Link GLFW as a shared library by default

Use one option name to control building GLFW as static/shared since it
is not straightforward to set it seperately for the samples and simulate

sample/cmake/SampleDependencies.cmake

@@ -58,8 +58,8 @@ findorfetch(
   EXCLUDE_FROM_ALL
 )
 
-option(MUJOCO_SAMPLES_STATIC_GLFW "Link MuJoCo sample apps against GLFW statically." ON)
-if(MUJOCO_SAMPLES_STATIC_GLFW)
+option(MUJOCO_EXTRAS_STATIC_GLFW "Link MuJoCo sample apps and simulate libraries against GLFW statically." OFF)
+if(MUJOCO_EXTRAS_STATIC_GLFW)
   set(BUILD_SHARED_LIBS_OLD ${BUILD_SHARED_LIBS})
   set(BUILD_SHARED_LIBS
       OFF
@@ -88,12 +88,12 @@ findorfetch(
   EXCLUDE_FROM_ALL
 )
 
-if(MUJOCO_SAMPLES_STATIC_GLFW)
+if(MUJOCO_EXTRAS_STATIC_GLFW)
   set(BUILD_SHARED_LIBS
       ${BUILD_SHARED_LIBS_OLD}
       CACHE BOOL "Build SHARED libraries" FORCE
   )
-  unset(BUILD_SHARED_LIBS_OLD)
+  unset(MUJOCO_EXTRAS_STATIC_GLFW)
 endif()
 
 if(NOT SAMPLE_STANDALONE)

simulate/CMakeLists.txt

@@ -70,30 +70,21 @@ if(MUJOCO_HARDEN)
   endif()
 endif()
 
-# Utility library
-#add_library(uitools STATIC)
-#target_sources(uitools PRIVATE uitools.h uitools.c)
-#target_include_directories(uitools PUBLIC ${CMAKE_CURRENT_SOURCE_DIR})
-#target_compile_options(uitools PUBLIC ${MUJOCO_SIMULATE_COMPILE_OPTIONS})
-#target_link_libraries(uitools PUBLIC glfw mujoco::mujoco)
-#target_link_options(uitools PRIVATE ${MUJOCO_SIMULATE_LINK_OPTIONS})
-
 # mjsimulate library
-#add_library(mjsimulate SHARED)
-#target_sources(mjsimulate PUBLIC simulate.h array_safety.h simulate.cc)
-#target_include_directories(mjsimulate PUBLIC ${CMAKE_CURRENT_SOURCE_DIR})
-#target_compile_definitions(mjsimulate PUBLIC MJSIMULATE_DLL_EXPORTS)
-#target_compile_options(mjsimulate PUBLIC ${MUJOCO_SIMULATE_COMPILE_OPTIONS})
-#target_link_libraries(mjsimulate PUBLIC glfw uitools mujoco::mujoco)
-#target_link_options(mjsimulate PRIVATE ${MUJOCO_SIMULATE_LINK_OPTIONS})
+add_library(mjsimulate SHARED)
+target_sources(mjsimulate PUBLIC simulate.h array_safety.h simulate.cc uitools.h uitools.c)
+target_include_directories(mjsimulate PUBLIC ${CMAKE_CURRENT_SOURCE_DIR})
+target_compile_definitions(mjsimulate PUBLIC MJSIMULATE_DLL_EXPORTS)
+target_compile_options(mjsimulate PUBLIC ${MUJOCO_SIMULATE_COMPILE_OPTIONS})
+target_link_libraries(mjsimulate PUBLIC glfw mujoco::mujoco)
+target_link_options(mjsimulate PRIVATE ${MUJOCO_SIMULATE_LINK_OPTIONS})
 
-#if(APPLE)
-#  target_sources(mjsimulate PRIVATE macos_save.mm)
-#  target_link_libraries(mjsimulate PUBLIC  "-framework Cocoa")
-#endif()
-
-# Build samples that require GLFW.
+if(APPLE)
+  target_sources(mjsimulate PRIVATE macos_save.mm)
+  target_link_libraries(mjsimulate PUBLIC  "-framework Cocoa")
+endif()
 
+# Build simulate executable
 if(APPLE)
   set(SIMULATE_RESOURCE_FILES ${CMAKE_CURRENT_SOURCE_DIR}/../dist/mujoco.icns)
 elseif(WIN32)
@@ -103,8 +94,6 @@ else()
 endif()
 
 add_executable(simulate main.cc array_safety.h
-                        uitools.h uitools.c
-                        simulate.h array_safety.h simulate.cc
                         ${SIMULATE_RESOURCE_FILES})
 target_compile_options(simulate PUBLIC ${MUJOCO_SIMULATE_COMPILE_OPTIONS})
 if(WIN32)
@@ -120,17 +109,12 @@ endif()
 
 target_link_libraries(
   simulate
-# mjsimulate
-# uitools
+  mjsimulate
   mujoco::mujoco
   glfw
   Threads::Threads
 )
 
-if(APPLE)
-  target_sources(simulate PRIVATE macos_save.mm)
-  target_link_libraries(simulate  "-framework Cocoa")
-endif()
 
 if(WIN32)
     target_link_options(simulate PRIVATE ${MUJOCO_SIMULATE_LINK_OPTIONS} /STACK:8000000)

simulate/cmake/SimulateDependencies.cmake

@@ -58,8 +58,8 @@ findorfetch(
   EXCLUDE_FROM_ALL
 )
 
-option(MUJOCO_SIMULATE_STATIC_GLFW "Link MuJoCo simulate library and app against GLFW statically." ON)
-if(MUJOCO_SIMULATE_STATIC_GLFW)
+option(MUJOCO_EXTRAS_STATIC_GLFW "Link MuJoCo sample apps and simulate libraries against GLFW statically." OFF)
+if(MUJOCO_EXTRAS_STATIC_GLFW)
   set(BUILD_SHARED_LIBS_OLD ${BUILD_SHARED_LIBS})
   set(BUILD_SHARED_LIBS
       OFF
@@ -88,7 +88,7 @@ findorfetch(
   EXCLUDE_FROM_ALL
 )
 
-if(MUJOCO_SIMULATE_STATIC_GLFW)
+if(MUJOCO_EXTRAS_STATIC_GLFW)
   set(BUILD_SHARED_LIBS
       ${BUILD_SHARED_LIBS_OLD}
       CACHE BOOL "Build SHARED libraries" FORCE

simulate/simulate.h

@@ -38,7 +38,7 @@ namespace mujoco {
 //-------------------------------- global -----------------------------------------------
 
 // Simulate states not contained in MuJoCo structures
-class Simulate {
+class MJSIMULATEAPI Simulate {
  public:
   // create object and initialize the simulate ui
   Simulate(void);