Initial open sourcing of MuJoCo.

PiperOrigin-RevId: 450374687
Change-Id: Ie3225a46ce095fc28ae8e63c326a640261f562bb

sample/cmake/SampleDependencies.cmake

@@ -0,0 +1,102 @@
+# 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(FindOrFetch)
+
+if(SAMPLE_STANDALONE)
+  # If standalone, by default look for MuJoCo binary version.
+  set(DEFAULT_USE_SYSTEM_MUJOCO ON)
+else()
+  set(DEFAULT_USE_SYSTEM_MUJOCO OFF)
+endif()
+
+option(MUJOCO_SAMPLES_USE_SYSTEM_MUJOCO "Use installed MuJoCo version."
+       ${DEFAULT_USE_SYSTEM_MUJOCO}
+)
+unset(DEFAULT_USE_SYSTEM_MUJOCO)
+
+option(MUJOCO_SAMPLES_USE_SYSTEM_MUJOCO "Use installed MuJoCo version." OFF)
+option(MUJOCO_SAMPLES_USE_SYSTEM_GLFW "Use installed GLFW version." OFF)
+
+set(MUJOCO_DEP_VERSION_glfw
+    7d5a16ce714f0b5f4efa3262de22e4d948851525 # 3.3.6
+    CACHE STRING "Version of `glfw` to be fetched."
+)
+mark_as_advanced(MUJOCO_DEP_VERSION_glfw)
+
+find_package(Threads REQUIRED)
+
+set(MUJOCO_BUILD_EXAMPLES OFF)
+set(MUJOCO_BUILD_TESTS OFF)
+set(MUJOCO_BUILD_PYTHON OFF)
+set(MUJOCO_TEST_PYTHON_UTIL OFF)
+
+findorfetch(
+  USE_SYSTEM_PACKAGE
+  MUJOCO_SAMPLES_USE_SYSTEM_MUJOCO
+  PACKAGE_NAME
+  mujoco
+  LIBRARY_NAME
+  mujoco
+  GIT_REPO
+  https://github.com/deepmind/mujoco.git
+  GIT_TAG
+  main
+  TARGETS
+  mujoco
+  EXCLUDE_FROM_ALL
+)
+
+option(MUJOCO_SAMPLES_STATIC_GLFW "Link MuJoCo sample apps against GLFW statically." ON)
+if(MUJOCO_SAMPLES_STATIC_GLFW)
+  set(BUILD_SHARED_LIBS_OLD ${BUILD_SHARED_LIBS})
+  set(BUILD_SHARED_LIBS
+      OFF
+      CACHE INTERNAL "Build SHARED libraries"
+  )
+endif()
+
+set(GLFW_BUILD_EXAMPLES OFF)
+set(GLFW_BUILD_TESTS OFF)
+set(GLFW_BUILD_DOCS OFF)
+set(GLFW_INSTALL OFF)
+
+findorfetch(
+  USE_SYSTEM_PACKAGE
+  MUJOCO_SAMPLES_USE_SYSTEM_GLFW
+  PACKAGE_NAME
+  glfw
+  LIBRARY_NAME
+  glfw
+  GIT_REPO
+  https://github.com/glfw/glfw.git
+  GIT_TAG
+  ${MUJOCO_DEP_VERSION_glfw}
+  TARGETS
+  glfw
+  EXCLUDE_FROM_ALL
+)
+
+if(MUJOCO_SAMPLES_STATIC_GLFW)
+  set(BUILD_SHARED_LIBS
+      ${BUILD_SHARED_LIBS_OLD}
+      CACHE BOOL "Build SHARED libraries" FORCE
+  )
+  unset(BUILD_SHARED_LIBS_OLD)
+endif()
+
+if(NOT SAMPLE_STANDALONE)
+  target_compile_options(glfw PRIVATE ${MUJOCO_MACOS_COMPILE_OPTIONS})
+  target_link_options(glfw PRIVATE ${MUJOCO_MACOS_LINK_OPTIONS})
+endif()