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# Copyright 2021 DeepMind Technologies Limited
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
# https://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
cmake_minimum_required(VERSION 3.16)
# Make CMAKE_C_VISIBILITY_PRESET work properly.
set(CMAKE_POLICY_DEFAULT_CMP0063 NEW)
# INTERPROCEDURAL_OPTIMIZATION is enforced when enabled.
set(CMAKE_POLICY_DEFAULT_CMP0069 NEW)
# Default to GLVND if available.
set(CMAKE_POLICY_DEFAULT_CMP0072 NEW)
# Avoid BUILD_SHARED_LIBS getting overridden by an option() in ccd.
set(CMAKE_POLICY_DEFAULT_CMP0077 NEW)
# This line has to appear before 'PROJECT' in order to be able to disable incremental linking
set(MSVC_INCREMENTAL_DEFAULT ON)
project(
mujoco
VERSION 2.2.2
DESCRIPTION "MuJoCo Physics Simulator"
HOMEPAGE_URL "https://mujoco.org"
)
enable_language(C)
enable_language(CXX)
list(APPEND CMAKE_MODULE_PATH "${PROJECT_SOURCE_DIR}/cmake")
option(MUJOCO_BUILD_EXAMPLES "Build samples for MuJoCo" ON)
option(MUJOCO_BUILD_SIMULATE "Build simulate library for MuJoCo" ON)
option(MUJOCO_BUILD_TESTS "Build tests for MuJoCo" ON)
option(MUJOCO_TEST_PYTHON_UTIL "Build and test utility libraries for Python bindings" ON)
if(APPLE AND (MUJOCO_BUILD_EXAMPLES OR MUJOCO_BUILD_SIMULATE))
enable_language(OBJC)
enable_language(OBJCXX)
endif()
include(MujocoOptions)
include(MujocoMacOS)
include(MujocoDependencies)
set(MUJOCO_HEADERS
include/mujoco/mjdata.h
include/mujoco/mjexport.h
include/mujoco/mjmodel.h
include/mujoco/mjrender.h
include/mujoco/mjtnum.h
include/mujoco/mjui.h
include/mujoco/mjvisualize.h
include/mujoco/mjxmacro.h
include/mujoco/mujoco.h
)
add_library(mujoco SHARED)
target_include_directories(
mujoco
PUBLIC $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
$<INSTALL_INTERFACE:${CMAKE_INSTALL_INCLUDEDIR}/>
/usr/include/libqhull_r/
PRIVATE src
)
add_subdirectory(src/engine)
add_subdirectory(src/user)
add_subdirectory(src/xml)
add_subdirectory(src/render)
add_subdirectory(src/ui)
target_compile_definitions(mujoco PRIVATE _GNU_SOURCE CCD_STATIC_DEFINE MUJOCO_DLL_EXPORTS)
if(MUJOCO_ENABLE_AVX_INTRINSICS)
target_compile_definitions(mujoco PUBLIC mjUSEPLATFORMSIMD)
endif()
target_compile_options(
mujoco
PRIVATE ${AVX_COMPILE_OPTIONS}
${MUJOCO_MACOS_COMPILE_OPTIONS}
${EXTRA_COMPILE_OPTIONS}
${MUJOCO_CXX_FLAGS}
)
target_link_options(
mujoco
PRIVATE
${MUJOCO_MACOS_LINK_OPTIONS}
${EXTRA_LINK_OPTIONS}
)
target_link_libraries(
mujoco
PRIVATE ccd
lodepng
qhull_r
tinyobjloader
tinyxml2
)
set_target_properties(
mujoco PROPERTIES VERSION "${mujoco_VERSION}" PUBLIC_HEADER "${MUJOCO_HEADERS}"
)
# CMake's built-in FRAMEWORK option doesn't give us control over the dylib name inside the
# Framework. We instead make our own Framework here.
if(APPLE AND MUJOCO_BUILD_MACOS_FRAMEWORKS)
set(TAPI
"/Applications/Xcode.app/Contents/Developer/Toolchains/XcodeDefault.xctoolchain/usr/bin/tapi"
)
configure_file(
${CMAKE_CURRENT_SOURCE_DIR}/dist/Info.plist.framework.in
${CMAKE_CURRENT_SOURCE_DIR}/dist/Info.framework.plist
)
set_target_properties(
mujoco
PROPERTIES LIBRARY_OUTPUT_DIRECTORY
"${CMAKE_LIBRARY_OUTPUT_DIRECTORY}/mujoco.framework/Versions/A"
BUILD_WITH_INSTALL_NAME_DIR TRUE
INSTALL_NAME_DIR "@rpath/mujoco.framework/Versions/A"
)
add_custom_command(
TARGET mujoco
POST_BUILD
COMMAND mkdir -p $<TARGET_FILE_DIR:mujoco>/Headers
COMMAND cd ${CMAKE_CURRENT_SOURCE_DIR} && cp ${MUJOCO_HEADERS} $<TARGET_FILE_DIR:mujoco>/Headers
COMMAND mkdir -p $<TARGET_FILE_DIR:mujoco>/Modules
COMMAND cp ${CMAKE_CURRENT_SOURCE_DIR}/dist/module.modulemap $<TARGET_FILE_DIR:mujoco>/Modules
COMMAND mkdir -p $<TARGET_FILE_DIR:mujoco>/Resources
COMMAND mv ${CMAKE_CURRENT_SOURCE_DIR}/dist/Info.framework.plist
$<TARGET_FILE_DIR:mujoco>/Resources/Info.plist
COMMAND ${TAPI} stubify $<TARGET_FILE:mujoco> -o $<TARGET_FILE_DIR:mujoco>/mujoco.tbd
COMMAND ln -fhs A $<TARGET_FILE_DIR:mujoco>/../Current
COMMAND ln -fhs Versions/Current/mujoco.tbd $<TARGET_FILE_DIR:mujoco>/../../mujoco.tbd
COMMAND ln -fhs Versions/Current/Headers $<TARGET_FILE_DIR:mujoco>/../../Headers
COMMAND ln -fhs Versions/Current/Modules $<TARGET_FILE_DIR:mujoco>/../../Modules
COMMAND ln -fhs Versions/Current/Resources $<TARGET_FILE_DIR:mujoco>/../../Resources
COMMAND_EXPAND_LISTS
)
endif()
# Add a namespace alias to mujoco to be used by the examples.
# This simulates the install interface when building with sources.
add_library(mujoco::mujoco ALIAS mujoco)
add_subdirectory(model)
# `simulate` defines a macro, embed_in_bundle, that's used by `sample`, so that
# subdirectory needs to be added first.
# TODO: Remove this order dependency.
if(MUJOCO_BUILD_SIMULATE)
add_subdirectory(simulate)
endif()
if(MUJOCO_BUILD_EXAMPLES)
add_subdirectory(sample)
endif()
if(BUILD_TESTING AND MUJOCO_BUILD_TESTS)
enable_testing()
add_subdirectory(test)
if(MUJOCO_TEST_PYTHON_UTIL)
add_subdirectory(python/mujoco/util)
endif()
endif()
if(NOT (APPLE AND MUJOCO_BUILD_MACOS_FRAMEWORKS))
# Install the libraries.
install(
TARGETS mujoco
EXPORT ${PROJECT_NAME}
RUNTIME DESTINATION "${CMAKE_INSTALL_BINDIR}" COMPONENT runtime
LIBRARY DESTINATION "${CMAKE_INSTALL_LIBDIR}" COMPONENT runtime
ARCHIVE DESTINATION "${CMAKE_INSTALL_LIBDIR}" COMPONENT dev
PUBLIC_HEADER DESTINATION "${CMAKE_INSTALL_INCLUDEDIR}/mujoco" COMPONENT dev
)
set(CONFIG_PACKAGE_LOCATION "${CMAKE_INSTALL_LIBDIR}/cmake/${PROJECT_NAME}")
# Generate and install the mujocoTargets.cmake file. This defines the targets as
# IMPORTED libraries for downstream users.
install(
EXPORT ${PROJECT_NAME}
DESTINATION ${CONFIG_PACKAGE_LOCATION}
NAMESPACE mujoco::
FILE "${PROJECT_NAME}Targets.cmake"
)
include(CMakePackageConfigHelpers)
write_basic_package_version_file(
"${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}ConfigVersion.cmake"
VERSION ${mujoco_VERSION}
COMPATIBILITY AnyNewerVersion
)
configure_package_config_file(
cmake/${PROJECT_NAME}Config.cmake.in "${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}Config.cmake"
INSTALL_DESTINATION ${CONFIG_PACKAGE_LOCATION}
)
install(FILES "${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}Config.cmake"
"${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}ConfigVersion.cmake"
DESTINATION ${CONFIG_PACKAGE_LOCATION}
)
# Install also models into share folder.
install(
DIRECTORY model
DESTINATION "${CMAKE_INSTALL_DATADIR}/mujoco"
PATTERN "CMakeLists.txt" EXCLUDE
)
endif()
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