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Link GLFW as a shared library by default

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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
This commit is contained in:
Levi Burner
2022-06-06 17:46:49 -04:00
parent 1788d23da6
commit 655eec1d63
4 changed files with 21 additions and 37 deletions
Download Patch File Download Diff File Expand all files Collapse all files
sample/cmake/SampleDependencies.cmake
+4 -4
View File
@@ -58,8 +58,8 @@ findorfetch(
EXCLUDE_FROM_ALL EXCLUDE_FROM_ALL
) )
option(MUJOCO_SAMPLES_STATIC_GLFW "Link MuJoCo sample apps against GLFW statically." ON) option(MUJOCO_EXTRAS_STATIC_GLFW "Link MuJoCo sample apps and simulate libraries against GLFW statically." OFF)
if(MUJOCO_SAMPLES_STATIC_GLFW) if(MUJOCO_EXTRAS_STATIC_GLFW)
set(BUILD_SHARED_LIBS_OLD ${BUILD_SHARED_LIBS}) set(BUILD_SHARED_LIBS_OLD ${BUILD_SHARED_LIBS})
set(BUILD_SHARED_LIBS set(BUILD_SHARED_LIBS
OFF OFF
@@ -88,12 +88,12 @@ findorfetch(
EXCLUDE_FROM_ALL EXCLUDE_FROM_ALL
) )
if(MUJOCO_SAMPLES_STATIC_GLFW) if(MUJOCO_EXTRAS_STATIC_GLFW)
set(BUILD_SHARED_LIBS set(BUILD_SHARED_LIBS
${BUILD_SHARED_LIBS_OLD} ${BUILD_SHARED_LIBS_OLD}
CACHE BOOL "Build SHARED libraries" FORCE CACHE BOOL "Build SHARED libraries" FORCE
) )
unset(BUILD_SHARED_LIBS_OLD) unset(MUJOCO_EXTRAS_STATIC_GLFW)
endif() endif()
if(NOT SAMPLE_STANDALONE) if(NOT SAMPLE_STANDALONE)
simulate/CMakeLists.txt
+13 -29
View File
@@ -70,30 +70,21 @@ if(MUJOCO_HARDEN)
endif() endif()
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 # mjsimulate library
#add_library(mjsimulate SHARED) add_library(mjsimulate SHARED)
#target_sources(mjsimulate PUBLIC simulate.h array_safety.h simulate.cc) 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_include_directories(mjsimulate PUBLIC ${CMAKE_CURRENT_SOURCE_DIR})
#target_compile_definitions(mjsimulate PUBLIC MJSIMULATE_DLL_EXPORTS) target_compile_definitions(mjsimulate PUBLIC MJSIMULATE_DLL_EXPORTS)
#target_compile_options(mjsimulate PUBLIC ${MUJOCO_SIMULATE_COMPILE_OPTIONS}) target_compile_options(mjsimulate PUBLIC ${MUJOCO_SIMULATE_COMPILE_OPTIONS})
#target_link_libraries(mjsimulate PUBLIC glfw uitools mujoco::mujoco) target_link_libraries(mjsimulate PUBLIC glfw mujoco::mujoco)
#target_link_options(mjsimulate PRIVATE ${MUJOCO_SIMULATE_LINK_OPTIONS}) target_link_options(mjsimulate PRIVATE ${MUJOCO_SIMULATE_LINK_OPTIONS})
#if(APPLE) if(APPLE)
# target_sources(mjsimulate PRIVATE macos_save.mm) target_sources(mjsimulate PRIVATE macos_save.mm)
# target_link_libraries(mjsimulate PUBLIC "-framework Cocoa") target_link_libraries(mjsimulate PUBLIC "-framework Cocoa")
#endif() endif()
# Build samples that require GLFW.
# Build simulate executable
if(APPLE) if(APPLE)
set(SIMULATE_RESOURCE_FILES ${CMAKE_CURRENT_SOURCE_DIR}/../dist/mujoco.icns) set(SIMULATE_RESOURCE_FILES ${CMAKE_CURRENT_SOURCE_DIR}/../dist/mujoco.icns)
elseif(WIN32) elseif(WIN32)
@@ -103,8 +94,6 @@ else()
endif() endif()
add_executable(simulate main.cc array_safety.h add_executable(simulate main.cc array_safety.h
uitools.h uitools.c
simulate.h array_safety.h simulate.cc
${SIMULATE_RESOURCE_FILES}) ${SIMULATE_RESOURCE_FILES})
target_compile_options(simulate PUBLIC ${MUJOCO_SIMULATE_COMPILE_OPTIONS}) target_compile_options(simulate PUBLIC ${MUJOCO_SIMULATE_COMPILE_OPTIONS})
if(WIN32) if(WIN32)
@@ -120,17 +109,12 @@ endif()
target_link_libraries( target_link_libraries(
simulate simulate
# mjsimulate mjsimulate
# uitools
mujoco::mujoco mujoco::mujoco
glfw glfw
Threads::Threads Threads::Threads
) )
if(APPLE)
target_sources(simulate PRIVATE macos_save.mm)
target_link_libraries(simulate "-framework Cocoa")
endif()
if(WIN32) if(WIN32)
target_link_options(simulate PRIVATE ${MUJOCO_SIMULATE_LINK_OPTIONS} /STACK:8000000) target_link_options(simulate PRIVATE ${MUJOCO_SIMULATE_LINK_OPTIONS} /STACK:8000000)
simulate/cmake/SimulateDependencies.cmake
+3 -3
View File
@@ -58,8 +58,8 @@ findorfetch(
EXCLUDE_FROM_ALL EXCLUDE_FROM_ALL
) )
option(MUJOCO_SIMULATE_STATIC_GLFW "Link MuJoCo simulate library and app against GLFW statically." ON) option(MUJOCO_EXTRAS_STATIC_GLFW "Link MuJoCo sample apps and simulate libraries against GLFW statically." OFF)
if(MUJOCO_SIMULATE_STATIC_GLFW) if(MUJOCO_EXTRAS_STATIC_GLFW)
set(BUILD_SHARED_LIBS_OLD ${BUILD_SHARED_LIBS}) set(BUILD_SHARED_LIBS_OLD ${BUILD_SHARED_LIBS})
set(BUILD_SHARED_LIBS set(BUILD_SHARED_LIBS
OFF OFF
@@ -88,7 +88,7 @@ findorfetch(
EXCLUDE_FROM_ALL EXCLUDE_FROM_ALL
) )
if(MUJOCO_SIMULATE_STATIC_GLFW) if(MUJOCO_EXTRAS_STATIC_GLFW)
set(BUILD_SHARED_LIBS set(BUILD_SHARED_LIBS
${BUILD_SHARED_LIBS_OLD} ${BUILD_SHARED_LIBS_OLD}
CACHE BOOL "Build SHARED libraries" FORCE CACHE BOOL "Build SHARED libraries" FORCE
simulate/simulate.h
+1 -1
View File
@@ -38,7 +38,7 @@ namespace mujoco {
//-------------------------------- global ----------------------------------------------- //-------------------------------- global -----------------------------------------------
// Simulate states not contained in MuJoCo structures // Simulate states not contained in MuJoCo structures
class Simulate { class MJSIMULATEAPI Simulate {
public: public:
// create object and initialize the simulate ui // create object and initialize the simulate ui
Simulate(void); Simulate(void);