Merge pull request #3252 from devshahofficial:devshahofficial/studio-filament-source-build

PiperOrigin-RevId: 958356099
Change-Id: If4e68babdc6c68d7dd05ced7197a1869db4a0625

cmake/third_party_deps/dear_imgui/CMakeLists.txt

@@ -13,61 +13,65 @@
 # limitations under the License.
 
 add_library(dear_imgui STATIC)
+set(MUJOCO_DEAR_IMGUI_SOURCE_DIR "${dear_imgui_SOURCE_DIR}" CACHE INTERNAL "")
 target_include_directories(dear_imgui
   PUBLIC
-    ${dear_imgui_SOURCE_DIR}
+    ${MUJOCO_DEAR_IMGUI_SOURCE_DIR}
 )
 target_sources(dear_imgui
   PUBLIC
-    ${dear_imgui_SOURCE_DIR}/imgui.h
+    ${MUJOCO_DEAR_IMGUI_SOURCE_DIR}/imgui.h
-    ${dear_imgui_SOURCE_DIR}/imgui.cpp
+    ${MUJOCO_DEAR_IMGUI_SOURCE_DIR}/imgui.cpp
-    ${dear_imgui_SOURCE_DIR}/imgui_internal.h
+    ${MUJOCO_DEAR_IMGUI_SOURCE_DIR}/imgui_internal.h
-    ${dear_imgui_SOURCE_DIR}/imgui_draw.cpp
+    ${MUJOCO_DEAR_IMGUI_SOURCE_DIR}/imgui_draw.cpp
-    ${dear_imgui_SOURCE_DIR}/imgui_tables.cpp
+    ${MUJOCO_DEAR_IMGUI_SOURCE_DIR}/imgui_tables.cpp
-    ${dear_imgui_SOURCE_DIR}/imgui_widgets.cpp
+    ${MUJOCO_DEAR_IMGUI_SOURCE_DIR}/imgui_widgets.cpp
-    ${dear_imgui_SOURCE_DIR}/imgui_demo.cpp
+    ${MUJOCO_DEAR_IMGUI_SOURCE_DIR}/imgui_demo.cpp
 )
 
-# SDL2 backend
+function(mujoco_add_dear_imgui_sdl2_backend)
-# TODO: I don't know how to correctly check for dependencies in cmake. This
+  if(TARGET dear_imgui_SDL2 OR NOT TARGET SDL2::SDL2-static)
-# assumes that SDL2 is pulled in _before_ dear_imgui, but that seems fragile.
+    return()
-# For now, we'll just assume SDL2 is available as dear_imgui is only being used
+  endif()
-# in contexts which depend on SDL2.
+
-#if(TARGET SDL2)
   add_library(dear_imgui_SDL2 STATIC)
   target_include_directories(dear_imgui_SDL2
     PUBLIC
-      ${dear_imgui_SOURCE_DIR}
+      ${MUJOCO_DEAR_IMGUI_SOURCE_DIR}
   )
   target_sources(dear_imgui_SDL2
     PUBLIC
-      ${dear_imgui_SOURCE_DIR}/backends/imgui_impl_sdl2.cpp
+      ${MUJOCO_DEAR_IMGUI_SOURCE_DIR}/backends/imgui_impl_sdl2.cpp
   )
   target_link_libraries(dear_imgui_SDL2
     SDL2::SDL2-static
   )
-#endif()
+endfunction()
+
+# SDL2 backend. Filament uses base dear_imgui without SDL2; platform calls this
+# helper again after SDL2 is pulled in.
+mujoco_add_dear_imgui_sdl2_backend()
 
 # OpenGL3 backend
 add_library(dear_imgui_OpenGL3 STATIC)
 target_include_directories(dear_imgui_OpenGL3
   PUBLIC
-    ${dear_imgui_SOURCE_DIR}
+    ${MUJOCO_DEAR_IMGUI_SOURCE_DIR}
 )
 target_sources(dear_imgui_OpenGL3
   PUBLIC
-    ${dear_imgui_SOURCE_DIR}/backends/imgui_impl_opengl3.h
+    ${MUJOCO_DEAR_IMGUI_SOURCE_DIR}/backends/imgui_impl_opengl3.h
-    ${dear_imgui_SOURCE_DIR}/backends/imgui_impl_opengl3.cpp
+    ${MUJOCO_DEAR_IMGUI_SOURCE_DIR}/backends/imgui_impl_opengl3.cpp
 )
 
 # stdlib
 add_library(dear_imgui_stdlib STATIC)
 target_include_directories(dear_imgui_stdlib
   PUBLIC
-    ${dear_imgui_SOURCE_DIR}
+    ${MUJOCO_DEAR_IMGUI_SOURCE_DIR}
 )
 target_sources(dear_imgui_stdlib
   PUBLIC
-    ${dear_imgui_SOURCE_DIR}/misc/cpp/imgui_stdlib.h
+    ${MUJOCO_DEAR_IMGUI_SOURCE_DIR}/misc/cpp/imgui_stdlib.h
-    ${dear_imgui_SOURCE_DIR}/misc/cpp/imgui_stdlib.cpp
+    ${MUJOCO_DEAR_IMGUI_SOURCE_DIR}/misc/cpp/imgui_stdlib.cpp
 )

cmake/third_party_deps/filament.cmake

@@ -52,6 +52,18 @@ set(FILAMENT_PATCH_COMMAND
   git --git-dir=. -c core.autocrlf=false -c core.whitespace=cr-at-eol apply --verbose --whitespace=fix --ignore-space-change ${mujoco_SOURCE_DIR}/cmake/filament-allow-clang-windows.patch
 )
 
+# MuJoCo fetches Abseil before Filament is configured. Filament's
+# FILAMENT_USE_EXTERNAL_ABSL path calls find_package(absl), which can otherwise
+# discover an unrelated package-manager Abseil config and collide with the
+# targets already created by MuJoCo's fetched Abseil.
+if(DEFINED CMAKE_DISABLE_FIND_PACKAGE_absl)
+    set(MUJOCO_CMAKE_DISABLE_FIND_PACKAGE_ABSL_WAS_DEFINED TRUE)
+    set(MUJOCO_CMAKE_DISABLE_FIND_PACKAGE_ABSL_OLD "${CMAKE_DISABLE_FIND_PACKAGE_absl}")
+else()
+    set(MUJOCO_CMAKE_DISABLE_FIND_PACKAGE_ABSL_WAS_DEFINED FALSE)
+endif()
+set(CMAKE_DISABLE_FIND_PACKAGE_absl TRUE)
+
 fetchpackage(
     PACKAGE_NAME  filament
     GIT_REPO      https://github.com/google/filament.git
@@ -59,5 +71,13 @@ fetchpackage(
     PATCH_COMMAND ${FILAMENT_PATCH_COMMAND}
 )
 
+if(MUJOCO_CMAKE_DISABLE_FIND_PACKAGE_ABSL_WAS_DEFINED)
+    set(CMAKE_DISABLE_FIND_PACKAGE_absl "${MUJOCO_CMAKE_DISABLE_FIND_PACKAGE_ABSL_OLD}")
+else()
+    unset(CMAKE_DISABLE_FIND_PACKAGE_absl)
+endif()
+unset(MUJOCO_CMAKE_DISABLE_FIND_PACKAGE_ABSL_WAS_DEFINED)
+unset(MUJOCO_CMAKE_DISABLE_FIND_PACKAGE_ABSL_OLD)
+
 set(BUILD_SHARED_LIBS ${BUILD_SHARED_LIBS_OLD})
 set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS_OLD}")

src/experimental/platform/CMakeLists.txt

@@ -98,9 +98,10 @@ target_include_directories(${MUJOCO_PLATFORM_TARGET_NAME}
         ${PROJECT_SOURCE_DIR}/src
 )
 
-include(third_party_deps/dear_imgui)
-include(third_party_deps/implot)
 include(third_party_deps/sdl2)
+include(third_party_deps/dear_imgui)
+mujoco_add_dear_imgui_sdl2_backend()
+include(third_party_deps/implot)
 include(third_party_deps/libwebp)
 
 target_link_libraries(${MUJOCO_PLATFORM_TARGET_NAME}

src/experimental/studio/README.md

@@ -17,6 +17,47 @@ bash build.sh
 > [!NOTE]
 > For now [`build.sh`](build.sh) script works on windows in a git bash shell.
 
+To keep Studio build artifacts separate from other MuJoCo builds, you can also
+configure an isolated build directory manually:
+
+```
+cmake -B build-studio \
+  -DCMAKE_BUILD_TYPE=Release \
+  -DUSE_STATIC_LIBCXX=OFF \
+  -DBUILD_SHARED_LIB=OFF \
+  -DMUJOCO_USE_FILAMENT=ON \
+  -DMUJOCO_BUILD_EXAMPLES=OFF \
+  -DMUJOCO_BUILD_SIMULATE=OFF \
+  -DMUJOCO_BUILD_TESTS=OFF \
+  -DMUJOCO_TEST_PYTHON_UTIL=OFF \
+  -DMUJOCO_WITH_USD=OFF \
+  -DMUJOCO_BUILD_STUDIO=ON \
+  -DFILAMENT_SKIP_SAMPLES=ON \
+  -DCMAKE_CXX_FLAGS=-Wno-error=deprecated-declarations \
+  -DFILAMENT_SHORTEN_MSVC_COMPILATION=OFF
+cmake --build build-studio --config Release --target mujoco_studio --parallel
+```
+
+Run `mujoco_studio` from the build output directory so it can find the copied
+font and Filament assets:
+
+```
+cd build-studio/bin
+./mujoco_studio --gfx=opengl
+```
+
+On macOS, Studio defaults to Filament OpenGL. The OpenGL implementation may be
+provided by Apple's Metal-backed OpenGL layer, so runtime logs can mention both
+OpenGL and Metal/Apple GPU details.
+
+### Troubleshooting
+
+If configure fails while resolving Filament dependencies, check whether CMake is
+finding package-manager CMake configs from environments such as Anaconda. In
+particular, an unrelated `abslConfig.cmake` can conflict with MuJoCo's fetched
+Abseil targets. Remove that prefix from `CMAKE_PREFIX_PATH`, or configure with
+`CMAKE_IGNORE_PREFIX_PATH` pointing at the conflicting environment prefix.
+
 ## Development
 
 The [`build.sh`](build.sh) script is intended to get you up and running quickly.