Version 2.1.2: Python bindings, OBJ assets support, bugfixes.

PiperOrigin-RevId: 434731612 Change-Id: I0cfda3e7a3d1c72036764986efc252ffa1b8c6b0
2022-03-15 14:04:44 +00:00
parent 175d25cd9f
commit 3577e2cf8b
304 changed files with 23906 additions and 1013 deletions
@@ -0,0 +1,96 @@
+# Copyright 2022 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.
+
+if(MSVC AND MSVC_VERSION GREATER_EQUAL 1927)
+  set(CMAKE_CXX_STANDARD 20) # For forceinline lambdas.
+else()
+  set(CMAKE_CXX_STANDARD 17)
+endif()
+set(CMAKE_CXX_STANDARD_REQUIRED ON)
+set(CMAKE_CXX_EXTENSIONS OFF)
+
+# INTERPROCEDURAL_OPTIMIZATION is enforced when enabled.
+set(CMAKE_POLICY_DEFAULT_CMP0069 NEW)
+
+if(APPLE)
+  add_compile_options(-Werror=partial-availability -Werror=unguarded-availability)
+  add_link_options(-Wl,-no_weak_imports)
+endif()
+
+add_library(crossplatform INTERFACE crossplatform.h)
+set_target_properties(crossplatform PROPERTIES PUBLIC_HEADER crossplatform.h)
+target_include_directories(crossplatform INTERFACE ${mujoco_SOURCE_DIR}/mujoco)
+
+add_library(array_traits INTERFACE array_traits.h)
+set_target_properties(array_traits PROPERTIES PUBLIC_HEADER array_traits.h)
+target_include_directories(array_traits INTERFACE ${mujoco_SOURCE_DIR}/mujoco)
+target_link_libraries(array_traits INTERFACE crossplatform Eigen3::Eigen)
+
+add_library(func_traits INTERFACE func_traits.h)
+set_target_properties(func_traits PROPERTIES PUBLIC_HEADER func_traits.h)
+target_include_directories(func_traits INTERFACE ${mujoco_SOURCE_DIR}/mujoco)
+
+add_library(tuple_tools INTERFACE tuple_tools.h)
+set_target_properties(tuple_tools PROPERTIES PUBLIC_HEADER tuple_tools.h)
+target_include_directories(tuple_tools INTERFACE ${mujoco_SOURCE_DIR}/mujoco)
+target_link_libraries(tuple_tools INTERFACE crossplatform)
+
+add_library(func_wrap INTERFACE func_wrap.h)
+set_target_properties(func_wrap PROPERTIES PUBLIC_HEADER func_wrap.h)
+target_include_directories(func_wrap INTERFACE ${mujoco_SOURCE_DIR}/mujoco)
+target_link_libraries(
+  func_wrap
+  INTERFACE crossplatform
+            Eigen3::Eigen
+            array_traits
+            func_traits
+)
+
+if(MUJOCO_TEST_PYTHON_UTIL)
+  add_executable(array_traits_test array_traits_test.cc)
+  target_link_libraries(
+    array_traits_test
+    array_traits
+    gmock
+    gtest_main
+  )
+  gtest_add_tests(TARGET array_traits_test SOURCES array_traits_test.cc)
+
+  add_executable(func_traits_test func_traits_test.cc)
+  target_link_libraries(
+    func_traits_test
+    func_traits
+    gmock
+    gtest_main
+  )
+  gtest_add_tests(TARGET func_traits_test SOURCES func_traits_test.cc)
+
+  add_executable(func_wrap_test func_wrap_test.cc)
+  target_link_libraries(
+    func_wrap_test
+    func_wrap
+    gmock
+    gtest_main
+  )
+  gtest_add_tests(TARGET func_wrap_test SOURCES func_wrap_test.cc)
+
+  add_executable(tuple_tools_test tuple_tools_test.cc)
+  target_link_libraries(
+    tuple_tools_test
+    func_wrap
+    gmock
+    gtest_main
+  )
+  gtest_add_tests(TARGET tuple_tools_test SOURCES tuple_tools_test.cc)
+endif()