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Include obj and stl decoder plugins as sources in CMake builds.

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This removes the need to load these decoders via mj_loadAllPluginLibraries when using MuJoCo built with CMake. Other plugins are unchanged.

PiperOrigin-RevId: 885555524
Change-Id: I20aa5b6c55b678398345d49cb1c47667ae2bebcf
This commit is contained in:
Sam Haves
2026-03-18 06:22:43 -07:00
committed by Copybara-Service
parent f1715e67bd
commit 15ca42ff68
10 changed files with 21 additions and 103 deletions
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wasm/tests/CMakeLists.txt
+6 -1
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@@ -53,6 +53,11 @@ add_executable(mujoco_wasm_benchmark ${MUJOCO_WASM_FILES})
set_target_properties(mujoco_wasm_benchmark PROPERTIES LINK_FLAGS "${EMCC_LINKER_FLAGS_STR}")
target_link_libraries(mujoco_wasm_benchmark ccd lodepng mujoco tinyxml2 qhullstatic_r obj_decoder stl_decoder)
# Link the mujoco library as a whole archive to avoid losing plugin
# registration such as obj_decoder and stl_decoder.
target_link_libraries(mujoco_wasm_benchmark PRIVATE
-Wl,--whole-archive mujoco -Wl,--no-whole-archive
ccd lodepng tinyxml2 qhullstatic_r
)
install(TARGETS mujoco_wasm_benchmark DESTINATION ${DIVISIBLE_INSTALL_BIN_DIR})