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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)
# INTERPROCEDURAL_OPTIMIZATION is enforced when enabled.
set(CMAKE_POLICY_DEFAULT_CMP0069 NEW)
# Default to GLVND if available.
set(CMAKE_POLICY_DEFAULT_CMP0072 NEW)
# This line has to appear before 'PROJECT' in order to be able to disable incremental linking
set(MSVC_INCREMENTAL_DEFAULT ON)
project(
mujoco_samples
VERSION 2.2.2
DESCRIPTION "MuJoCo samples binaries"
HOMEPAGE_URL "https://mujoco.org"
)
enable_language(C)
enable_language(CXX)
if(APPLE)
enable_language(OBJC)
enable_language(OBJCXX)
endif()
# Check if we are building as standalone project.
set(SAMPLE_STANDALONE OFF)
set(_INSTALL_SAMPLES ON)
if(CMAKE_SOURCE_DIR STREQUAL CMAKE_CURRENT_SOURCE_DIR)
set(SAMPLE_STANDALONE ON)
# If standalone, do not install the samples.
set(_INSTALL_SAMPLES OFF)
endif()
list(APPEND CMAKE_MODULE_PATH "${PROJECT_SOURCE_DIR}/cmake")
if(SAMPLE_STANDALONE)
include(SampleOptions)
else()
enforce_mujoco_macosx_min_version()
endif()
include(SampleDependencies)
set(MUJOCO_SAMPLE_COMPILE_OPTIONS "${AVX_COMPILE_OPTIONS}" "${EXTRA_COMPILE_OPTIONS}")
set(MUJOCO_SAMPLE_LINK_OPTIONS "${EXTRA_LINK_OPTIONS}")
if(MUJOCO_HARDEN)
if(WIN32)
set(MUJOCO_SAMPLE_LINK_OPTIONS "${MUJOCO_SAMPLE_LINK_OPTIONS}" -Wl,/DYNAMICBASE)
else()
set(MUJOCO_SAMPLE_COMPILE_OPTIONS "${MUJOCO_SAMPLE_COMPILE_OPTIONS}" -fPIE)
if(APPLE)
set(MUJOCO_SAMPLE_LINK_OPTIONS "${MUJOCO_SAMPLE_LINK_OPTIONS}" -Wl,-pie)
else()
set(MUJOCO_SAMPLE_LINK_OPTIONS "${MUJOCO_SAMPLE_LINK_OPTIONS}" -pie)
endif()
endif()
endif()
# Build sample binaries
add_executable(compile compile.cc)
target_compile_options(compile PUBLIC ${MUJOCO_SAMPLE_COMPILE_OPTIONS})
target_link_libraries(compile Threads::Threads)
target_link_options(compile PRIVATE ${MUJOCO_SAMPLE_LINK_OPTIONS})
add_executable(derivative derivative.cc)
target_compile_options(derivative PUBLIC ${MUJOCO_SAMPLE_COMPILE_OPTIONS})
target_link_libraries(derivative Threads::Threads)
target_link_options(derivative PRIVATE ${MUJOCO_SAMPLE_LINK_OPTIONS})
add_executable(testspeed testspeed.cc)
target_compile_options(testspeed PUBLIC ${MUJOCO_SAMPLE_COMPILE_OPTIONS})
target_link_libraries(testspeed Threads::Threads)
target_link_options(testspeed PRIVATE ${MUJOCO_SAMPLE_LINK_OPTIONS})
add_executable(testxml testxml.cc array_safety.h)
target_compile_options(testxml PUBLIC ${MUJOCO_SAMPLE_COMPILE_OPTIONS})
target_link_libraries(testxml Threads::Threads)
target_link_options(testxml PRIVATE ${MUJOCO_SAMPLE_LINK_OPTIONS})
target_link_libraries(compile mujoco::mujoco)
target_link_libraries(derivative mujoco::mujoco)
target_link_libraries(testspeed mujoco::mujoco)
target_link_libraries(testxml mujoco::mujoco)
# Build samples that require GLFW.
add_executable(basic basic.cc)
target_compile_options(basic PUBLIC ${MUJOCO_SAMPLE_COMPILE_OPTIONS})
target_link_libraries(
basic
mujoco::mujoco
glfw
Threads::Threads
)
target_link_options(basic PRIVATE ${MUJOCO_SAMPLE_LINK_OPTIONS})
add_executable(record record.cc array_safety.h)
target_compile_options(record PUBLIC ${MUJOCO_SAMPLE_COMPILE_OPTIONS})
target_link_libraries(
record
mujoco::mujoco
glfw
Threads::Threads
)
target_link_options(record PRIVATE ${MUJOCO_SAMPLE_LINK_OPTIONS})
if(APPLE AND MUJOCO_BUILD_MACOS_FRAMEWORKS)
embed_in_bundle(basic simulate)
embed_in_bundle(compile simulate)
embed_in_bundle(derivative simulate)
embed_in_bundle(record simulate)
embed_in_bundle(testspeed simulate)
embed_in_bundle(testxml simulate)
endif()
# Do not install if macOS Bundles are created as RPATH is managed manually there.
if(APPLE AND MUJOCO_BUILD_MACOS_FRAMEWORKS)
set(_INSTALL_SAMPLES OFF)
endif()
if(_INSTALL_SAMPLES)
include(TargetAddRpath)
# Add support to RPATH for the samples.
target_add_rpath(
TARGETS
basic
compile
derivative
record
testspeed
testxml
INSTALL_DIRECTORY
"${CMAKE_INSTALL_PREFIX}/${CMAKE_INSTALL_BINDIR}"
LIB_DIRS
"${CMAKE_INSTALL_PREFIX}/${CMAKE_INSTALL_LIBDIR}"
DEPENDS
MUJOCO_ENABLE_RPATH
)
install(
TARGETS basic
compile
derivative
record
testspeed
testxml
EXPORT ${PROJECT_NAME}
RUNTIME DESTINATION "${CMAKE_INSTALL_BINDIR}" COMPONENT samples
LIBRARY DESTINATION "${CMAKE_INSTALL_LIBDIR}" COMPONENT samples
ARCHIVE DESTINATION "${CMAKE_INSTALL_LIBDIR}" COMPONENT samples
BUNDLE DESTINATION "${CMAKE_INSTALL_BINDIR}" COMPONENT samples
PUBLIC_HEADER DESTINATION ${CMAKE_INSTALL_INCLUDEDIR} COMPONENT samples
)
endif()
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