL "")
-
-    if(CMAKE_CXX_COMPILER_ID MATCHES "GNU|Clang")
-      set(cxx_append "")
-      set(linker_append "")
-      if (CMAKE_CXX_COMPILER_ID MATCHES "Clang" AND NOT APPLE)
-        # Clang Gold plugin does not support -Os; append -O3 to MinSizeRel builds to override it
-        set(linker_append ";$<$<CONFIG:MinSizeRel>:-O3>")
-      elseif(CMAKE_CXX_COMPILER_ID MATCHES "GNU")
-        set(cxx_append ";-fno-fat-lto-objects")
-      endif()
-
-      if (CMAKE_CXX_COMPILER_ID MATCHES "Clang" AND prefer_thin_lto)
-        _pybind11_return_if_cxx_and_linker_flags_work(HAS_FLTO_THIN
-          "-flto=thin${cxx_append}" "-flto=thin${linker_append}"
-          PYBIND11_LTO_CXX_FLAGS PYBIND11_LTO_LINKER_FLAGS)
-      endif()
-
-      if (NOT HAS_FLTO_THIN)
-        _pybind11_return_if_cxx_and_linker_flags_work(HAS_FLTO
-          "-flto${cxx_append}" "-flto${linker_append}"
-          PYBIND11_LTO_CXX_FLAGS PYBIND11_LTO_LINKER_FLAGS)
-      endif()
-    elseif (CMAKE_CXX_COMPILER_ID MATCHES "Intel")
-      # Intel equivalent to LTO is called IPO
-      _pybind11_return_if_cxx_and_linker_flags_work(HAS_INTEL_IPO
-      "-ipo" "-ipo" PYBIND11_LTO_CXX_FLAGS PYBIND11_LTO_LINKER_FLAGS)
-    elseif(MSVC)
-      # cmake only interprets libraries as linker flags when they start with a - (otherwise it
-      # converts /LTCG to \LTCG as if it was a Windows path).  Luckily MSVC supports passing flags
-      # with - instead of /, even if it is a bit non-standard:
-      _pybind11_return_if_cxx_and_linker_flags_work(HAS_MSVC_GL_LTCG
-        "/GL" "-LTCG" PYBIND11_LTO_CXX_FLAGS PYBIND11_LTO_LINKER_FLAGS)
-    endif()
+set_property(
+  TARGET pybind11::module
+  APPEND
+  PROPERTY
+    INTERFACE_LINK_LIBRARIES pybind11::python_link_helper
+    "$<$<OR:$<PLATFORM_ID:Windows>,$<PLATFORM_ID:Cygwin>>:$<BUILD_INTERFACE:${PYTHON_LIBRARIES}>>")
+
+if(PYTHON_VERSION VERSION_LESS 3)
+  set_property(
+    TARGET pybind11::pybind11
+    APPEND
+    PROPERTY INTERFACE_LINK_LIBRARIES pybind11::python2_no_register)
+endif()
 
-    if (PYBIND11_LTO_CXX_FLAGS)
-      message(STATUS "LTO enabled")
-    else()
-      message(STATUS "LTO disabled (not supported by the compiler and/or linker)")
-    endif()
-  endif()
+set_property(
+  TARGET pybind11::embed
+  APPEND
+  PROPERTY INTERFACE_LINK_LIBRARIES pybind11::pybind11 $<BUILD_INTERFACE:${PYTHON_LIBRARIES}>)
 
-  # Enable LTO flags if found, except for Debug builds
-  if (PYBIND11_LTO_CXX_FLAGS)
-    target_compile_options(${target_name} PRIVATE "$<$<NOT:$<CONFIG:Debug>>:${PYBIND11_LTO_CXX_FLAGS}>")
-  endif()
-  if (PYBIND11_LTO_LINKER_FLAGS)
-    target_link_libraries(${target_name} PRIVATE "$<$<NOT:$<CONFIG:Debug>>:${PYBIND11_LTO_LINKER_FLAGS}>")
-  endif()
+function(pybind11_extension name)
+  # The prefix and extension are provided by FindPythonLibsNew.cmake
+  set_target_properties(${name} PROPERTIES PREFIX "${PYTHON_MODULE_PREFIX}"
+                                           SUFFIX "${PYTHON_MODULE_EXTENSION}")
 endfunction()
 
 # Build a Python extension module:
 # pybind11_add_module(<name> [MODULE | SHARED] [EXCLUDE_FROM_ALL]
-#                     [NO_EXTRAS] [SYSTEM] [THIN_LTO] source1 [source2 ...])
+#                     [NO_EXTRAS] [THIN_LTO] [OPT_SIZE] source1 [source2 ...])
 #
 function(pybind11_add_module target_name)
-  set(options MODULE SHARED EXCLUDE_FROM_ALL NO_EXTRAS SYSTEM THIN_LTO)
+  set(options "MODULE;SHARED;EXCLUDE_FROM_ALL;NO_EXTRAS;SYSTEM;THIN_LTO;OPT_SIZE")
   cmake_parse_arguments(ARG "${options}" "" "" ${ARGN})
 
   if(ARG_MODULE AND ARG_SHARED)
@@ -126,102 +144,57 @@ function(pybind11_add_module target_name)
 
   if(ARG_EXCLUDE_FROM_ALL)
     set(exclude_from_all EXCLUDE_FROM_ALL)
+  else()
+    set(exclude_from_all "")
   endif()
 
   add_library(${target_name} ${lib_type} ${exclude_from_all} ${ARG_UNPARSED_ARGUMENTS})
 
-  if(ARG_SYSTEM)
-    set(inc_isystem SYSTEM)
-  endif()
+  target_link_libraries(${target_name} PRIVATE pybind11::module)
 
-  target_include_directories(${target_name} ${inc_isystem}
-    PRIVATE ${PYBIND11_INCLUDE_DIR}  # from project CMakeLists.txt
-    PRIVATE ${pybind11_INCLUDE_DIR}  # from pybind11Config
-    PRIVATE ${PYTHON_INCLUDE_DIRS})
-
-  # Python debug libraries expose slightly different objects
-  # https://docs.python.org/3.6/c-api/intro.html#debugging-builds
-  # https://stackoverflow.com/questions/39161202/how-to-work-around-missing-pymodule-create2-in-amd64-win-python35-d-lib
-  if(PYTHON_IS_DEBUG)
-    target_compile_definitions(${target_name} PRIVATE Py_DEBUG)
+  if(ARG_SYSTEM)
+    message(
+      STATUS
+        "Warning: this does not have an effect - use NO_SYSTEM_FROM_IMPORTED if using imported targets"
+    )
   endif()
 
-  # The prefix and extension are provided by FindPythonLibsNew.cmake
-  set_target_properties(${target_name} PROPERTIES PREFIX "${PYTHON_MODULE_PREFIX}")
-  set_target_properties(${target_name} PROPERTIES SUFFIX "${PYTHON_MODULE_EXTENSION}")
+  pybind11_extension(${target_name})
 
   # -fvisibility=hidden is required to allow multiple modules compiled against
   # different pybind versions to work properly, and for some features (e.g.
   # py::module_local).  We force it on everything inside the `pybind11`
   # namespace; also turning it on for a pybind module compilation here avoids
   # potential warnings or issues from having mixed hidden/non-hidden types.
-  set_target_properties(${target_name} PROPERTIES CXX_VISIBILITY_PRESET "hidden")
-  set_target_properties(${target_name} PROPERTIES CUDA_VISIBILITY_PRESET "hidden")
-
-  if(WIN32 OR CYGWIN)
-    # Link against the Python shared library on Windows
-    target_link_libraries(${target_name} PRIVATE ${PYTHON_LIBRARIES})
-  elseif(APPLE)
-    # It's quite common to have multiple copies of the same Python version
-    # installed on one's system. E.g.: one copy from the OS and another copy
-    # that's statically linked into an application like Blender or Maya.
-    # If we link our plugin library against the OS Python here and import it
-    # into Blender or Maya later on, this will cause segfaults when multiple
-    # conflicting Python instances are active at the same time (even when they
-    # are of the same version).
-
-    # Windows is not affected by this issue since it handles DLL imports
-    # differently. The solution for Linux and Mac OS is simple: we just don't
-    # link against the Python library. The resulting shared library will have
-    # missing symbols, but that's perfectly fine -- they will be resolved at
-    # import time.
-
-    target_link_libraries(${target_name} PRIVATE "-undefined dynamic_lookup")
-
-    if(ARG_SHARED)
-      # Suppress CMake >= 3.0 warning for shared libraries
-      set_target_properties(${target_name} PROPERTIES MACOSX_RPATH ON)
-    endif()
-  endif()
-
-  # Make sure C++11/14 are enabled
-  if(CMAKE_VERSION VERSION_LESS 3.3)
-    target_compile_options(${target_name} PUBLIC ${PYBIND11_CPP_STANDARD})
-  else()
-    target_compile_options(${target_name} PUBLIC $<$<COMPILE_LANGUAGE:CXX>:${PYBIND11_CPP_STANDARD}>)
-  endif()
+  set_target_properties(${target_name} PROPERTIES CXX_VISIBILITY_PRESET "hidden"
+                                                  CUDA_VISIBILITY_PRESET "hidden")
 
   if(ARG_NO_EXTRAS)
     return()
   endif()
 
-  _pybind11_add_lto_flags(${target_name} ${ARG_THIN_LTO})
-
-  if (NOT MSVC AND NOT ${CMAKE_BUILD_TYPE} MATCHES Debug|RelWithDebInfo)
-    # Strip unnecessary sections of the binary on Linux/Mac OS
-    if(CMAKE_STRIP)
-      if(APPLE)
-        add_custom_command(TARGET ${target_name} POST_BUILD
-                           COMMAND ${CMAKE_STRIP} -x $<TARGET_FILE:${target_name}>)
-      else()
-        add_custom_command(TARGET ${target_name} POST_BUILD
-                           COMMAND ${CMAKE_STRIP} $<TARGET_FILE:${target_name}>)
-      endif()
+  if(NOT DEFINED CMAKE_INTERPROCEDURAL_OPTIMIZATION)
+    if(ARG_THIN_LTO)
+      target_link_libraries(${target_name} PRIVATE pybind11::thin_lto)
+    else()
+      target_link_libraries(${target_name} PRIVATE pybind11::lto)
     endif()
   endif()
 
+  if(NOT MSVC AND NOT ${CMAKE_BUILD_TYPE} MATCHES Debug|RelWithDebInfo)
+    pybind11_strip(${target_name})
+  endif()
+
   if(MSVC)
-    # /MP enables multithreaded builds (relevant when there are many files), /bigobj is
-    # needed for bigger binding projects due to the limit to 64k addressable sections
-    target_compile_options(${target_name} PRIVATE /bigobj)
-    if(CMAKE_VERSION VERSION_LESS 3.11)
-      target_compile_options(${target_name} PRIVATE $<$<NOT:$<CONFIG:Debug>>:/MP>)
-    else()
-      # Only set these options for C++ files.  This is important so that, for
-      # instance, projects that include other types of source files like CUDA
-      # .cu files don't get these options propagated to nvcc since that would
-      # cause the build to fail.
-      target_compile_options(${target_name} PRIVATE $<$<NOT:$<CONFIG:Debug>>:$<$<COMPILE_LANGUAGE:CXX>:/MP>>)
-    endif()
+    target_link_libraries(${target_name} PRIVATE pybind11::windows_extras)
+  endif()
+
+  if(ARG_OPT_SIZE)
+    target_link_libraries(${target_name} PRIVATE pybind11::opt_size)
   endif()
 endfunction()
+
+# Provide general way to call common Python commands in "common" file.
+set(_Python
+    PYTHON
+    CACHE INTERNAL "" FORCE)
diff --git a/3rdparty/pybind11/tools/pyproject.toml b/3rdparty/pybind11/tools/pyproject.toml
new file mode 100644
index 00000000..8fe2f47a
--- /dev/null
+++ b/3rdparty/pybind11/tools/pyproject.toml
@@ -0,0 +1,3 @@
+[build-system]
+requires = ["setuptools>=42", "wheel"]
+build-backend = "setuptools.build_meta"
diff --git a/3rdparty/pybind11/tools/setup_global.py.in b/3rdparty/pybind11/tools/setup_global.py.in
new file mode 100644
index 00000000..4cf040b2
--- /dev/null
+++ b/3rdparty/pybind11/tools/setup_global.py.in
@@ -0,0 +1,63 @@
+#!/usr/bin/env python
+# -*- coding: utf-8 -*-
+
+# Setup script for pybind11-global (in the sdist or in tools/setup_global.py in the repository)
+# This package is targeted for easy use from CMake.
+
+import contextlib
+import glob
+import os
+import re
+import shutil
+import subprocess
+import sys
+import tempfile
+
+# Setuptools has to be before distutils
+from setuptools import setup
+
+from distutils.command.install_headers import install_headers
+
+class InstallHeadersNested(install_headers):
+    def run(self):
+        headers = self.distribution.headers or []
+        for header in headers:
+            # Remove pybind11/include/
+            short_header = header.split("/", 2)[-1]
+
+            dst = os.path.join(self.install_dir, os.path.dirname(short_header))
+            self.mkpath(dst)
+            (out, _) = self.copy_file(header, dst)
+            self.outfiles.append(out)
+
+
+main_headers = glob.glob("pybind11/include/pybind11/*.h")
+detail_headers = glob.glob("pybind11/include/pybind11/detail/*.h")
+cmake_files = glob.glob("pybind11/share/cmake/pybind11/*.cmake")
+headers = main_headers + detail_headers
+
+cmdclass = {"install_headers": InstallHeadersNested}
+$extra_cmd
+
+# This will _not_ affect installing from wheels,
+# only building wheels or installing from SDist.
+# Primarily intended on Windows, where this is sometimes
+# customized (for example, conda-forge uses Library/)
+base = os.environ.get("PYBIND11_GLOBAL_PREFIX", "")
+
+# Must have a separator
+if base and not base.endswith("/"):
+    base += "/"
+
+setup(
+    name="pybind11_global",
+    version="$version",
+    packages=[],
+    headers=headers,
+    data_files=[
+        (base + "share/cmake/pybind11", cmake_files),
+        (base + "include/pybind11", main_headers),
+        (base + "include/pybind11/detail", detail_headers),
+    ],
+    cmdclass=cmdclass,
+)
diff --git a/3rdparty/pybind11/tools/setup_main.py.in b/3rdparty/pybind11/tools/setup_main.py.in
new file mode 100644
index 00000000..2231a08f
--- /dev/null
+++ b/3rdparty/pybind11/tools/setup_main.py.in
@@ -0,0 +1,36 @@
+#!/usr/bin/env python
+# -*- coding: utf-8 -*-
+
+# Setup script (in the sdist or in tools/setup_main.py in the repository)
+
+from setuptools import setup
+
+cmdclass = {}
+$extra_cmd
+
+setup(
+    name="pybind11",
+    version="$version",
+    download_url='https://github.com/pybind/pybind11/tarball/v$version',
+    packages=[
+        "pybind11",
+        "pybind11.include.pybind11",
+        "pybind11.include.pybind11.detail",
+        "pybind11.share.cmake.pybind11",
+    ],
+    package_data={
+        "pybind11": ["py.typed", "*.pyi"],
+        "pybind11.include.pybind11": ["*.h"],
+        "pybind11.include.pybind11.detail": ["*.h"],
+        "pybind11.share.cmake.pybind11": ["*.cmake"],
+    },
+    extras_require={
+        "global": ["pybind11_global==$version"]
+        },
+    entry_points={
+        "console_scripts": [
+             "pybind11-config = pybind11.__main__:main",
+        ]
+    },
+    cmdclass=cmdclass
+)