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 +1,363 @@
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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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cmake_minimum_required(VERSION 3.18)
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# INTERPROCEDURAL_OPTIMIZATION is enforced when enabled.
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set(CMAKE_POLICY_DEFAULT_CMP0069 NEW)
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# Default to GLVND if available.
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set(CMAKE_POLICY_DEFAULT_CMP0072 NEW)
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# This line has to appear before 'PROJECT' in order to be able to disable incremental linking
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set(MSVC_INCREMENTAL_DEFAULT ON)
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project(
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mujoco_samples
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VERSION 2.1.5
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DESCRIPTION "MuJoCo samples binaries"
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HOMEPAGE_URL "https://mujoco.org"
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)
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enable_language(C)
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enable_language(CXX)
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if(APPLE)
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enable_language(OBJC)
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enable_language(OBJCXX)
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endif()
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# Check if we are building as standalone project.
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set(SAMPLE_STANDALONE OFF)
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set(_INSTALL_SAMPLES ON)
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if(CMAKE_SOURCE_DIR STREQUAL CMAKE_CURRENT_SOURCE_DIR)
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set(SAMPLE_STANDALONE ON)
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# If standalone, do not install the samples.
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set(_INSTALL_SAMPLES OFF)
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endif()
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list(APPEND CMAKE_MODULE_PATH "${PROJECT_SOURCE_DIR}/cmake")
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if(SAMPLE_STANDALONE)
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include(SampleOptions)
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else()
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enforce_mujoco_macosx_min_version()
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endif()
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include(SampleDependencies)
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set(MUJOCO_SAMPLE_COMPILE_OPTIONS "${AVX_COMPILE_OPTIONS}" "${EXTRA_COMPILE_OPTIONS}")
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set(MUJOCO_SAMPLE_LINK_OPTIONS "${EXTRA_LINK_OPTIONS}")
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if(MUJOCO_HARDEN)
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if(WIN32)
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set(MUJOCO_SAMPLE_LINK_OPTIONS "${MUJOCO_SAMPLE_LINK_OPTIONS}" -Wl,/DYNAMICBASE)
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else()
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set(MUJOCO_SAMPLE_COMPILE_OPTIONS "${MUJOCO_SAMPLE_COMPILE_OPTIONS}" -fPIE)
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if(APPLE)
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set(MUJOCO_SAMPLE_LINK_OPTIONS "${MUJOCO_SAMPLE_LINK_OPTIONS}" -Wl,-pie)
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else()
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set(MUJOCO_SAMPLE_LINK_OPTIONS "${MUJOCO_SAMPLE_LINK_OPTIONS}" -pie)
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endif()
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endif()
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endif()
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# Utility library
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add_library(uitools STATIC)
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target_sources(uitools PRIVATE uitools.h uitools.c)
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target_include_directories(uitools PUBLIC ${CMAKE_CURRENT_SOURCE_DIR})
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target_compile_options(uitools PUBLIC ${MUJOCO_SAMPLE_COMPILE_OPTIONS})
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target_link_libraries(uitools PUBLIC glfw mujoco::mujoco)
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target_link_options(uitools PRIVATE ${MUJOCO_SAMPLE_LINK_OPTIONS})
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# Build sample binaries
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add_executable(compile compile.cc)
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target_compile_options(compile PUBLIC ${MUJOCO_SAMPLE_COMPILE_OPTIONS})
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target_link_libraries(compile Threads::Threads)
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target_link_options(compile PRIVATE ${MUJOCO_SAMPLE_LINK_OPTIONS})
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add_executable(derivative derivative.cc)
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target_compile_options(derivative PUBLIC ${MUJOCO_SAMPLE_COMPILE_OPTIONS})
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target_link_libraries(derivative Threads::Threads)
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target_link_options(derivative PRIVATE ${MUJOCO_SAMPLE_LINK_OPTIONS})
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add_executable(testspeed testspeed.cc)
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target_compile_options(testspeed PUBLIC ${MUJOCO_SAMPLE_COMPILE_OPTIONS})
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target_link_libraries(testspeed Threads::Threads)
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target_link_options(testspeed PRIVATE ${MUJOCO_SAMPLE_LINK_OPTIONS})
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add_executable(testxml testxml.cc array_safety.h)
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target_compile_options(testxml PUBLIC ${MUJOCO_SAMPLE_COMPILE_OPTIONS})
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target_link_libraries(testxml Threads::Threads)
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target_link_options(testxml PRIVATE ${MUJOCO_SAMPLE_LINK_OPTIONS})
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target_link_libraries(compile mujoco::mujoco)
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target_link_libraries(derivative mujoco::mujoco)
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target_link_libraries(testspeed mujoco::mujoco)
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target_link_libraries(testxml mujoco::mujoco)
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# Build samples that require GLFW.
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add_executable(basic basic.cc)
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target_compile_options(basic PUBLIC ${MUJOCO_SAMPLE_COMPILE_OPTIONS})
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target_link_libraries(
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basic
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mujoco::mujoco
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glfw
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Threads::Threads
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)
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target_link_options(basic PRIVATE ${MUJOCO_SAMPLE_LINK_OPTIONS})
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add_executable(record record.cc array_safety.h)
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target_compile_options(record PUBLIC ${MUJOCO_SAMPLE_COMPILE_OPTIONS})
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target_link_libraries(
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record
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mujoco::mujoco
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glfw
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Threads::Threads
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)
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target_link_options(record PRIVATE ${MUJOCO_SAMPLE_LINK_OPTIONS})
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if(APPLE)
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set(SIMULATE_RESOURCE_FILES ${CMAKE_CURRENT_SOURCE_DIR}/../dist/mujoco.icns)
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elseif(WIN32)
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set(SIMULATE_RESOURCE_FILES ${CMAKE_CURRENT_SOURCE_DIR}/../dist/appicon.rc)
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else()
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set(SIMULATE_RESOURCE_FILES "")
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endif()
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add_executable(simulate simulate.cc array_safety.h ${SIMULATE_RESOURCE_FILES})
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target_compile_options(simulate PUBLIC ${MUJOCO_SAMPLE_COMPILE_OPTIONS})
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if(WIN32)
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add_custom_command(
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TARGET simulate
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PRE_BUILD
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COMMAND ${CMAKE_COMMAND} -E copy ${CMAKE_CURRENT_SOURCE_DIR}/../dist/mujoco.ico
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${CMAKE_CURRENT_SOURCE_DIR}
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POST_BUILD
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COMMAND ${CMAKE_COMMAND} -E rm ${CMAKE_CURRENT_SOURCE_DIR}/mujoco.ico
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)
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endif()
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target_link_libraries(
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simulate
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mujoco::mujoco
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uitools
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glfw
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Threads::Threads
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)
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target_link_options(simulate PRIVATE ${MUJOCO_SAMPLE_LINK_OPTIONS})
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if(APPLE)
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target_sources(simulate PRIVATE macos_save.mm)
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target_link_libraries(simulate "-framework Cocoa")
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endif()
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if(NOT SAMPLE_STANDALONE)
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if(APPLE AND MUJOCO_BUILD_MACOS_FRAMEWORKS)
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macro(link_to_mujoco_framework target)
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get_target_property(interface_link_libraries ${target} INTERFACE_LINK_LIBRARIES)
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get_target_property(link_libraries ${target} LINK_LIBRARIES)
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# Remove mujoco::mujoco target which is the not-framework library.
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list(REMOVE_ITEM interface_link_libraries mujoco::mujoco)
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list(REMOVE_ITEM link_libraries mujoco::mujoco)
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set_target_properties(
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${target} PROPERTIES INTERFACE_LINK_LIBRARIES "${interface_link_libraries}"
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)
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set_target_properties(${target} PROPERTIES LINK_LIBRARIES "${link_libraries}")
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# Add mujoco_framework.
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target_link_libraries(${target} mujoco_framework)
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endmacro()
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include(DuplicateTarget)
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duplicate_target(
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TARGET
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simulate
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NEW_TARGET_NAME
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simulate_macos
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)
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link_to_mujoco_framework(simulate_macos)
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set_target_properties(
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simulate_macos
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PROPERTIES INSTALL_RPATH @executable_path/../Frameworks
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BUILD_WITH_INSTALL_RPATH TRUE
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RESOURCE ${SIMULATE_RESOURCE_FILES}
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MACOSX_BUNDLE TRUE
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MACOSX_BUNDLE_INFO_PLIST ${CMAKE_CURRENT_SOURCE_DIR}/../dist/Info.plist.simulate.in
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MACOSX_BUNDLE_BUNDLE_NAME "MuJoCo"
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MACOSX_BUNDLE_GUI_IDENTIFIER "org.mujoco.mujoco"
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MACOSX_BUNDLE_BUNDLE_VERSION ${PROJECT_VERSION}
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MACOSX_BUNDLE_INFO_STRING ${PROJECT_VERSION}
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MACOSX_BUNDLE_LONG_VERSION_STRING ${PROJECT_VERSION}
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MACOSX_BUNDLE_SHORT_VERSION_STRING ${PROJECT_VERSION}
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MACOSX_BUNDLE_ICON_FILE "mujoco.icns"
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MACOSX_BUNDLE_COPYRIGHT "Copyright 2021 DeepMind Technologies Limited."
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OUTPUT_NAME "simulate"
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)
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macro(embed_in_bundle target)
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add_dependencies(${target} simulate_macos)
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set_target_properties(
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${target}
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PROPERTIES INSTALL_RPATH @executable_path/../Frameworks
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BUILD_WITH_INSTALL_RPATH TRUE
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RUNTIME_OUTPUT_DIRECTORY $<TARGET_FILE_DIR:simulate_macos>
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)
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endmacro()
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duplicate_target(
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TARGET
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basic
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NEW_TARGET_NAME
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basic_macos
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)
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set_target_properties(basic_macos PROPERTIES OUTPUT_NAME basic)
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link_to_mujoco_framework(basic_macos)
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embed_in_bundle(basic_macos simulate_macos)
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duplicate_target(
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TARGET
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compile
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NEW_TARGET_NAME
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compile_macos
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)
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set_target_properties(compile_macos PROPERTIES OUTPUT_NAME compile)
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link_to_mujoco_framework(compile_macos)
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embed_in_bundle(compile_macos simulate_macos)
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duplicate_target(
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TARGET
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derivative
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NEW_TARGET_NAME
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derivative_macos
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)
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set_target_properties(derivative_macos PROPERTIES OUTPUT_NAME derivative)
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link_to_mujoco_framework(derivative_macos)
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embed_in_bundle(derivative_macos simulate_macos)
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duplicate_target(
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TARGET
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record
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NEW_TARGET_NAME
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record_macos
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)
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set_target_properties(record_macos PROPERTIES OUTPUT_NAME record)
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link_to_mujoco_framework(record_macos)
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embed_in_bundle(record_macos simulate_macos)
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duplicate_target(
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TARGET
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testspeed
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NEW_TARGET_NAME
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testspeed_macos
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)
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set_target_properties(testspeed_macos PROPERTIES OUTPUT_NAME testspeed)
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link_to_mujoco_framework(testspeed_macos)
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embed_in_bundle(testspeed_macos simulate_macos)
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duplicate_target(
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TARGET
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testxml
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NEW_TARGET_NAME
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testxml_macos
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)
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set_target_properties(testxml_macos PROPERTIES OUTPUT_NAME testxml)
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link_to_mujoco_framework(testxml_macos)
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embed_in_bundle(testxml_macos simulate_macos)
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# Do not add the original binaries to the ALL target. We do this to speed up the
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# build assuming the user is interested in the Frameworks.
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set_target_properties(simulate PROPERTIES EXCLUDE_FROM_ALL TRUE)
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set_target_properties(basic PROPERTIES EXCLUDE_FROM_ALL TRUE)
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set_target_properties(derivative PROPERTIES EXCLUDE_FROM_ALL TRUE)
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set_target_properties(record PROPERTIES EXCLUDE_FROM_ALL TRUE)
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set_target_properties(testxml PROPERTIES EXCLUDE_FROM_ALL TRUE)
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# Note: compile and testspeed are needed by the tests.
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# Embed mujoco.framework inside the App bundle ane move the icon file over too.
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add_custom_command(
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TARGET simulate_macos
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POST_BUILD
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COMMAND mkdir -p $<TARGET_FILE_DIR:simulate_macos>/../Frameworks
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COMMAND rm -rf $<TARGET_FILE_DIR:simulate_macos>/../Frameworks/mujoco.framework
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COMMAND cp -a $<TARGET_FILE_DIR:mujoco_framework>/../../../mujoco.framework
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$<TARGET_FILE_DIR:simulate_macos>/../Frameworks/
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# Delete the symlink and the TBD, otherwise we can't sign and notarize.
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COMMAND rm -rf $<TARGET_FILE_DIR:simulate_macos>/../Frameworks/mujoco.framework/mujoco.tbd
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COMMAND
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rm -rf
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$<TARGET_FILE_DIR:simulate_macos>/../Frameworks/mujoco.framework/Versions/A/libmujoco.dylib
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)
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endif()
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endif()
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# Do not install if macOS Bundles are created as RPATH is managed manually there.
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if(APPLE AND MUJOCO_BUILD_MACOS_FRAMEWORKS)
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set(_INSTALL_SAMPLES OFF)
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endif()
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if(_INSTALL_SAMPLES)
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include(TargetAddRpath)
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# Add support to RPATH for the samples.
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target_add_rpath(
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TARGETS
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basic
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compile
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derivative
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record
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testspeed
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testxml
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simulate
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INSTALL_DIRECTORY
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"${CMAKE_INSTALL_PREFIX}/${CMAKE_INSTALL_BINDIR}"
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LIB_DIRS
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"${CMAKE_INSTALL_PREFIX}/${CMAKE_INSTALL_LIBDIR}"
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DEPENDS
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MUJOCO_ENABLE_RPATH
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)
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install(
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TARGETS basic
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compile
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derivative
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record
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testspeed
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testxml
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simulate
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EXPORT ${PROJECT_NAME}
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RUNTIME DESTINATION "${CMAKE_INSTALL_BINDIR}" COMPONENT samples
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LIBRARY DESTINATION "${CMAKE_INSTALL_LIBDIR}" COMPONENT samples
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ARCHIVE DESTINATION "${CMAKE_INSTALL_LIBDIR}" COMPONENT samples
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BUNDLE DESTINATION "${CMAKE_INSTALL_BINDIR}" COMPONENT samples
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PUBLIC_HEADER DESTINATION ${CMAKE_INSTALL_INCLUDEDIR} COMPONENT samples
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)
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if(NOT MUJOCO_SAMPLES_USE_SYSTEM_GLFW)
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# We downloaded GLFW. Depending if it is a static or shared LIBRARY we might
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# need to install it.
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get_target_property(MJ_GLFW_LIBRARY_TYPE glfw TYPE)
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if(MJ_GLFW_LIBRARY_TYPE STREQUAL SHARED_LIBRARY)
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install(
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TARGETS glfw
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EXPORT ${PROJECT_NAME}
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RUNTIME DESTINATION "${CMAKE_INSTALL_BINDIR}" COMPONENT samples
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LIBRARY DESTINATION "${CMAKE_INSTALL_LIBDIR}" COMPONENT samples
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ARCHIVE DESTINATION "${CMAKE_INSTALL_LIBDIR}" COMPONENT samples
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PUBLIC_HEADER DESTINATION ${CMAKE_INSTALL_INCLUDEDIR} COMPONENT samples
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)
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endif()
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endif()
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endif()
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Reference in New Issue
Block a user