Initial open sourcing of MuJoCo.
PiperOrigin-RevId: 450374687 Change-Id: Ie3225a46ce095fc28ae8e63c326a640261f562bb
This commit is contained in:
Saran Tunyasuvunakool
committed by
Copybara-Service
Copybara-Service
parent
0e5d062302
commit
1913a02b40
@@ -0,0 +1,327 @@
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# Copyright 2021 DeepMind Technologies Limited
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# You may obtain a copy of the License at
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#
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# https://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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# See the License for the specific language governing permissions and
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# limitations under the License.
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# Build configuration for third party libraries used in MuJoCo.
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# Override the BUILD_SHARED_LIBS setting, just for building third party libs (since we always want
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# static libraries). The ccd CMakeLists.txt doesn't expose an option to build a static ccd library,
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# unless BUILD_SHARED_LIBS is set.
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set(MUJOCO_DEP_VERSION_lodepng
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48e5364ef48ec2408f44c727657ac1b6703185f8
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CACHE STRING "Version of `lodepng` to be fetched."
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)
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set(MUJOCO_DEP_VERSION_tinyxml2
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1dee28e51f9175a31955b9791c74c430fe13dc82 # 9.0.0
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CACHE STRING "Version of `tinyxml2` to be fetched."
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)
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set(MUJOCO_DEP_VERSION_tinyobjloader
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1421a10d6ed9742f5b2c1766d22faa6cfbc56248
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CACHE STRING "Version of `tinyobjloader` to be fetched."
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)
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set(MUJOCO_DEP_VERSION_ccd
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7931e764a19ef6b21b443376c699bbc9c6d4fba8 # v2.1
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CACHE STRING "Version of `ccd` to be fetched."
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)
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set(MUJOCO_DEP_VERSION_qhull
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3df027b91202cf179f3fba3c46eebe65bbac3790
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CACHE STRING "Version of `qhull` to be fetched."
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)
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set(MUJOCO_DEP_VERSION_Eigen3
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b02c384ef4e8eba7b8bdef16f9dc6f8f4d6a6b2b
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CACHE STRING "Version of `Eigen3` to be fetched."
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)
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set(MUJOCO_DEP_VERSION_abseil
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78f9680225b9792c26dfdd99d0bd26c96de53dd4 # Fixes universal builds for macOS
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CACHE STRING "Version of `abseil` to be fetched."
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)
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set(MUJOCO_DEP_VERSION_gtest
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e2239ee6043f73722e7aa812a459f54a28552929 # release-1.11.0
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CACHE STRING "Version of `gtest` to be fetched."
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)
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set(MUJOCO_DEP_VERSION_benchmark
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0d98dba29d66e93259db7daa53a9327df767a415 # v1.6.1
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CACHE STRING "Version of `benchmark` to be fetched."
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)
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mark_as_advanced(MUJOCO_DEP_VERSION_lodepng)
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mark_as_advanced(MUJOCO_DEP_VERSION_tinyxml2)
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mark_as_advanced(MUJOCO_DEP_VERSION_tinyobjloader)
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mark_as_advanced(MUJOCO_DEP_VERSION_ccd)
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mark_as_advanced(MUJOCO_DEP_VERSION_qhull)
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mark_as_advanced(MUJOCO_DEP_VERSION_Eigen3)
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mark_as_advanced(MUJOCO_DEP_VERSION_abseil)
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mark_as_advanced(MUJOCO_DEP_VERSION_gtest)
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mark_as_advanced(MUJOCO_DEP_VERSION_benchmark)
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include(FetchContent)
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include(FindOrFetch)
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# We force all the dependencies to be compiled as static libraries.
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# TODO(fraromano) Revisit this choice when adding support for install.
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set(BUILD_SHARED_LIBS_OLD ${BUILD_SHARED_LIBS})
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set(BUILD_SHARED_LIBS
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OFF
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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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FetchContent_Declare(
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lodepng
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GIT_REPOSITORY https://github.com/lvandeve/lodepng.git
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GIT_TAG ${MUJOCO_DEP_VERSION_lodepng}
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)
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FetchContent_GetProperties(lodepng)
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if(NOT lodepng_POPULATED)
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FetchContent_Populate(lodepng)
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# This is not a CMake project.
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set(LODEPNG_SRCS ${lodepng_SOURCE_DIR}/lodepng.cpp)
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set(LODEPNG_HEADERS ${lodepng_SOURCE_DIR}/lodepng.h)
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add_library(lodepng STATIC ${LODEPNG_HEADERS} ${LODEPNG_SRCS})
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target_compile_options(lodepng PRIVATE ${MUJOCO_MACOS_COMPILE_OPTIONS})
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target_link_options(lodepng PRIVATE ${MUJOCO_MACOS_LINK_OPTIONS})
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target_include_directories(lodepng PUBLIC ${lodepng_SOURCE_DIR})
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endif()
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endif()
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# TODO(fraromano) We fetch qhull before the other libraries as it needs to go before until https://github.com/qhull/qhull/pull/111 is merged.
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set(QHULL_ENABLE_TESTING OFF)
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# We need Git to apply the patch using git apply.
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find_package(Git REQUIRED)
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findorfetch(
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USE_SYSTEM_PACKAGE
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OFF
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PACKAGE_NAME
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qhull
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LIBRARY_NAME
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qhull
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GIT_REPO
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https://github.com/qhull/qhull.git
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GIT_TAG
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${MUJOCO_DEP_VERSION_qhull}
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TARGETS
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qhull
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# TODO(fraromano) Remove when https://github.com/qhull/qhull/pull/112 is merged.
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# Do not fail if patch fails. This will happen the second time we run CMake as the sources will be already patched.
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PATCH_COMMAND
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"${GIT_EXECUTABLE}"
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"apply"
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"-q"
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"${PROJECT_SOURCE_DIR}/cmake/qhull_fix_testing.patch"
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"||"
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"${CMAKE_COMMAND}"
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"-E"
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"true"
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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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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 ${MUJOCO_MACOS_LINK_OPTIONS})
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set(tinyxml2_BUILD_TESTING OFF)
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findorfetch(
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USE_SYSTEM_PACKAGE
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OFF
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PACKAGE_NAME
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tinyxml2
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LIBRARY_NAME
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tinyxml2
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GIT_REPO
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https://github.com/leethomason/tinyxml2.git
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GIT_TAG
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${MUJOCO_DEP_VERSION_tinyxml2}
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TARGETS
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tinyxml2
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EXCLUDE_FROM_ALL
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)
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target_compile_options(tinyxml2 PRIVATE ${MUJOCO_MACOS_COMPILE_OPTIONS})
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target_link_options(tinyxml2 PRIVATE ${MUJOCO_MACOS_LINK_OPTIONS})
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findorfetch(
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USE_SYSTEM_PACKAGE
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OFF
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PACKAGE_NAME
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tinyobjloader
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LIBRARY_NAME
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tinyobjloader
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GIT_REPO
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https://github.com/tinyobjloader/tinyobjloader.git
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GIT_TAG
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${MUJOCO_DEP_VERSION_tinyobjloader}
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TARGETS
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tinyobjloader
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EXCLUDE_FROM_ALL
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)
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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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PACKAGE_NAME
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ccd
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LIBRARY_NAME
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ccd
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GIT_REPO
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https://github.com/danfis/libccd.git
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GIT_TAG
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${MUJOCO_DEP_VERSION_ccd}
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TARGETS
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ccd
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EXCLUDE_FROM_ALL
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)
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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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# 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(WIN32)
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if(MSVC)
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# C4005 is the MSVC equivalent of -Wmacro-redefined.
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target_compile_options(ccd PRIVATE /wd4005)
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else()
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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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if(MUJOCO_BUILD_TESTS)
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set(ABSL_PROPAGATE_CXX_STD ON)
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# This specific version of Abseil does not have the following variable. We need to work with BUILD_TESTING
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set(BUILD_TESTING_OLD ${BUILD_TESTING})
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set(BUILD_TESTING
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OFF
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CACHE INTERNAL "Build tests."
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)
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set(ABSL_BUILD_TESTING OFF)
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findorfetch(
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USE_SYSTEM_PACKAGE
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OFF
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PACKAGE_NAME
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absl
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LIBRARY_NAME
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abseil-cpp
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GIT_REPO
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https://github.com/abseil/abseil-cpp.git
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GIT_TAG
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${MUJOCO_DEP_VERSION_abseil}
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TARGETS
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absl::core_headers
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EXCLUDE_FROM_ALL
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)
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set(BUILD_TESTING
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${BUILD_TESTING_OLD}
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CACHE BOOL "Build tests." FORCE
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)
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# Avoid linking errors on Windows by dynamically linking to the C runtime.
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set(gtest_force_shared_crt
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ON
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CACHE BOOL "" FORCE
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)
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findorfetch(
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USE_SYSTEM_PACKAGE
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OFF
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PACKAGE_NAME
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GTest
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LIBRARY_NAME
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googletest
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GIT_REPO
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https://github.com/google/googletest.git
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GIT_TAG
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${MUJOCO_DEP_VERSION_gtest}
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TARGETS
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gtest
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gmock
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gtest_main
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EXCLUDE_FROM_ALL
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)
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set(BENCHMARK_EXTRA_FETCH_ARGS "")
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if(WIN32 AND NOT MSVC)
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set(BENCHMARK_EXTRA_FETCH_ARGS
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PATCH_COMMAND
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"sed"
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"-i"
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"-e"
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"s/-std=c++11/-std=c++14/g"
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"-e"
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"s/HAVE_CXX_FLAG_STD_CXX11/HAVE_CXX_FLAG_STD_CXX14/g"
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"${CMAKE_BINARY_DIR}/_deps/benchmark-src/CMakeLists.txt"
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)
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endif()
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set(BENCHMARK_ENABLE_TESTING OFF)
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findorfetch(
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USE_SYSTEM_PACKAGE
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OFF
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PACKAGE_NAME
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benchmark
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LIBRARY_NAME
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benchmark
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GIT_REPO
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https://github.com/google/benchmark.git
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GIT_TAG
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${MUJOCO_DEP_VERSION_benchmark}
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TARGETS
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benchmark::benchmark
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benchmark::benchmark_main
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${BENCHMARK_EXTRA_FETCH_ARGS}
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EXCLUDE_FROM_ALL
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)
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endif()
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if(MUJOCO_TEST_PYTHON_UTIL)
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add_compile_definitions(EIGEN_MPL2_ONLY)
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if(NOT TARGET eigen)
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# Support new IN_LIST if() operator.
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set(CMAKE_POLICY_DEFAULT_CMP0057 NEW)
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FetchContent_Declare(
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Eigen3
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GIT_REPOSITORY https://gitlab.com/libeigen/eigen.git
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GIT_TAG ${MUJOCO_DEP_VERSION_Eigen3}
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)
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FetchContent_GetProperties(Eigen3)
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if(NOT Eigen3_POPULATED)
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FetchContent_Populate(Eigen3)
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# Mark the library as IMPORTED as a workaround for https://gitlab.kitware.com/cmake/cmake/-/issues/15415
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add_library(Eigen3::Eigen INTERFACE IMPORTED)
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set_target_properties(
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Eigen3::Eigen PROPERTIES INTERFACE_INCLUDE_DIRECTORIES "${eigen3_SOURCE_DIR}"
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)
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endif()
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endif()
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endif()
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# Reset BUILD_SHARED_LIBS to its previous value
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set(BUILD_SHARED_LIBS
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${BUILD_SHARED_LIBS_OLD}
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CACHE BOOL "Build MuJoCo as a shared library" FORCE
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)
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