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3eafaa76fb
* Add new port mujoco * Add usage text. --------- Co-authored-by: Billy Robert O'Neal III <bion@microsoft.com>
173 lines
4.0 KiB
Diff
173 lines
4.0 KiB
Diff
diff --git a/CMakeLists.txt b/CMakeLists.txt
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index e34b07e..56ed5e8 100644
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--- a/CMakeLists.txt
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+++ b/CMakeLists.txt
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@@ -87,7 +87,7 @@ add_subdirectory(src/xml)
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add_subdirectory(src/render)
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add_subdirectory(src/ui)
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-target_compile_definitions(mujoco PRIVATE _GNU_SOURCE CCD_STATIC_DEFINE MUJOCO_DLL_EXPORTS)
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+target_compile_definitions(mujoco PRIVATE _GNU_SOURCE MUJOCO_DLL_EXPORTS)
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if(MUJOCO_ENABLE_AVX_INTRINSICS)
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target_compile_definitions(mujoco PUBLIC mjUSEPLATFORMSIMD)
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endif()
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@@ -110,9 +110,9 @@ target_link_libraries(
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mujoco
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PRIVATE ccd
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lodepng
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- qhullstatic_r
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- tinyobjloader
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- tinyxml2
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+ Qhull::qhull_r
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+ tinyobjloader::tinyobjloader
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+ tinyxml2::tinyxml2
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)
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set_target_properties(
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diff --git a/cmake/MujocoDependencies.cmake b/cmake/MujocoDependencies.cmake
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index 9c12ef7..af09f8a 100644
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--- a/cmake/MujocoDependencies.cmake
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+++ b/cmake/MujocoDependencies.cmake
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@@ -79,7 +79,7 @@ set(BUILD_SHARED_LIBS
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CACHE INTERNAL "Build SHARED libraries"
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)
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-if(NOT TARGET lodepng)
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+if(0)
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FetchContent_Declare(
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lodepng
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GIT_REPOSITORY https://github.com/lvandeve/lodepng.git
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@@ -99,35 +99,57 @@ if(NOT TARGET lodepng)
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endif()
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endif()
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+findorfetch(
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+ USE_SYSTEM_PACKAGE
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+ ON
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+ PACKAGE_NAME
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+ lodepng
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+ LIBRARY_NAME
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+ lodepng
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+ GIT_REPO
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+ https://github.com/lvandeve/lodepng.git
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+ GIT_TAG
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+ ${MUJOCO_DEP_VERSION_lodepng}
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+ TARGETS
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+ lodepng
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+ EXCLUDE_FROM_ALL
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+)
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+
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set(QHULL_ENABLE_TESTING OFF)
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findorfetch(
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USE_SYSTEM_PACKAGE
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- OFF
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+ ON
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PACKAGE_NAME
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- qhull
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+ Qhull
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LIBRARY_NAME
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- qhull
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+ Qhull
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GIT_REPO
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https://github.com/qhull/qhull.git
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GIT_TAG
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${MUJOCO_DEP_VERSION_qhull}
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TARGETS
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- qhull
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+ Qhull
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EXCLUDE_FROM_ALL
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)
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# MuJoCo includes a file from libqhull_r which is not exported by the qhull include directories.
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# Add it to the target.
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+if(0)
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target_include_directories(
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qhullstatic_r INTERFACE $<BUILD_INTERFACE:${qhull_SOURCE_DIR}/src/libqhull_r>
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)
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target_compile_options(qhullstatic_r PRIVATE ${MUJOCO_MACOS_COMPILE_OPTIONS})
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target_link_options(qhullstatic_r PRIVATE ${MUJOCO_MACOS_LINK_OPTIONS})
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+endif()
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+
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+include_directories(
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+ ${Qhull_DIR}/../../include/libqhull_r
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+)
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set(tinyxml2_BUILD_TESTING OFF)
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findorfetch(
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USE_SYSTEM_PACKAGE
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- OFF
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+ ON
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PACKAGE_NAME
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tinyxml2
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LIBRARY_NAME
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@@ -140,12 +162,14 @@ findorfetch(
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tinyxml2
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EXCLUDE_FROM_ALL
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)
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+if(0)
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target_compile_options(tinyxml2 PRIVATE ${MUJOCO_MACOS_COMPILE_OPTIONS})
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target_link_options(tinyxml2 PRIVATE ${MUJOCO_MACOS_LINK_OPTIONS})
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+endif()
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findorfetch(
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USE_SYSTEM_PACKAGE
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- OFF
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+ ON
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PACKAGE_NAME
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tinyobjloader
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LIBRARY_NAME
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@@ -163,7 +187,7 @@ set(ENABLE_DOUBLE_PRECISION ON)
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set(CCD_HIDE_ALL_SYMBOLS ON)
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findorfetch(
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USE_SYSTEM_PACKAGE
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- OFF
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+ ON
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PACKAGE_NAME
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ccd
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LIBRARY_NAME
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@@ -176,11 +200,14 @@ findorfetch(
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ccd
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EXCLUDE_FROM_ALL
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)
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+if(0)
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target_compile_options(ccd PRIVATE ${MUJOCO_MACOS_COMPILE_OPTIONS})
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target_link_options(ccd PRIVATE ${MUJOCO_MACOS_LINK_OPTIONS})
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+endif()
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# libCCD has an unconditional `#define _CRT_SECURE_NO_WARNINGS` on Windows.
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# TODO(stunya): Remove this after https://github.com/danfis/libccd/pull/77 is merged.
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+if(0)
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if(WIN32)
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if(MSVC)
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# C4005 is the MSVC equivalent of -Wmacro-redefined.
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@@ -189,6 +216,7 @@ if(WIN32)
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target_compile_options(ccd PRIVATE -Wno-macro-redefined)
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endif()
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endif()
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+endif()
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if(MUJOCO_BUILD_TESTS)
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set(ABSL_PROPAGATE_CXX_STD ON)
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diff --git a/simulate/cmake/SimulateDependencies.cmake b/simulate/cmake/SimulateDependencies.cmake
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index fa539c2..8b3b239 100644
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--- a/simulate/cmake/SimulateDependencies.cmake
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+++ b/simulate/cmake/SimulateDependencies.cmake
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@@ -86,7 +86,7 @@ findorfetch(
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GIT_TAG
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${MUJOCO_DEP_VERSION_glfw3}
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TARGETS
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- glfw
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+ glfw3
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EXCLUDE_FROM_ALL
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)
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@@ -98,7 +98,7 @@ if(MUJOCO_EXTRAS_STATIC_GLFW)
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unset(BUILD_SHARED_LIBS_OLD)
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endif()
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-if(NOT SIMULATE_STANDALONE)
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+if(0)
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target_compile_options(glfw PRIVATE ${MUJOCO_MACOS_COMPILE_OPTIONS})
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target_link_options(glfw PRIVATE ${MUJOCO_MACOS_LINK_OPTIONS})
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endif()
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