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

PiperOrigin-RevId: 434731612
Change-Id: I0cfda3e7a3d1c72036764986efc252ffa1b8c6b0

sample/Makefile.macos

@@ -1,12 +1,21 @@
-COMMON=-O2 -I../include -L../bin -std=c++11 -stdlib=libc++ -mavx -pthread
+# This Makefile assumes that GLFW is installed via Homebrew, and that Homebrew
+# packages are installed in /usr/local. If your setup is different, you will
+# need to adjust the HOMEBREW variable accordingly.
+
+HOMEBREW?=/usr/local
+
+MUJOCO_LIBDIR=../MuJoCo.Framework/Versions/A
+MUJOCO_INCLUDEDIR=../MuJoCo.Framework/Versions/A/Headers
+CFLAGS=-O2 -I$(MUJOCO_INCLUDEDIR) -I$(HOMEBREW)/include -pthread
+ALLFLAGS=$(CFLAGS) -L$(MUJOCO_LIBDIR) -L$(HOMEBREW)/lib -std=c++11 -stdlib=libc++
 
 all:
-	clang++ $(COMMON) testxml.cc    -lmujoco210nogl      -o ../bin/testxml
-	clang++ $(COMMON) testspeed.cc  -lmujoco210nogl      -o ../bin/testspeed
-	clang++ $(COMMON) compile.cc    -lmujoco210nogl      -o ../bin/compile
-	clang++ $(COMMON) derivative.cc -lmujoco210nogl      -o ../bin/derivative
-	clang++ $(COMMON) basic.cc      -lmujoco210 -lglfw.3 -o ../bin/basic
-	clang++ $(COMMON) record.cc     -lmujoco210 -lglfw.3 -o ../bin/record
-	clang -c -O2 -mavx -I../include ../include/uitools.c
-	clang++ $(COMMON) uitools.o simulate.cc -lmujoco210 -lglfw.3 -o ../bin/simulate
+	clang++ $(ALLFLAGS) testxml.cc    -lmujoco.2.1.2        -o testxml
+	clang++ $(ALLFLAGS) testspeed.cc  -lmujoco.2.1.2        -o testspeed
+	clang++ $(ALLFLAGS) compile.cc    -lmujoco.2.1.2        -o compile
+	clang++ $(ALLFLAGS) derivative.cc -lmujoco.2.1.2        -o derivative
+	clang++ $(ALLFLAGS) basic.cc      -lmujoco.2.1.2 -lglfw -o basic
+	clang++ $(ALLFLAGS) record.cc     -lmujoco.2.1.2 -lglfw -o record
+	clang -c $(CFLAGS) uitools.c
+	clang++ $(ALLFLAGS) uitools.o simulate.cc -lmujoco.2.1.2 -lglfw -o simulate
 	rm *.o