CMake updates for Studio integration

PiperOrigin-RevId: 929809674
Change-Id: Iabe670ced44f09fc1ea6d8dcde4b3c9ea4ad270a

python/mujoco/CMakeLists.txt

@@ -130,6 +130,66 @@ if(NOT TARGET mujoco)
   add_library(mujoco::mujoco ALIAS mujoco)
 endif()
 
+# =================== MUJOCO PLATFORM STATIC LIBRARY ==========================
+if(NOT TARGET mujoco::platform)
+  find_library(
+    MUJOCO_PLATFORM_LIBRARY mujoco_platform HINTS ${MUJOCO_LIBRARY_DIR}
+  )
+  if(MUJOCO_PLATFORM_LIBRARY)
+    message(STATUS "Found mujoco_platform library at ${MUJOCO_PLATFORM_LIBRARY}")
+    add_library(mujoco_platform STATIC IMPORTED GLOBAL)
+    set_target_properties(mujoco_platform PROPERTIES IMPORTED_LOCATION "${MUJOCO_PLATFORM_LIBRARY}")
+    add_library(mujoco::platform ALIAS mujoco_platform)
+
+    set_target_properties(mujoco_platform PROPERTIES
+      INTERFACE_INCLUDE_DIRECTORIES "${MUJOCO_INCLUDE};${MUJOCO_INCLUDE}/mujoco;${MUJOCO_INCLUDE}/SDL2"
+    )
+    target_compile_features(mujoco_platform INTERFACE cxx_std_20)
+
+    set(PLATFORM_DEPS)
+    foreach(dep_lib IN ITEMS
+      mujoco_filament
+      dear_imgui
+      implot
+      filament
+      backend
+      SDL2
+      glfw3
+      image
+      ktxreader
+      utils
+      math
+      bluegl
+      bluevk
+      filabridge
+      filaflat
+      filamat
+      matlang
+      shaders
+      smol-v
+      glslang
+      SPIRV
+      SPIRV-Tools
+      SPIRV-Tools-opt
+      basis_encoder
+      basis_transcoder
+      zstd
+      z
+    )
+      find_library(DEP_PATH_${dep_lib} ${dep_lib} HINTS ${MUJOCO_LIBRARY_DIR})
+      if(DEP_PATH_${dep_lib})
+        list(APPEND PLATFORM_DEPS "${DEP_PATH_${dep_lib}}")
+      endif()
+    endforeach()
+
+    if(UNIX AND NOT APPLE)
+      list(APPEND PLATFORM_DEPS pthread dl rt)
+    endif()
+
+    set_target_properties(mujoco_platform PROPERTIES INTERFACE_LINK_LIBRARIES "${PLATFORM_DEPS}")
+  endif()
+endif()
+
 # ==================== ABSEIL ==================================================
 set(MUJOCO_PYTHON_ABSL_TARGETS absl::core_headers absl::flat_hash_map absl::span)
 findorfetch(
@@ -271,6 +331,7 @@ target_sources(
             structs.h
 )
 set_target_properties(structs_header PROPERTIES PUBLIC_HEADER structs.h)
+target_include_directories(structs_header INTERFACE ${CMAKE_CURRENT_SOURCE_DIR})
 target_link_libraries(
   structs_header
   INTERFACE absl::flat_hash_map