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Initial open sourcing of MuJoCo.

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PiperOrigin-RevId: 450374687
Change-Id: Ie3225a46ce095fc28ae8e63c326a640261f562bb
This commit is contained in:
Saran Tunyasuvunakool
2022-05-23 01:08:10 -07:00
committed by Copybara-Service
parent 0e5d062302
commit 1913a02b40
275 changed files with 99607 additions and 935 deletions
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sample/Makefile.macos
+16 -16
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@@ -1,23 +1,23 @@
# This Makefile assumes that GLFW is installed via Homebrew, and that Homebrew
# packages are installed in /usr/local. If your setup is different, you will
# need to adjust the HOMEBREW variable accordingly.
# This Makefile assumes that GLFW is installed via Homebrew.
# If your setup is different, you will need to set GLFWROOT manually.
# This Makefile also assumes that MuJoCo.app is present in /Applications.
HOMEBREW?=/usr/local
GLFWROOT?=$(shell brew --prefix)
MUJOCOPATH?=/Applications/MuJoCo.app/Contents/Frameworks
MUJOCO_LIBDIR=/Applications/MuJoCo.app/Contents/Frameworks/MuJoCo.Framework/Versions/A
MUJOCO_INCLUDEDIR=/Applications/MuJoCo.app/Contents/Frameworks/MuJoCo.Framework/Versions/A/Headers
CFLAGS=-O2 -I$(MUJOCO_INCLUDEDIR) -I$(HOMEBREW)/include -pthread
ALLFLAGS=$(CFLAGS) -L$(MUJOCO_LIBDIR) -L$(HOMEBREW)/lib -std=c++11 -stdlib=libc++ -Wl,-rpath,/Applications/MuJoCo.app/Contents/Frameworks
CFLAGS=-O2 -F$(MUJOCOPATH) -I$(GLFWROOT)/include -pthread
CXXFLAGS=$(CFLAGS) -std=c++17 -stdlib=libc++
ALLFLAGS=$(CXXFLAGS) -L$(GLFWROOT)/lib -Wl,-rpath,$(MUJOCOPATH)
all:
clang++ $(ALLFLAGS) testxml.cc -lmujoco.2.1.5 -o testxml
clang++ $(ALLFLAGS) testspeed.cc -lmujoco.2.1.5 -o testspeed
clang++ $(ALLFLAGS) compile.cc -lmujoco.2.1.5 -o compile
clang++ $(ALLFLAGS) derivative.cc -lmujoco.2.1.5 -o derivative
clang++ $(ALLFLAGS) basic.cc -lmujoco.2.1.5 -lglfw -o basic
clang++ $(ALLFLAGS) record.cc -lmujoco.2.1.5 -lglfw -o record
clang -c $(CFLAGS) uitools.c
clang++ $(ALLFLAGS) uitools.o simulate.cc -lmujoco.2.1.5 -lglfw -o simulate
clang++ $(ALLFLAGS) testxml.cc -framework mujoco -o testxml
clang++ $(ALLFLAGS) testspeed.cc -framework mujoco -o testspeed
clang++ $(ALLFLAGS) compile.cc -framework mujoco -o compile
clang++ $(ALLFLAGS) derivative.cc -framework mujoco -o derivative
clang++ $(ALLFLAGS) basic.cc -framework mujoco -lglfw -o basic
clang++ $(ALLFLAGS) record.cc -framework mujoco -lglfw -o record
clang -c $(CFLAGS) uitools.c
clang++ -c $(CXXFLAGS) macos_save.mm
clang++ $(ALLFLAGS) simulate.cc uitools.o macos_save.o -framework mujoco -framework Cocoa -lglfw -o simulate
rm *.o