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Simulate: fix reload button causing segfault, make interface changes needed for Python bindings

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This commit is contained in:
Levi Burner
2022-05-17 09:37:52 -04:00
parent 447877abef
commit 033ca81db6
4 changed files with 76 additions and 21 deletions
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simulate/Makefile
+3 -2
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@@ -7,6 +7,7 @@ COMMON=-O2 -I../include -L../lib -std=c++11 -pthread -Wl,-rpath,'$$ORIGIN'/../li
all:
$(CC) -c -O2 -fPIC -I../include uitools.c
$(CXX) -c -O2 -fPIC -I../include simulate.cc
$(CXX) -shared -o libmjsimulate.so simulate.o uitools.o
mv libmjsimulate.so ../lib/libmjsimulate.so
$(CXX) $(COMMON) -shared -Wl,-no-as-needed -Wl,-soname,libmjsimulate.so.2.1.5 -lmujoco -o libmjsimulate.so.2.1.5 simulate.o uitools.o
mv libmjsimulate.so.2.1.5 ../lib/libmjsimulate.so.2.1.5
ln -sf ../lib/libmjsimulate.so.2.1.5 ../lib/libmjsimulate.so
$(CXX) $(COMMON) -Wl,-no-as-needed main.cc -lmjsimulate -lmujoco -lGL -lglfw -o ../bin/simulate