Enable MuJoCo Studio build and packaging on Windows.

Also:
- Patched Filament to support building with Clang, so the default MuJoCo build
  mode doesn't need to change. This should probably be upstreamed.
- Added missing Windows deps to MuJoCo Platform CMake config.
- Updated Studio CMake config to fix unresolved symbols issues on Windows.
PiperOrigin-RevId: 934612701
Change-Id: I3a34a5d274e1452c9cfef0e2868f2788b4b0c7e8

python/mujoco/CMakeLists.txt

@@ -153,14 +153,13 @@ if(NOT TARGET mujoco::platform)
     target_compile_features(mujoco_platform INTERFACE cxx_std_20)
 
     set(PLATFORM_DEPS)
-    foreach(dep_lib IN ITEMS
+    set(dep_libs
       mujoco_filament
       dear_imgui
       dear_imgui_stdlib
       implot
       filament
       backend
-      SDL2
       glfw3
       image
       ktxreader
@@ -181,8 +180,38 @@ if(NOT TARGET mujoco::platform)
       basis_encoder
       basis_transcoder
       zstd
+      webp
+      sharpyuv
       z
     )
+
+   set(platform_system_libs)
+    if(WIN32)
+      list(APPEND dep_libs SDL2-static)
+      set(platform_system_libs winmm setupapi version imm32 opengl32)
+    else()
+      list(APPEND dep_libs SDL2)
+      if(UNIX AND NOT APPLE)
+        set(platform_system_libs pthread dl rt)
+      elseif(APPLE)
+        set(platform_system_libs
+          "-framework Cocoa"
+          "-framework IOKit"
+          "-framework Carbon"
+          "-framework ForceFeedback"
+          "-framework CoreVideo"
+          "-framework CoreAudio"
+          "-framework AudioToolbox"
+          "-framework Metal"
+          "-framework GameController"
+          "-framework CoreHaptics"
+          "-framework AVFoundation"
+          "-framework QuartzCore"
+        )
+      endif()
+    endif()
+
+    foreach(dep_lib IN LISTS dep_libs)
       find_library(DEP_PATH_${dep_lib} ${dep_lib} HINTS ${MUJOCO_PLATFORM_HINTS})
       if(DEP_PATH_${dep_lib})
         add_library(mujoco::dep::${dep_lib} STATIC IMPORTED GLOBAL)
@@ -194,25 +223,7 @@ if(NOT TARGET mujoco::platform)
       endif()
     endforeach()
 
-    if(UNIX AND NOT APPLE)
-      list(APPEND PLATFORM_DEPS pthread dl rt)
-    endif()
-    if(APPLE)
-      list(APPEND PLATFORM_DEPS
-        "-framework Cocoa"
-        "-framework IOKit"
-        "-framework Carbon"
-        "-framework ForceFeedback"
-        "-framework CoreVideo"
-        "-framework CoreAudio"
-        "-framework AudioToolbox"
-        "-framework Metal"
-        "-framework GameController"
-        "-framework CoreHaptics"
-        "-framework AVFoundation"
-        "-framework QuartzCore"
-      )
-    endif()
+    list(APPEND PLATFORM_DEPS ${platform_system_libs})
 
     set_target_properties(mujoco_platform PROPERTIES INTERFACE_LINK_LIBRARIES "${PLATFORM_DEPS}")
   endif()

python/mujoco/experimental/studio/CMakeLists.txt

@@ -17,26 +17,26 @@ if(NOT TARGET mujoco::platform)
   return()
 endif()
 
+set(STUDIO_COMMON_LIBS
+  mujoco::platform
+  structs_header
+  structs_wrappers
+)
+
 mujoco_pybind11_module(parser parser.cc)
-target_link_libraries(parser PRIVATE mujoco::platform structs_header structs_wrappers)
+target_link_libraries(parser PRIVATE ${STUDIO_COMMON_LIBS})
 
 mujoco_pybind11_module(native_viewer_cc native_viewer.cc)
-target_link_libraries(native_viewer_cc PRIVATE
-  mujoco::platform
-  structs_header
-)
+target_link_libraries(native_viewer_cc PRIVATE ${STUDIO_COMMON_LIBS})
 
 mujoco_pybind11_module(renderer renderer.cc)
-target_link_libraries(renderer PRIVATE mujoco::platform structs_header)
+target_link_libraries(renderer PRIVATE ${STUDIO_COMMON_LIBS})
 
 mujoco_pybind11_module(ux ux.cc)
-target_link_libraries(ux PRIVATE
-  mujoco::platform
-  structs_header
-)
+target_link_libraries(ux PRIVATE ${STUDIO_COMMON_LIBS})
 
 mujoco_pybind11_module(sim sim.cc)
-target_link_libraries(sim PRIVATE mujoco::platform structs_header)
+target_link_libraries(sim PRIVATE ${STUDIO_COMMON_LIBS})
 
 set(MUJOCO_STUDIO_TARGETS
     parser