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Fix rpath for usd target shared libs.

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PiperOrigin-RevId: 846759676
Change-Id: I5b2a73b3f997d4d0d447e051c43069ae7418a7ec
This commit is contained in:
Sam Haves
2025-12-19 09:13:37 -08:00
committed by Copybara-Service
parent 849a650143
commit 3d9c195e3c
1 changed files with 12 additions and 32 deletions
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src/experimental/usd/CMakeLists.txt
+12 -32
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@@ -102,7 +102,6 @@ function(configure_houdini_target target_name link_scope include_scope)
endfunction()
## usdMjcf
set(CMAKE_BUILD_WITH_INSTALL_RPATH TRUE)
add_library(${MJCF_PLUGIN_TARGET_NAME} SHARED)
target_sources(${MJCF_PLUGIN_TARGET_NAME} PRIVATE
@@ -167,40 +166,21 @@ target_compile_options(
# Configure RPATH for macOS and UNIX.
if(APPLE)
set(RPATH_LIST "@loader_path")
# Add OpenUSD lib to RPATH for macOS
if(DEFINED pxr_DIR AND EXISTS "${pxr_DIR}/lib")
list(APPEND RPATH_LIST "${pxr_DIR}/lib")
endif()
# Add MuJoCo lib to RPATH for macOS
if(DEFINED MUJOCO_INSTALL_DIR AND EXISTS "${MUJOCO_INSTALL_DIR}/lib")
list(APPEND RPATH_LIST "${MUJOCO_INSTALL_DIR}/lib")
endif()
set_target_properties($(MJCF_PLUGIN_TARGET_NAME) PROPERTIES
BUILD_RPATH "${USD_INSTALL_ROOT}"
INSTALL_RPATH "@loader_path")
string(JOIN ":" CMAKE_INSTALL_RPATH "${RPATH_LIST}") # macOS uses colon for RPATH separator
message(STATUS "Final CMAKE_INSTALL_RPATH: ${CMAKE_INSTALL_RPATH}")
set_target_properties($(MJC_PHYSICS_PLUGIN_TARGET_NAME) PROPERTIES
BUILD_RPATH "${USD_INSTALL_ROOT}"
INSTALL_RPATH "@loader_path")
elseif(UNIX)
set_target_properties($(MJCF_PLUGIN_TARGET_NAME) PROPERTIES
BUILD_RPATH "${USD_INSTALL_ROOT}"
INSTALL_RPATH "$ORIGIN")
# For adjacent libs.
set(RPATH_LIST "\$ORIGIN")
# Add OpenUSD library directory
if(DEFINED pxr_DIR AND EXISTS "${pxr_DIR}/lib")
list(APPEND RPATH_LIST "${pxr_DIR}/lib")
message(STATUS "Adding OpenUSD lib to RPATH: ${pxr_DIR}/lib")
else()
message(WARNING "pxr_DIR is not defined or ${pxr_DIR}/lib does not exist. OpenUSD libraries might not be found via RPATH.")
endif()
# Add MuJoCo library directory
if(DEFINED MUJOCO_INSTALL_DIR AND EXISTS "${MUJOCO_INSTALL_DIR}/lib")
list(APPEND RPATH_LIST "${MUJOCO_INSTALL_DIR}/lib")
elseif(DEFINED MUJOCO_INSTALL_DIR AND EXISTS "${MUJOCO_INSTALL_DIR}/bin")
list(APPEND RPATH_LIST "${MUJOCO_INSTALL_DIR}/bin")
endif()
# Set the final RPATH for installation
string(JOIN ";" CMAKE_INSTALL_RPATH "${RPATH_LIST}")
set_target_properties($(MJC_PHYSICS_PLUGIN_TARGET_NAME) PROPERTIES
BUILD_RPATH "${USD_INSTALL_ROOT}"
INSTALL_RPATH "$ORIGIN")
endif()
target_link_libraries(${MJC_PHYSICS_PLUGIN_TARGET_NAME} PRIVATE