Initial open sourcing of MuJoCo.

PiperOrigin-RevId: 450374687
Change-Id: Ie3225a46ce095fc28ae8e63c326a640261f562bb

test/benchmark/CMakeLists.txt

@@ -0,0 +1,57 @@
+# 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.
+
+# Macro for benchmarks that don't use GL (same as mujoco_api_test, but uses
+# benchmark::benchmark_main).
+
+macro(mujoco_benchmark_test name)
+  add_executable(${name} ${name}.cc)
+  target_link_libraries(
+    ${name}
+    benchmark::benchmark_main
+    mujoco
+    absl::core_headers
+  )
+  target_include_directories(${name} PRIVATE ${MUJOCO_TEST_INCLUDE})
+  # TODO(fraromano) Check RPATH settings
+  set_target_properties(${name} PROPERTIES BUILD_RPATH ${CMAKE_LIBRARY_OUTPUT_DIRECTORY})
+  # gtest_discover_tests is recommended over gtest_add_tests, but has some issues in Windows.
+  gtest_add_tests(
+    TARGET ${name}
+    SOURCES ${name}.cc
+    WORKING_DIRECTORY ${MUJOCO_TEST_WORKING_DIR}
+    TEST_LIST testList
+  )
+  if(WIN32)
+    set_tests_properties(
+      ${testList} PROPERTIES ENVIRONMENT "PATH=$<TARGET_FILE_DIR:mujoco>;$ENV{PATH}"
+    )
+  endif()
+endmacro()
+
+mujoco_benchmark_test(step_benchmark_test)
+target_link_libraries(
+  step_benchmark_test
+  fixture
+  gmock
+  benchmark::benchmark
+)
+
+mujoco_benchmark_test(parse_benchmark_test)
+target_link_libraries(
+  parse_benchmark_test
+  fixture
+  gmock
+  benchmark::benchmark
+)