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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.
include(FindOrFetch)
if(SAMPLE_STANDALONE)
# If standalone, by default look for MuJoCo binary version.
set(DEFAULT_USE_SYSTEM_MUJOCO ON)
else()
set(DEFAULT_USE_SYSTEM_MUJOCO OFF)
endif()
option(MUJOCO_SAMPLES_USE_SYSTEM_MUJOCO "Use installed MuJoCo version."
${DEFAULT_USE_SYSTEM_MUJOCO}
)
unset(DEFAULT_USE_SYSTEM_MUJOCO)
option(MUJOCO_SAMPLES_USE_SYSTEM_MUJOCO "Use installed MuJoCo version." OFF)
option(MUJOCO_SAMPLES_USE_SYSTEM_GLFW "Use installed GLFW version." OFF)
set(MUJOCO_DEP_VERSION_glfw
7d5a16ce714f0b5f4efa3262de22e4d948851525 # 3.3.6
CACHE STRING "Version of `glfw` to be fetched."
)
mark_as_advanced(MUJOCO_DEP_VERSION_glfw)
find_package(Threads REQUIRED)
set(MUJOCO_BUILD_EXAMPLES OFF)
set(MUJOCO_BUILD_TESTS OFF)
set(MUJOCO_BUILD_PYTHON OFF)
set(MUJOCO_TEST_PYTHON_UTIL OFF)
findorfetch(
USE_SYSTEM_PACKAGE
MUJOCO_SAMPLES_USE_SYSTEM_MUJOCO
PACKAGE_NAME
mujoco
LIBRARY_NAME
mujoco
GIT_REPO
https://github.com/deepmind/mujoco.git
GIT_TAG
main
TARGETS
mujoco
EXCLUDE_FROM_ALL
)
option(MUJOCO_EXTRAS_STATIC_GLFW
"Link MuJoCo sample apps and simulate libraries against GLFW statically." ON
)
if(MUJOCO_EXTRAS_STATIC_GLFW)
set(BUILD_SHARED_LIBS_OLD ${BUILD_SHARED_LIBS})
set(BUILD_SHARED_LIBS
OFF
CACHE INTERNAL "Build SHARED libraries"
)
endif()
find_package(glfw3 REQUIRED HINTS /usr/lib/${MULTIARCH}/cmake)
if(MUJOCO_EXTRAS_STATIC_GLFW)
set(BUILD_SHARED_LIBS
${BUILD_SHARED_LIBS_OLD}
CACHE BOOL "Build SHARED libraries" FORCE
)
unset(BUILD_SHARED_LIBS_OLD)
endif()
if(NOT SAMPLE_STANDALONE)
target_compile_options(glfw PRIVATE ${MUJOCO_MACOS_COMPILE_OPTIONS})
target_link_options(glfw PRIVATE ${MUJOCO_MACOS_LINK_OPTIONS})
endif()
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