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Simulate: disable mjsimulate shared library, multiple linkages of glfw cause crash on MacOS

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This commit is contained in:
Levi Burner
2022-06-04 09:49:17 -04:00
parent 70ec29a722
commit 1788d23da6
2 changed files with 29 additions and 21 deletions
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simulate/CMakeLists.txt
+28 -20
View File
@@ -71,26 +71,26 @@ if(MUJOCO_HARDEN)
endif()
# Utility library
add_library(uitools STATIC)
target_sources(uitools PRIVATE uitools.h uitools.c)
target_include_directories(uitools PUBLIC ${CMAKE_CURRENT_SOURCE_DIR})
target_compile_options(uitools PUBLIC ${MUJOCO_SIMULATE_COMPILE_OPTIONS})
target_link_libraries(uitools PUBLIC glfw mujoco::mujoco)
target_link_options(uitools PRIVATE ${MUJOCO_SIMULATE_LINK_OPTIONS})
#add_library(uitools STATIC)
#target_sources(uitools PRIVATE uitools.h uitools.c)
#target_include_directories(uitools PUBLIC ${CMAKE_CURRENT_SOURCE_DIR})
#target_compile_options(uitools PUBLIC ${MUJOCO_SIMULATE_COMPILE_OPTIONS})
#target_link_libraries(uitools PUBLIC glfw mujoco::mujoco)
#target_link_options(uitools PRIVATE ${MUJOCO_SIMULATE_LINK_OPTIONS})
# mjsimulate library
add_library(mjsimulate SHARED)
target_sources(mjsimulate PUBLIC simulate.h array_safety.h simulate.cc)
target_include_directories(mjsimulate PUBLIC ${CMAKE_CURRENT_SOURCE_DIR})
target_compile_definitions(mjsimulate PUBLIC MJSIMULATE_DLL_EXPORTS)
target_compile_options(mjsimulate PUBLIC ${MUJOCO_SIMULATE_COMPILE_OPTIONS})
target_link_libraries(mjsimulate PUBLIC glfw uitools mujoco::mujoco)
target_link_options(mjsimulate PRIVATE ${MUJOCO_SIMULATE_LINK_OPTIONS})
#add_library(mjsimulate SHARED)
#target_sources(mjsimulate PUBLIC simulate.h array_safety.h simulate.cc)
#target_include_directories(mjsimulate PUBLIC ${CMAKE_CURRENT_SOURCE_DIR})
#target_compile_definitions(mjsimulate PUBLIC MJSIMULATE_DLL_EXPORTS)
#target_compile_options(mjsimulate PUBLIC ${MUJOCO_SIMULATE_COMPILE_OPTIONS})
#target_link_libraries(mjsimulate PUBLIC glfw uitools mujoco::mujoco)
#target_link_options(mjsimulate PRIVATE ${MUJOCO_SIMULATE_LINK_OPTIONS})
if(APPLE)
target_sources(mjsimulate PRIVATE macos_save.mm)
target_link_libraries(mjsimulate PUBLIC "-framework Cocoa")
endif()
#if(APPLE)
# target_sources(mjsimulate PRIVATE macos_save.mm)
# target_link_libraries(mjsimulate PUBLIC "-framework Cocoa")
#endif()
# Build samples that require GLFW.
@@ -102,7 +102,10 @@ else()
set(SIMULATE_RESOURCE_FILES "")
endif()
add_executable(simulate main.cc array_safety.h ${SIMULATE_RESOURCE_FILES})
add_executable(simulate main.cc array_safety.h
uitools.h uitools.c
simulate.h array_safety.h simulate.cc
${SIMULATE_RESOURCE_FILES})
target_compile_options(simulate PUBLIC ${MUJOCO_SIMULATE_COMPILE_OPTIONS})
if(WIN32)
add_custom_command(
@@ -117,13 +120,18 @@ endif()
target_link_libraries(
simulate
mjsimulate
# mjsimulate
# uitools
mujoco::mujoco
uitools
glfw
Threads::Threads
)
if(APPLE)
target_sources(simulate PRIVATE macos_save.mm)
target_link_libraries(simulate "-framework Cocoa")
endif()
if(WIN32)
target_link_options(simulate PRIVATE ${MUJOCO_SIMULATE_LINK_OPTIONS} /STACK:8000000)
else()
simulate/simulate.h
+1 -1
View File
@@ -38,7 +38,7 @@ namespace mujoco {
//-------------------------------- global -----------------------------------------------
// Simulate states not contained in MuJoCo structures
class MJSIMULATEAPI Simulate {
class Simulate {
public:
// create object and initialize the simulate ui
Simulate(void);