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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)
set(MUJOCO_DEP_VERSION_lodepng
b4ed2cd7ecf61d29076169b49199371456d4f90b
CACHE STRING "Version of `lodepng` to be fetched."
)
project(
mujoco_simulate
VERSION 2.2.2
DESCRIPTION "MuJoCo simulate 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(SIMULATE_STANDALONE OFF)
set(_INSTALL_SIMULATE ON)
if(CMAKE_SOURCE_DIR STREQUAL CMAKE_CURRENT_SOURCE_DIR)
set(SIMULATE_STANDALONE ON)
# If standalone, do not install the samples.
set(_INSTALL_SIMULATE OFF)
endif()
list(APPEND CMAKE_MODULE_PATH "${PROJECT_SOURCE_DIR}/cmake")
list(APPEND CMAKE_MODULE_PATH "${PROJECT_SOURCE_DIR}/../cmake")
if(SIMULATE_STANDALONE)
include(SimulateOptions)
else()
enforce_mujoco_macosx_min_version()
endif()
include(SimulateDependencies)
set(MUJOCO_SIMULATE_COMPILE_OPTIONS "${AVX_COMPILE_OPTIONS}" "${EXTRA_COMPILE_OPTIONS}")
set(MUJOCO_SIMULATE_LINK_OPTIONS "${EXTRA_LINK_OPTIONS}")
if(MUJOCO_HARDEN)
if(WIN32)
set(MUJOCO_SIMULATE_LINK_OPTIONS "${MUJOCO_SIMULATE_LINK_OPTIONS}" -Wl,/DYNAMICBASE)
else()
set(MUJOCO_SIMULATE_COMPILE_OPTIONS "${MUJOCO_SIMULATE_COMPILE_OPTIONS}" -fPIE -fPIC)
if(APPLE)
set(MUJOCO_SIMULATE_LINK_OPTIONS "${MUJOCO_SIMULATE_LINK_OPTIONS}" -Wl,-pie)
else()
set(MUJOCO_SIMULATE_LINK_OPTIONS "${MUJOCO_SIMULATE_LINK_OPTIONS}" -pie)
endif()
endif()
endif()
# Fetch lodepng dependency.
if(NOT TARGET lodepng)
FetchContent_Declare(
lodepng
GIT_REPOSITORY https://github.com/lvandeve/lodepng.git
GIT_TAG ${MUJOCO_DEP_VERSION_lodepng}
)
FetchContent_GetProperties(lodepng)
if(NOT lodepng_POPULATED)
FetchContent_Populate(lodepng)
# This is not a CMake project.
set(LODEPNG_SRCS ${lodepng_SOURCE_DIR}/lodepng.cpp)
set(LODEPNG_HEADERS ${lodepng_SOURCE_DIR}/lodepng.h)
add_library(lodepng STATIC ${LODEPNG_HEADERS} ${LODEPNG_SRCS})
target_compile_options(lodepng PRIVATE ${MUJOCO_MACOS_COMPILE_OPTIONS})
target_link_options(lodepng PRIVATE ${MUJOCO_MACOS_LINK_OPTIONS})
target_include_directories(lodepng PUBLIC ${lodepng_SOURCE_DIR})
endif()
endif()
# Simulate library
add_library(libsimulate STATIC)
add_library(mujoco::libsimulate ALIAS libsimulate)
target_sources(
libsimulate
PUBLIC simulate.h
array_safety.h
glfw_dispatch.h
glfw_dispatch.cc
simulate.cc
uitools.h
uitools.cc
)
target_include_directories(libsimulate PUBLIC ${CMAKE_CURRENT_SOURCE_DIR})
target_compile_definitions(libsimulate PUBLIC MJSIMULATE_STATIC)
target_compile_options(libsimulate PUBLIC ${MUJOCO_SIMULATE_COMPILE_OPTIONS})
target_link_libraries(libsimulate PUBLIC glfw lodepng mujoco::mujoco)
target_link_options(libsimulate PRIVATE ${MUJOCO_SIMULATE_LINK_OPTIONS})
if(APPLE)
target_sources(libsimulate PRIVATE macos_save.mm)
target_link_libraries(libsimulate PUBLIC "-framework Cocoa")
endif()
# Build simulate executable
if(APPLE)
set(SIMULATE_RESOURCE_FILES ${CMAKE_CURRENT_SOURCE_DIR}/../dist/mujoco.icns)
elseif(WIN32)
set(SIMULATE_RESOURCE_FILES ${CMAKE_CURRENT_SOURCE_DIR}/../dist/appicon.rc)
else()
set(SIMULATE_RESOURCE_FILES "")
endif()
add_executable(simulate main.cc array_safety.h ${SIMULATE_RESOURCE_FILES})
target_compile_options(simulate PUBLIC ${MUJOCO_SIMULATE_COMPILE_OPTIONS})
if(WIN32)
add_custom_command(
TARGET simulate
PRE_BUILD
COMMAND ${CMAKE_COMMAND} -E copy ${CMAKE_CURRENT_SOURCE_DIR}/../dist/mujoco.ico
${CMAKE_CURRENT_SOURCE_DIR}
POST_BUILD
COMMAND ${CMAKE_COMMAND} -E rm ${CMAKE_CURRENT_SOURCE_DIR}/mujoco.ico
)
endif()
target_link_libraries(
simulate
libsimulate
mujoco::mujoco
glfw
Threads::Threads
lodepng
)
target_link_options(simulate PRIVATE ${MUJOCO_SIMULATE_LINK_OPTIONS})
if(APPLE AND MUJOCO_BUILD_MACOS_FRAMEWORKS)
set_target_properties(
simulate
PROPERTIES INSTALL_RPATH @executable_path/../Frameworks
BUILD_WITH_INSTALL_RPATH TRUE
RESOURCE ${SIMULATE_RESOURCE_FILES}
MACOSX_BUNDLE TRUE
MACOSX_BUNDLE_INFO_PLIST ${CMAKE_CURRENT_SOURCE_DIR}/../dist/Info.plist.simulate.in
MACOSX_BUNDLE_BUNDLE_NAME "MuJoCo"
MACOSX_BUNDLE_GUI_IDENTIFIER "org.mujoco.mujoco"
MACOSX_BUNDLE_BUNDLE_VERSION ${PROJECT_VERSION}
MACOSX_BUNDLE_INFO_STRING ${PROJECT_VERSION}
MACOSX_BUNDLE_LONG_VERSION_STRING ${PROJECT_VERSION}
MACOSX_BUNDLE_SHORT_VERSION_STRING ${PROJECT_VERSION}
MACOSX_BUNDLE_ICON_FILE "mujoco.icns"
MACOSX_BUNDLE_COPYRIGHT "Copyright 2021 DeepMind Technologies Limited."
)
macro(embed_in_bundle target)
add_dependencies(${target} simulate)
set_target_properties(
${target}
PROPERTIES INSTALL_RPATH @executable_path/../Frameworks
BUILD_WITH_INSTALL_RPATH TRUE
RUNTIME_OUTPUT_DIRECTORY $<TARGET_FILE_DIR:simulate>
)
endmacro()
# Embed mujoco.framework inside the App bundle ane move the icon file over too.
add_custom_command(
TARGET simulate
POST_BUILD
COMMAND mkdir -p $<TARGET_FILE_DIR:simulate>/../Frameworks
COMMAND rm -rf $<TARGET_FILE_DIR:simulate>/../Frameworks/mujoco.framework
COMMAND cp -a $<TARGET_FILE_DIR:mujoco::mujoco>/../../../mujoco.framework
$<TARGET_FILE_DIR:simulate>/../Frameworks/
# Delete the symlink and the TBD, otherwise we can't sign and notarize.
COMMAND rm -rf $<TARGET_FILE_DIR:simulate>/../Frameworks/mujoco.framework/mujoco.tbd
COMMAND rm -rf
$<TARGET_FILE_DIR:simulate>/../Frameworks/mujoco.framework/Versions/A/libmujoco.dylib
)
endif()
# Do not install if macOS Bundles are created as RPATH is managed manually there.
if(APPLE AND MUJOCO_BUILD_MACOS_FRAMEWORKS)
set(_INSTALL_SIMULATE OFF)
endif()
if(_INSTALL_SIMULATE)
include(TargetAddRpath)
# Add support to RPATH for the samples.
target_add_rpath(
TARGETS
simulate
INSTALL_DIRECTORY
"${CMAKE_INSTALL_PREFIX}/${CMAKE_INSTALL_BINDIR}"
LIB_DIRS
"${CMAKE_INSTALL_PREFIX}/${CMAKE_INSTALL_LIBDIR}"
DEPENDS
MUJOCO_ENABLE_RPATH
)
install(
TARGETS simulate
EXPORT ${PROJECT_NAME}
RUNTIME DESTINATION "${CMAKE_INSTALL_BINDIR}" COMPONENT simulate
LIBRARY DESTINATION "${CMAKE_INSTALL_LIBDIR}" COMPONENT simulate
ARCHIVE DESTINATION "${CMAKE_INSTALL_LIBDIR}" COMPONENT simulate
BUNDLE DESTINATION "${CMAKE_INSTALL_BINDIR}" COMPONENT simulate
PUBLIC_HEADER DESTINATION ${CMAKE_INSTALL_INCLUDEDIR} COMPONENT simulate
)
if(NOT MUJOCO_SIMULATE_USE_SYSTEM_GLFW)
# We downloaded GLFW. Depending if it is a static or shared LIBRARY we might
# need to install it.
get_target_property(MJ_GLFW_LIBRARY_TYPE glfw TYPE)
if(MJ_GLFW_LIBRARY_TYPE STREQUAL SHARED_LIBRARY)
install(
TARGETS glfw
EXPORT ${PROJECT_NAME}
RUNTIME DESTINATION "${CMAKE_INSTALL_BINDIR}" COMPONENT simulate
LIBRARY DESTINATION "${CMAKE_INSTALL_LIBDIR}" COMPONENT simulate
ARCHIVE DESTINATION "${CMAKE_INSTALL_LIBDIR}" COMPONENT simulate
PUBLIC_HEADER DESTINATION ${CMAKE_INSTALL_INCLUDEDIR} COMPONENT simulate
)
endif()
endif()
endif()
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