Initial open sourcing of MuJoCo.

PiperOrigin-RevId: 450374687
Change-Id: Ie3225a46ce095fc28ae8e63c326a640261f562bb

cmake/MujocoMacOS.cmake

@@ -0,0 +1,38 @@
+# Copyright 2022 DeepMind Technologies Limited
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     https://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+if(APPLE)
+  # 10.12 is the oldest version of macOS that supports C++17, launched 2016.
+  set(MUJOCO_MACOSX_VERSION_MIN 10.12)
+
+  # We are setting the -mmacosx-version-min compiler flag directly rather than using the
+  # CMAKE_OSX_DEPLOYMENT_TARGET variable since we do not want to affect choice of SDK,
+  # and also we only want to apply the version restriction locally.
+  set(MUJOCO_MACOS_COMPILE_OPTIONS -mmacosx-version-min=${MUJOCO_MACOSX_VERSION_MIN}
+                                   -Werror=partial-availability -Werror=unguarded-availability
+  )
+  set(MUJOCO_MACOS_LINK_OPTIONS -mmacosx-version-min=${MUJOCO_MACOSX_VERSION_MIN}
+                                -Wl,-no_weak_imports
+  )
+else()
+  set(MUJOCO_MACOS_COMPILE_OPTIONS "")
+  set(MUJOCO_MACOS_LINK_OPTIONS "")
+endif()
+
+function(enforce_mujoco_macosx_min_version)
+  if(APPLE)
+    add_compile_options(${MUJOCO_MACOS_COMPILE_OPTIONS})
+    add_link_options(${MUJOCO_MACOS_LINK_OPTIONS})
+  endif()
+endfunction()