[mujoco] Add new port (#28993)

* Add new port mujoco

* Add usage text.

---------

Co-authored-by: Billy Robert O'Neal III <bion@microsoft.com>

ports/mujoco/fix_dependencies.patch

@@ -0,0 +1,172 @@
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index e34b07e..56ed5e8 100644
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -87,7 +87,7 @@ add_subdirectory(src/xml)
+ add_subdirectory(src/render)
+ add_subdirectory(src/ui)
+ 
+-target_compile_definitions(mujoco PRIVATE _GNU_SOURCE CCD_STATIC_DEFINE MUJOCO_DLL_EXPORTS)
++target_compile_definitions(mujoco PRIVATE _GNU_SOURCE MUJOCO_DLL_EXPORTS)
+ if(MUJOCO_ENABLE_AVX_INTRINSICS)
+   target_compile_definitions(mujoco PUBLIC mjUSEPLATFORMSIMD)
+ endif()
+@@ -110,9 +110,9 @@ target_link_libraries(
+   mujoco
+   PRIVATE ccd
+           lodepng
+-          qhullstatic_r
+-          tinyobjloader
+-          tinyxml2
++          Qhull::qhull_r
++          tinyobjloader::tinyobjloader
++          tinyxml2::tinyxml2
+ )
+ 
+ set_target_properties(
+diff --git a/cmake/MujocoDependencies.cmake b/cmake/MujocoDependencies.cmake
+index 9c12ef7..af09f8a 100644
+--- a/cmake/MujocoDependencies.cmake
++++ b/cmake/MujocoDependencies.cmake
+@@ -79,7 +79,7 @@ set(BUILD_SHARED_LIBS
+     CACHE INTERNAL "Build SHARED libraries"
+ )
+ 
+-if(NOT TARGET lodepng)
++if(0)
+   FetchContent_Declare(
+     lodepng
+     GIT_REPOSITORY https://github.com/lvandeve/lodepng.git
+@@ -99,35 +99,57 @@ if(NOT TARGET lodepng)
+   endif()
+ endif()
+ 
++findorfetch(
++  USE_SYSTEM_PACKAGE
++  ON
++  PACKAGE_NAME
++  lodepng
++  LIBRARY_NAME
++  lodepng
++  GIT_REPO
++  https://github.com/lvandeve/lodepng.git
++  GIT_TAG
++  ${MUJOCO_DEP_VERSION_lodepng}
++  TARGETS
++  lodepng
++  EXCLUDE_FROM_ALL
++)
++
+ set(QHULL_ENABLE_TESTING OFF)
+ 
+ findorfetch(
+   USE_SYSTEM_PACKAGE
+-  OFF
++  ON
+   PACKAGE_NAME
+-  qhull
++  Qhull
+   LIBRARY_NAME
+-  qhull
++  Qhull
+   GIT_REPO
+   https://github.com/qhull/qhull.git
+   GIT_TAG
+   ${MUJOCO_DEP_VERSION_qhull}
+   TARGETS
+-  qhull
++  Qhull
+   EXCLUDE_FROM_ALL
+ )
+ # MuJoCo includes a file from libqhull_r which is not exported by the qhull include directories.
+ # Add it to the target.
++if(0)
+ target_include_directories(
+   qhullstatic_r INTERFACE $<BUILD_INTERFACE:${qhull_SOURCE_DIR}/src/libqhull_r>
+ )
+ target_compile_options(qhullstatic_r PRIVATE ${MUJOCO_MACOS_COMPILE_OPTIONS})
+ target_link_options(qhullstatic_r PRIVATE ${MUJOCO_MACOS_LINK_OPTIONS})
++endif()
++
++include_directories(
++  ${Qhull_DIR}/../../include/libqhull_r
++)
+ 
+ set(tinyxml2_BUILD_TESTING OFF)
+ findorfetch(
+   USE_SYSTEM_PACKAGE
+-  OFF
++  ON
+   PACKAGE_NAME
+   tinyxml2
+   LIBRARY_NAME
+@@ -140,12 +162,14 @@ findorfetch(
+   tinyxml2
+   EXCLUDE_FROM_ALL
+ )
++if(0)
+ target_compile_options(tinyxml2 PRIVATE ${MUJOCO_MACOS_COMPILE_OPTIONS})
+ target_link_options(tinyxml2 PRIVATE ${MUJOCO_MACOS_LINK_OPTIONS})
++endif()
+ 
+ findorfetch(
+   USE_SYSTEM_PACKAGE
+-  OFF
++  ON
+   PACKAGE_NAME
+   tinyobjloader
+   LIBRARY_NAME
+@@ -163,7 +187,7 @@ set(ENABLE_DOUBLE_PRECISION ON)
+ set(CCD_HIDE_ALL_SYMBOLS ON)
+ findorfetch(
+   USE_SYSTEM_PACKAGE
+-  OFF
++  ON
+   PACKAGE_NAME
+   ccd
+   LIBRARY_NAME
+@@ -176,11 +200,14 @@ findorfetch(
+   ccd
+   EXCLUDE_FROM_ALL
+ )
++if(0)
+ target_compile_options(ccd PRIVATE ${MUJOCO_MACOS_COMPILE_OPTIONS})
+ target_link_options(ccd PRIVATE ${MUJOCO_MACOS_LINK_OPTIONS})
++endif()
+ 
+ # 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(0)
+ if(WIN32)
+   if(MSVC)
+     # C4005 is the MSVC equivalent of -Wmacro-redefined.
+@@ -189,6 +216,7 @@ if(WIN32)
+     target_compile_options(ccd PRIVATE -Wno-macro-redefined)
+   endif()
+ endif()
++endif()
+ 
+ if(MUJOCO_BUILD_TESTS)
+   set(ABSL_PROPAGATE_CXX_STD ON)
+diff --git a/simulate/cmake/SimulateDependencies.cmake b/simulate/cmake/SimulateDependencies.cmake
+index fa539c2..8b3b239 100644
+--- a/simulate/cmake/SimulateDependencies.cmake
++++ b/simulate/cmake/SimulateDependencies.cmake
+@@ -86,7 +86,7 @@ findorfetch(
+   GIT_TAG
+   ${MUJOCO_DEP_VERSION_glfw3}
+   TARGETS
+-  glfw
++  glfw3
+   EXCLUDE_FROM_ALL
+ )
+ 
+@@ -98,7 +98,7 @@ if(MUJOCO_EXTRAS_STATIC_GLFW)
+   unset(BUILD_SHARED_LIBS_OLD)
+ endif()
+ 
+-if(NOT SIMULATE_STANDALONE)
++if(0)
+   target_compile_options(glfw PRIVATE ${MUJOCO_MACOS_COMPILE_OPTIONS})
+   target_link_options(glfw PRIVATE ${MUJOCO_MACOS_LINK_OPTIONS})
+ endif()

ports/mujoco/portfile.cmake

@@ -0,0 +1,32 @@
+vcpkg_from_github(
+    OUT_SOURCE_PATH SOURCE_PATH
+    REPO deepmind/mujoco
+    REF ${VERSION}
+    SHA512 518b9ae09ea7cd4d2095df1be985a30957c6d57846933e111c326e45b61ac002bea014cd0d7902653c85e61ef0ba156b3324eff0edb5613467fe8e07e92dd6da
+    PATCHES
+        fix_dependencies.patch
+)
+
+vcpkg_cmake_configure(
+    SOURCE_PATH "${SOURCE_PATH}"
+    OPTIONS
+        -DMUJOCO_BUILD_EXAMPLES=OFF
+        -DMUJOCO_BUILD_TESTS=OFF
+        -DMUJOCO_TEST_PYTHON_UTIL=OFF
+        -DSIMULATE_BUILD_EXECUTABLE=OFF
+        -DMUJOCO_SIMULATE_USE_SYSTEM_GLFW=ON
+        -DMUJOCO_SIMULATE_USE_SYSTEM_MUJOCO=ON
+)
+
+vcpkg_cmake_install(ADD_BIN_TO_PATH)
+vcpkg_cmake_config_fixup(
+        CONFIG_PATH lib/cmake/${PORT}
+)
+
+file(REMOVE_RECURSE
+    "${CURRENT_PACKAGES_DIR}/debug/include"
+    "${CURRENT_PACKAGES_DIR}/debug/share"
+)
+
+file(INSTALL "${SOURCE_PATH}/LICENSE" DESTINATION "${CURRENT_PACKAGES_DIR}/share/${PORT}" RENAME copyright)
+file(INSTALL "${CMAKE_CURRENT_LIST_DIR}/usage" DESTINATION "${CURRENT_PACKAGES_DIR}/share/${PORT}")

ports/mujoco/usage

@@ -0,0 +1,4 @@
+mujoco provides CMake targets:
+
+    find_package(mujoco CONFIG REQUIRED)
+    target_link_libraries(main PRIVATE mujoco::mujoco)

ports/mujoco/vcpkg.json

@@ -0,0 +1,29 @@
+{
+  "name": "mujoco",
+  "version": "2.3.2",
+  "description": "Multi-Joint dynamics with Contact.",
+  "homepage": "mujoco.org",
+  "license": "Apache-2.0",
+  "supports": "!(windows & static)",
+  "dependencies": [
+    {
+      "name": "ccd",
+      "features": [
+        "double-precision"
+      ]
+    },
+    "glfw3",
+    "lodepng",
+    "qhull",
+    "tinyobjloader",
+    "tinyxml2",
+    {
+      "name": "vcpkg-cmake",
+      "host": true
+    },
+    {
+      "name": "vcpkg-cmake-config",
+      "host": true
+    }
+  ]
+}

versions/baseline.json

@@ -5228,6 +5228,10 @@
       "baseline": "1.0.2",
       "port-version": 3
     },
+    "mujoco": {
+      "baseline": "2.3.2",
+      "port-version": 0
+    },
     "mujs": {
       "baseline": "1.3.2",
       "port-version": 1

versions/m-/mujoco.json

@@ -0,0 +1,9 @@
+{
+  "versions": [
+    {
+      "git-tree": "086053d3e52e0d7565733cf06db736f2e1617a63",
+      "version": "2.3.2",
+      "port-version": 0
+    }
+  ]
+}