Initial open sourcing of MuJoCo.

PiperOrigin-RevId: 450374687 Change-Id: Ie3225a46ce095fc28ae8e63c326a640261f562bb
2022-05-23 01:08:10 -07:00
parent 0e5d062302
commit 1913a02b40
275 changed files with 99607 additions and 935 deletions
@@ -0,0 +1,53 @@
+# 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.
+
+include(CheckCSourceCompiles)
+
+# Assigns compiler options to the given variable based on availability of AVX.
+function(get_avx_compile_options OUTPUT_VAR)
+  message(VERBOSE "Checking if AVX is available...")
+
+  if(MSVC)
+    set(CMAKE_REQUIRED_FLAGS "/arch:AVX")
+  else()
+    set(CMAKE_REQUIRED_FLAGS "-mavx")
+  endif()
+
+  if(APPLE AND "x86_64" IN_LIST CMAKE_OSX_ARCHITECTURES)
+    message(STATUS "Building x86_64 on macOS, forcing CAN_BUILD_AVX to TRUE.")
+    set(CAN_BUILD_AVX TRUE)
+  else()
+    check_c_source_compiles(
+      "
+      #include <immintrin.h>
+      int main(int argc, char* argv[]) {
+        __m256d ymm;
+        return 0;
+      }
+    "
+      CAN_BUILD_AVX
+    )
+  endif()
+
+  if(CAN_BUILD_AVX)
+    message(VERBOSE "Checking if AVX is available... AVX available.")
+    set("${OUTPUT_VAR}"
+        ${CMAKE_REQUIRED_FLAGS}
+        PARENT_SCOPE
+    )
+  else()
+    message(VERBOSE "Checking if AVX is available... AVX not available.")
+    set("${OUTPUT_VAR}" PARENT_SCOPE)
+  endif()
+endfunction()