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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.
# Global compilation settings
set(CMAKE_C_STANDARD 11)
set(CMAKE_C_STANDARD_REQUIRED ON)
set(CMAKE_CXX_STANDARD 17)
set(CMAKE_CXX_STANDARD_REQUIRED ON)
set(CMAKE_CXX_EXTENSIONS OFF)
set(CMAKE_C_EXTENSIONS OFF)
set(CMAKE_EXPORT_COMPILE_COMMANDS ON) # For LLVM tooling
if(NOT CMAKE_CONFIGURATION_TYPES)
if(NOT CMAKE_BUILD_TYPE)
message(STATUS "Setting build type to 'Release' as none was specified.")
set(CMAKE_BUILD_TYPE
"Release"
CACHE STRING "Choose the type of build, recommanded options are: Debug or Release" FORCE
)
endif()
set(BUILD_TYPES
"Debug"
"Release"
"MinSizeRel"
"RelWithDebInfo"
)
set_property(CACHE CMAKE_BUILD_TYPE PROPERTY STRINGS ${BUILD_TYPES})
endif()
include(GNUInstallDirs)
# Change the default output directory in the build structure. This is not stricly needed, but helps
# running in Windows, such that all built executables have DLLs in the same folder as the .exe
# files.
set(CMAKE_RUNTIME_OUTPUT_DIRECTORY "${CMAKE_BINARY_DIR}/${CMAKE_INSTALL_BINDIR}")
set(CMAKE_LIBRARY_OUTPUT_DIRECTORY "${CMAKE_BINARY_DIR}/${CMAKE_INSTALL_LIBDIR}")
set(CMAKE_ARCHIVE_OUTPUT_DIRECTORY "${CMAKE_BINARY_DIR}/${CMAKE_INSTALL_LIBDIR}")
set(OpenGL_GL_PREFERENCE GLVND)
set(CMAKE_POSITION_INDEPENDENT_CODE ON)
set(CMAKE_C_VISIBILITY_PRESET hidden)
set(CMAKE_CXX_VISIBILITY_PRESET hidden)
set(CMAKE_VISIBILITY_INLINES_HIDDEN ON)
if(MSVC)
add_compile_options(/Gy /Gw /Oi)
elseif(CMAKE_CXX_COMPILER_ID STREQUAL "GNU" OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
add_compile_options(-fdata-sections -ffunction-sections)
endif()
# We default to shared library.
set(BUILD_SHARED_LIBS
ON
CACHE BOOL "Build Mujoco as shared library."
)
option(MUJOCO_ENABLE_AVX "Build binaries that require AVX instructions, if possible." ON)
option(MUJOCO_ENABLE_AVX_INTRINSICS "Make use of hand-written AVX intrinsics, if possible." ON)
option(MUJOCO_ENABLE_RPATH "Enable RPath support when installing Mujoco." ON)
mark_as_advanced(MUJOCO_ENABLE_RPATH)
if(MUJOCO_ENABLE_AVX)
include(CheckAvxSupport)
get_avx_compile_options(AVX_COMPILE_OPTIONS)
else()
set(AVX_COMPILE_OPTIONS)
endif()
option(MUJOCO_BUILD_MACOS_FRAMEWORKS "Build libraries as macOS Frameworks" OFF)
# Get some extra link options.
include(MujocoLinkOptions)
get_mujoco_extra_link_options(EXTRA_LINK_OPTIONS)
if(CMAKE_CXX_COMPILER_ID STREQUAL "GNU" OR (CMAKE_CXX_COMPILER_ID MATCHES "Clang" AND NOT MSVC))
set(EXTRA_COMPILE_OPTIONS -Wall -Werror)
if(CMAKE_CXX_COMPILER_ID STREQUAL "GNU")
set(EXTRA_COMPILE_OPTIONS
-Wno-int-in-bool-context
-Wno-maybe-uninitialized
-Wno-sign-compare
-Wno-stringop-overflow
-Wno-stringop-truncation
)
endif()
endif()
if(WIN32)
add_compile_definitions(_CRT_SECURE_NO_WARNINGS)
endif()
include(MujocoHarden)
set(EXTRA_COMPILE_OPTIONS ${EXTRA_COMPILE_OPTIONS} ${MUJOCO_HARDEN_COMPILE_OPTIONS})
set(EXTRA_LINK_OPTIONS ${EXTRA_LINK_OPTIONS} ${MUJOCO_HARDEN_LINK_OPTIONS})
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