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simulate python: fix cmake, glfw usage, update Python version of physics loop

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This commit is contained in:
Levi Burner
2022-10-04 14:37:06 -04:00
parent 0b6bf42840
commit 95a4b1c551
12 changed files with 219 additions and 174 deletions
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python/mujoco/CMakeLists.txt
+21 -23
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@@ -62,7 +62,6 @@ add_compile_options("${MUJOCO_HARDEN_COMPILE_OPTIONS}")
add_link_options("${MUJOCO_HARDEN_LINK_OPTIONS}")
find_package(Python3 COMPONENTS Interpreter Development)
find_package(glfw3 3.3 REQUIRED)
include(FindOrFetch)
@@ -116,37 +115,37 @@ if(NOT TARGET mujoco)
endif()
endif()
# ==================== MJSIMULATE LIBRARY ==========================================
if(NOT TARGET mjsimulate)
find_library(MJSIMULATE_LIBRARY mjsimulate mjsimulate HINTS ${MUJOCO_LIBRARY_DIR} REQUIRED)
find_path(MJSIMULATE_INCLUDE mujoco/simulate.h mujoco/uitools.h mujoco/array_safety.h HINTS ${MUJOCO_INCLUDE_DIR} REQUIRED)
message("MuJoCo Simulate is at ${MJSIMULATE_LIBRARY}")
message("MuJoCo Simulate headers are at ${MJSIMULATE_INCLUDE}")
add_library(mjsimulate SHARED IMPORTED)
# ==================== LIBSIMULATE LIBRARY ==========================================
if(NOT TARGET libsimulate)
find_library(LIBSIMULATE_LIBRARY libsimulate libsimulate HINTS ${MUJOCO_LIBRARY_DIR} REQUIRED)
find_path(LIBSIMULATE_INCLUDE mujoco/simulate.h mujoco/uitools.h mujoco/array_safety.h HINTS ${MUJOCO_INCLUDE_DIR} REQUIRED)
message("MuJoCo Simulate is at ${LIBSIMULATE_LIBRARY}")
message("MuJoCo Simulate headers are at ${LIBSIMULATE_INCLUDE}")
add_library(libsimulate SHARED IMPORTED)
if(WIN32)
set_target_properties(mjsimulate PROPERTIES IMPORTED_IMPLIB "${MJSIMULATE_LIBRARY}")
set_target_properties(libsimulate PROPERTIES IMPORTED_IMPLIB "${LIBSIMULATE_LIBRARY}")
else()
set_target_properties(mjsimulate PROPERTIES IMPORTED_LOCATION "${MJSIMULATE_LIBRARY}")
set_target_properties(libsimulate PROPERTIES IMPORTED_LOCATION "${LIBSIMULATE_LIBRARY}")
endif()
target_include_directories(mjsimulate INTERFACE "${MJSIMULATE_INCLUDE}")
target_include_directories(libsimulate INTERFACE "${LIBSIMULATE_INCLUDE}")
if(APPLE)
execute_process(
COMMAND otool -XD ${MJSIMULATE_LIBRARY}
COMMAND otool -XD ${LIBSIMULATE_LIBRARY}
COMMAND head -n 1
COMMAND xargs dirname
COMMAND xargs echo -n
OUTPUT_VARIABLE MJSIMULATE_INSTALL_NAME_DIR
OUTPUT_VARIABLE LIBSIMULATE_INSTALL_NAME_DIR
)
set_target_properties(mjsimulate PROPERTIES INSTALL_NAME_DIR "${MJSIMULATE_INSTALL_NAME_DIR}")
set_target_properties(libsimulate PROPERTIES INSTALL_NAME_DIR "${LIBSIMULATE_INSTALL_NAME_DIR}")
elseif(UNIX)
execute_process(
COMMAND objdump -p ${MJSIMULATE_LIBRARY}
COMMAND objdump -p ${LIBSIMULATE_LIBRARY}
COMMAND grep SONAME
COMMAND grep -Po [^\\s]+$
COMMAND xargs echo -n
OUTPUT_VARIABLE MJSIMULATE_SONAME
OUTPUT_VARIABLE LIBSIMULATE_SONAME
)
set_target_properties(mjsimulate PROPERTIES IMPORTED_SONAME "${MJSIMULATE_SONAME}")
set_target_properties(libsimulate PROPERTIES IMPORTED_SONAME "${LIBSIMULATE_SONAME}")
endif()
endif()
@@ -266,7 +265,7 @@ target_link_libraries(errors_header INTERFACE crossplatform func_wrap mujoco)
add_library(raw INTERFACE)
target_sources(raw INTERFACE raw.h)
set_target_properties(raw PROPERTIES PUBLIC_HEADER raw.h)
target_link_libraries(raw INTERFACE mujoco mjsimulate)
target_link_libraries(raw INTERFACE mujoco)
add_library(structs_header INTERFACE)
target_sources(
@@ -344,7 +343,7 @@ target_link_libraries(
)
mujoco_pybind11_module(_constants constants.cc)
target_link_libraries(_constants PRIVATE mujoco mjsimulate)
target_link_libraries(_constants PRIVATE mujoco)
mujoco_pybind11_module(_enums enums.cc)
target_link_libraries(
@@ -408,10 +407,9 @@ target_link_libraries(
mujoco_pybind11_module(_simulate simulate.cc)
target_link_libraries(
_simulate
PRIVATE mjsimulate
PRIVATE libsimulate
mujoco
raw
glfw
structs_header)
target_link_options(_simulate PRIVATE -Wl,-no-as-needed)
@@ -426,7 +424,7 @@ set(LIBRARIES_FOR_WHEEL
"$<TARGET_FILE:_simulate>"
"$<TARGET_FILE:_structs>"
"$<TARGET_FILE:mujoco>"
"$<TARGET_FILE:mjsimulate>"
"$<TARGET_FILE:libsimulate>"
)
if(MUJOCO_PYTHON_MAKE_WHEEL)
@@ -455,6 +453,6 @@ if(MUJOCO_PYTHON_MAKE_WHEEL)
_simulate
_structs
mujoco
mjsimulate
libsimulate
)
endif()