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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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simulate/CMakeLists.txt
+33 -11
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@@ -97,8 +97,8 @@ if(NOT TARGET lodepng)
endif()
endif()
# Simulate library
add_library(libsimulate STATIC)
# Simulate shared library
add_library(libsimulate SHARED simulate.cc uitools.cc glfw_dispatch.cc)
add_library(mujoco::libsimulate ALIAS libsimulate)
target_sources(
@@ -106,19 +106,16 @@ target_sources(
PUBLIC simulate.h
array_safety.h
glfw_dispatch.h
glfw_dispatch.cc
simulate.cc
uitools.h
uitools.cc
)
target_include_directories(libsimulate PUBLIC ${CMAKE_CURRENT_SOURCE_DIR})
target_compile_definitions(libsimulate PUBLIC MJSIMULATE_STATIC)
target_compile_definitions(libsimulate PUBLIC LIBSIMULATE_DLL_EXPORTS mjGLFW_DYNAMIC_SYMBOLS)
target_compile_options(libsimulate PUBLIC ${MUJOCO_SIMULATE_COMPILE_OPTIONS})
target_link_libraries(libsimulate PUBLIC glfw lodepng mujoco::mujoco)
target_link_libraries(libsimulate PUBLIC lodepng glfw mujoco::mujoco)
target_link_options(libsimulate PRIVATE ${MUJOCO_SIMULATE_LINK_OPTIONS})
set_target_properties(
mjsimulate PROPERTIES VERSION "${mujoco_VERSION}" PUBLIC_HEADER "simulate.h"
libsimulate PROPERTIES VERSION "${mujoco_VERSION}" PUBLIC_HEADER "simulate.h"
)
if(APPLE)
@@ -126,6 +123,31 @@ if(APPLE)
target_link_libraries(libsimulate PUBLIC "-framework Cocoa")
endif()
# Simulate static library
add_library(libsimulatestatic STATIC simulate.cc uitools.cc glfw_dispatch.cc)
add_library(mujoco::libsimulatestatic ALIAS libsimulatestatic)
target_sources(
libsimulatestatic
PUBLIC simulate.h
array_safety.h
glfw_dispatch.h
uitools.h
)
target_include_directories(libsimulatestatic PUBLIC ${CMAKE_CURRENT_SOURCE_DIR})
target_compile_definitions(libsimulatestatic PUBLIC LIBSIMULATE_STATIC)
target_compile_options(libsimulatestatic PUBLIC ${MUJOCO_SIMULATE_COMPILE_OPTIONS})
target_link_libraries(libsimulatestatic PUBLIC lodepng glfw mujoco::mujoco)
target_link_options(libsimulatestatic PRIVATE ${MUJOCO_SIMULATE_LINK_OPTIONS})
set_target_properties(
libsimulatestatic PROPERTIES VERSION "${mujoco_VERSION}" PUBLIC_HEADER "simulate.h"
)
if(APPLE)
target_sources(libsimulatestatic PRIVATE macos_save.mm)
target_link_libraries(libsimulatestatic PUBLIC "-framework Cocoa")
endif()
# Build simulate executable
if(APPLE)
set(SIMULATE_RESOURCE_FILES ${CMAKE_CURRENT_SOURCE_DIR}/../dist/mujoco.icns)
@@ -150,7 +172,7 @@ endif()
target_link_libraries(
simulate
libsimulate
libsimulatestatic
mujoco::mujoco
glfw
Threads::Threads
@@ -225,7 +247,7 @@ if(_INSTALL_SIMULATE)
target_add_rpath(
TARGETS
mjsimulate
libsimulate
INSTALL_DIRECTORY
"${CMAKE_INSTALL_PREFIX}/${CMAKE_INSTALL_BINDIR}"
LIB_DIRS
@@ -245,7 +267,7 @@ if(_INSTALL_SIMULATE)
)
install(
TARGETS mjsimulate
TARGETS libsimulate
EXPORT ${PROJECT_NAME}
RUNTIME DESTINATION "${CMAKE_INSTALL_BINDIR}" COMPONENT simulate
LIBRARY DESTINATION "${CMAKE_INSTALL_LIBDIR}" COMPONENT simulate