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Add CMakeLists.txt files for new (experimental) code.

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This includes the filament, toolbox, and studio projects.

Adds a MUJOCO_BUILD_STUDIO option to enable building of the `studio` app (disabled by default).

Adds a MUJOCO_USE_FILAMENT to allow the studio app to use the filament rendering backend. A separate MUJOCO_USE_FILAMENT_VULKAN flag can be used to enable vulkan rendering.

PiperOrigin-RevId: 824602367
Change-Id: I26d46c16211ae2118f96c163c4194fea5b5a15a9
This commit is contained in:
Haroon Qureshi
2025-10-27 11:25:25 -07:00
committed by Copybara-Service
parent be055840b4
commit a16805f8ee
4 changed files with 288 additions and 2 deletions
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CMakeLists.txt
+21 -2
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@@ -41,9 +41,12 @@ list(APPEND CMAKE_MODULE_PATH "${PROJECT_SOURCE_DIR}/cmake")
option(MUJOCO_BUILD_EXAMPLES "Build samples for MuJoCo" ON)
option(MUJOCO_BUILD_SIMULATE "Build simulate library for MuJoCo" ON)
option(MUJOCO_BUILD_STUDIO "Build studio library for MuJoCo" OFF)
option(MUJOCO_BUILD_TESTS "Build tests for MuJoCo" ON)
option(MUJOCO_TEST_PYTHON_UTIL "Build and test utility libraries for Python bindings" ON)
option(MUJOCO_WITH_USD "Build with OpenUSD" OFF)
option(MUJOCO_USE_FILAMENT "Use filament rendering" OFF)
option(MUJOCO_USE_FILAMENT_VULKAN "Use vulkan backend for filament rendering" OFF)
# Option to provide a path to an existing USD build directory or to Houdini HFS directory.
set(USD_DIR "" CACHE PATH "Path to an existing USD build directory.")
@@ -112,9 +115,20 @@ add_subdirectory(plugin/sdf)
add_subdirectory(src/engine)
add_subdirectory(src/user)
add_subdirectory(src/xml)
add_subdirectory(src/render)
add_subdirectory(src/thread)
add_subdirectory(src/ui)
if(MUJOCO_USE_FILAMENT)
# Note that, by default, the "src/render" and "src/ui" code is added directly
# into the "mujoco" target. However, "mujoco::filament" is a separate,
# explicit target. Therefore, if you want to use MuJoCo with Filament, you
# will need to explicitly add the "mujoco::filament" target as a link
# dependency in your project.
add_subdirectory(src/experimental/filament)
else()
add_subdirectory(src/render)
add_subdirectory(src/ui)
endif()
target_compile_definitions(mujoco PRIVATE _GNU_SOURCE CCD_STATIC_DEFINE MUJOCO_DLL_EXPORTS -DMC_IMPLEM_ENABLE)
if(MUJOCO_ENABLE_AVX_INTRINSICS)
@@ -198,6 +212,11 @@ if(MUJOCO_BUILD_SIMULATE)
add_subdirectory(simulate)
endif()
if(MUJOCO_BUILD_STUDIO)
add_subdirectory(src/experimental/toolbox)
add_subdirectory(src/experimental/studio)
endif()
if(MUJOCO_BUILD_EXAMPLES)
add_subdirectory(sample)
endif()