Simulate: fix MacOS build (still crashes due to GLFW misusage)

simulate/CMakeLists.txt

@@ -84,9 +84,14 @@ 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) # TODO is that right 
+target_link_libraries(mjsimulate PUBLIC glfw uitools 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)
@@ -125,11 +130,6 @@ else()
     target_link_options(simulate PRIVATE ${MUJOCO_SIMULATE_LINK_OPTIONS})
 endif()
 
-if(APPLE)
-  target_sources(simulate PRIVATE macos_save.mm)
-  target_link_libraries(simulate "-framework Cocoa")
-endif()
-
 if(APPLE AND MUJOCO_BUILD_MACOS_FRAMEWORKS)
   set_target_properties(
     simulate

simulate/simulate.cc

@@ -24,6 +24,18 @@
 #include <mujoco/mjxmacro.h>
 #include "array_safety.h"
 
+// When launched via an App Bundle on macOS, the working directory is the path to the App Bundle's
+// resource directory. This causes files to be saved into the bundle, which is not the desired
+// behavior. Instead, we open a save dialog box to ask the user where to put the file.
+// Since the dialog box logic needs to be written in Objective-C, we separate it into a different
+// source file.
+#ifdef __APPLE__
+std::string getSavePath(const char* filename);
+#else
+static std::string getSavePath(const char* filename) {
+  return filename;
+}
+#endif
 
 namespace {
 namespace mj = ::mujoco;
@@ -1026,19 +1038,6 @@ void uiLayout(mjuiState* state) {
   rect[3].height = rect[0].height;
 }
 
-// When launched via an App Bundle on macOS, the working directory is the path to the App Bundle's
-// resource directory. This causes files to be saved into the bundle, which is not the desired
-// behavior. Instead, we open a save dialog box to ask the user where to put the file.
-// Since the dialog box logic needs to be written in Objective-C, we separate it into a different
-// source file.
-#ifdef __APPLE__
-std::string getSavePath(const char* filename);
-#else
-static std::string getSavePath(const char* filename) {
-  return filename;
-}
-#endif
-
 // handle UI event
 void uiEvent(mjuiState* state) {
   mj::Simulate* simulate = (mj::Simulate*)(state->userdata);