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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.
# Build configuration for third party libraries used in MuJoCo.
# Override the BUILD_SHARED_LIBS setting, just for building third party libs (since we always want
# static libraries). The ccd CMakeLists.txt doesn't expose an option to build a static ccd library,
# unless BUILD_SHARED_LIBS is set.
set(MUJOCO_DEP_VERSION_lodepng
b4ed2cd7ecf61d29076169b49199371456d4f90b
CACHE STRING "Version of `lodepng` to be fetched."
)
set(MUJOCO_DEP_VERSION_tinyxml2
1dee28e51f9175a31955b9791c74c430fe13dc82 # 9.0.0
CACHE STRING "Version of `tinyxml2` to be fetched."
)
set(MUJOCO_DEP_VERSION_tinyobjloader
1421a10d6ed9742f5b2c1766d22faa6cfbc56248
CACHE STRING "Version of `tinyobjloader` to be fetched."
)
set(MUJOCO_DEP_VERSION_ccd
7931e764a19ef6b21b443376c699bbc9c6d4fba8 # v2.1
CACHE STRING "Version of `ccd` to be fetched."
)
set(MUJOCO_DEP_VERSION_qhull
3df027b91202cf179f3fba3c46eebe65bbac3790
CACHE STRING "Version of `qhull` to be fetched."
)
set(MUJOCO_DEP_VERSION_Eigen3
34780d8bd13d0af0cf17a22789ef286e8512594d
CACHE STRING "Version of `Eigen3` to be fetched."
)
set(MUJOCO_DEP_VERSION_abseil
8c0b94e793a66495e0b1f34a5eb26bd7dc672db0 # LTS 20220623.1
CACHE STRING "Version of `abseil` to be fetched."
)
set(MUJOCO_DEP_VERSION_gtest
58d77fa8070e8cec2dc1ed015d66b454c8d78850 # release-1.12.0
CACHE STRING "Version of `gtest` to be fetched."
)
set(MUJOCO_DEP_VERSION_benchmark
d845b7b3a27d54ad96280a29d61fa8988d4fddcf # v1.6.2
CACHE STRING "Version of `benchmark` to be fetched."
)
mark_as_advanced(MUJOCO_DEP_VERSION_lodepng)
mark_as_advanced(MUJOCO_DEP_VERSION_tinyxml2)
mark_as_advanced(MUJOCO_DEP_VERSION_tinyobjloader)
mark_as_advanced(MUJOCO_DEP_VERSION_ccd)
mark_as_advanced(MUJOCO_DEP_VERSION_qhull)
mark_as_advanced(MUJOCO_DEP_VERSION_Eigen3)
mark_as_advanced(MUJOCO_DEP_VERSION_abseil)
mark_as_advanced(MUJOCO_DEP_VERSION_gtest)
mark_as_advanced(MUJOCO_DEP_VERSION_benchmark)
include(FetchContent)
include(FindOrFetch)
# We force all the dependencies to be compiled as static libraries.
# TODO(fraromano) Revisit this choice when adding support for install.
set(BUILD_SHARED_LIBS_OLD ${BUILD_SHARED_LIBS})
set(BUILD_SHARED_LIBS
OFF
CACHE INTERNAL "Build SHARED libraries"
)
execute_process(COMMAND dpkg-architecture -q DEB_HOST_MULTIARCH OUTPUT_VARIABLE MULTIARCH OUTPUT_STRIP_TRAILING_WHITESPACE)
add_library(lodepng SHARED IMPORTED)
find_library(LODEPNG_LIBRARY lodepng HINTS /usr/lib/${MULTIARCH}/)
set_property(TARGET lodepng PROPERTY IMPORTED_LOCATION "${LODEPNG_LIBRARY}")
message(${LODEPNG_LIBRARY})
find_package(Qhull REQUIRED HINTS /usr/lib/${MULTIARCH}/cmake)
find_package(tinyxml2 REQUIRED HINTS /usr/lib/${MULTIARCH}/cmake)
find_package(tinyobjloader REQUIRED HINTS /usr/lib/${MULTIARCH}/cmake)
find_package(ccd REQUIRED HINTS /usr/lib/${MULTIARCH})
# libCCD has an unconditional `#define _CRT_SECURE_NO_WARNINGS` on Windows.
# TODO(stunya): Remove this after https://github.com/danfis/libccd/pull/77 is merged.
if(WIN32)
if(MSVC)
# C4005 is the MSVC equivalent of -Wmacro-redefined.
target_compile_options(ccd PRIVATE /wd4005)
else()
target_compile_options(ccd PRIVATE -Wno-macro-redefined)
endif()
endif()
if(MUJOCO_BUILD_TESTS)
set(ABSL_PROPAGATE_CXX_STD ON)
# This specific version of Abseil does not have the following variable. We need to work with BUILD_TESTING
set(BUILD_TESTING_OLD ${BUILD_TESTING})
set(BUILD_TESTING
OFF
CACHE INTERNAL "Build tests."
)
find_package(absl REQUIRED HINTS /usr/lib/${MULTIARCH}/cmake)
set(BUILD_TESTING
${BUILD_TESTING_OLD}
CACHE BOOL "Build tests." FORCE
)
find_package(GTest REQUIRED HINTS /usr/lib/${MULTIARCH}/cmake)
find_package(benchmark REQUIRED HINTS /usr/lib/${MULTIARCH}/cmake)
endif()
if(MUJOCO_TEST_PYTHON_UTIL)
add_compile_definitions(EIGEN_MPL2_ONLY)
if(NOT TARGET eigen)
# Support new IN_LIST if() operator.
set(CMAKE_POLICY_DEFAULT_CMP0057 NEW)
find_package(Eigen3 REQUIRED)
endif()
endif()
# Reset BUILD_SHARED_LIBS to its previous value
set(BUILD_SHARED_LIBS
${BUILD_SHARED_LIBS_OLD}
CACHE BOOL "Build MuJoCo as a shared library" FORCE
)
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