Initial open sourcing of MuJoCo.

PiperOrigin-RevId: 450374687
Change-Id: Ie3225a46ce095fc28ae8e63c326a640261f562bb

cmake/MujocoOptions.cmake

@@ -0,0 +1,106 @@
+# Copyright 2021 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.
+
+# Global compilation settings
+set(CMAKE_C_STANDARD 11)
+set(CMAKE_C_STANDARD_REQUIRED ON)
+set(CMAKE_CXX_STANDARD 17)
+set(CMAKE_CXX_STANDARD_REQUIRED ON)
+set(CMAKE_CXX_EXTENSIONS OFF)
+set(CMAKE_C_EXTENSIONS OFF)
+set(CMAKE_EXPORT_COMPILE_COMMANDS ON) # For LLVM tooling
+
+if(NOT CMAKE_CONFIGURATION_TYPES)
+  if(NOT CMAKE_BUILD_TYPE)
+    message(STATUS "Setting build type to 'Release' as none was specified.")
+    set(CMAKE_BUILD_TYPE
+        "Release"
+        CACHE STRING "Choose the type of build, recommanded options are: Debug or Release" FORCE
+    )
+  endif()
+  set(BUILD_TYPES
+      "Debug"
+      "Release"
+      "MinSizeRel"
+      "RelWithDebInfo"
+  )
+  set_property(CACHE CMAKE_BUILD_TYPE PROPERTY STRINGS ${BUILD_TYPES})
+endif()
+
+include(GNUInstallDirs)
+
+# Change the default output directory in the build structure. This is not stricly needed, but helps
+# running in Windows, such that all built executables have DLLs in the same folder as the .exe
+# files.
+set(CMAKE_RUNTIME_OUTPUT_DIRECTORY "${CMAKE_BINARY_DIR}/${CMAKE_INSTALL_BINDIR}")
+set(CMAKE_LIBRARY_OUTPUT_DIRECTORY "${CMAKE_BINARY_DIR}/${CMAKE_INSTALL_LIBDIR}")
+set(CMAKE_ARCHIVE_OUTPUT_DIRECTORY "${CMAKE_BINARY_DIR}/${CMAKE_INSTALL_LIBDIR}")
+
+set(OpenGL_GL_PREFERENCE GLVND)
+
+set(CMAKE_POSITION_INDEPENDENT_CODE ON)
+set(CMAKE_C_VISIBILITY_PRESET hidden)
+set(CMAKE_CXX_VISIBILITY_PRESET hidden)
+set(CMAKE_VISIBILITY_INLINES_HIDDEN ON)
+
+if(MSVC)
+  add_compile_options(/Gy /Gw /Oi)
+elseif(CMAKE_CXX_COMPILER_ID STREQUAL "GNU" OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-fdata-sections -ffunction-sections)
+endif()
+
+# We default to shared library.
+set(BUILD_SHARED_LIBS
+    ON
+    CACHE BOOL "Build Mujoco as shared library."
+)
+
+option(MUJOCO_ENABLE_AVX "Build binaries that require AVX instructions, if possible." ON)
+option(MUJOCO_ENABLE_AVX_INTRINSICS "Make use of hand-written AVX intrinsics, if possible." ON)
+option(MUJOCO_ENABLE_RPATH "Enable RPath support when installing Mujoco." ON)
+mark_as_advanced(MUJOCO_ENABLE_RPATH)
+
+if(MUJOCO_ENABLE_AVX)
+  include(CheckAvxSupport)
+  get_avx_compile_options(AVX_COMPILE_OPTIONS)
+else()
+  set(AVX_COMPILE_OPTIONS)
+endif()
+
+option(MUJOCO_BUILD_MACOS_FRAMEWORKS "Build libraries as macOS Frameworks" OFF)
+
+# Get some extra link options.
+include(MujocoLinkOptions)
+get_mujoco_extra_link_options(EXTRA_LINK_OPTIONS)
+
+if(CMAKE_CXX_COMPILER_ID STREQUAL "GNU" OR (CMAKE_CXX_COMPILER_ID MATCHES "Clang" AND NOT MSVC))
+  set(EXTRA_COMPILE_OPTIONS -Wall -Werror)
+  if(CMAKE_CXX_COMPILER_ID STREQUAL "GNU")
+    set(EXTRA_COMPILE_OPTIONS
+        -Wno-int-in-bool-context
+        -Wno-maybe-uninitialized
+        -Wno-sign-compare
+        -Wno-stringop-overflow
+        -Wno-stringop-truncation
+    )
+  endif()
+endif()
+
+if(WIN32)
+  add_compile_definitions(_CRT_SECURE_NO_WARNINGS)
+endif()
+
+include(MujocoHarden)
+set(EXTRA_COMPILE_OPTIONS ${EXTRA_COMPILE_OPTIONS} ${MUJOCO_HARDEN_COMPILE_OPTIONS})
+set(EXTRA_LINK_OPTIONS ${EXTRA_LINK_OPTIONS} ${MUJOCO_HARDEN_LINK_OPTIONS})