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

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
2025-10-27 11:25:25 -07:00
parent be055840b4
commit a16805f8ee
4 changed files with 288 additions and 2 deletions
@@ -0,0 +1,75 @@
+# Copyright 2025 DeepMind Technologies Limited
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     https://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+cmake_minimum_required(VERSION 3.16)
+
+# Determine the render configuration and dependencies based options.
+if(MUJOCO_USE_FILAMENT AND MUJOCO_USE_FILAMENT_VULKAN)
+    set(MUJOCO_STUDIO_RENDER_CONFIG "USE_FILAMENT_VULKAN")
+    set(MUJOCO_STUDIO_RENDER_DEPS "mujoco::filament")
+elseif(MUJOCO_USE_FILAMENT)
+    set(MUJOCO_STUDIO_RENDER_CONFIG "USE_FILAMENT_OPENGL")
+    set(MUJOCO_STUDIO_RENDER_DEPS "mujoco::filament")
+else()
+    set(MUJOCO_STUDIO_RENDER_CONFIG "USE_CLASSIC_OPENGL")
+endif()
+
+set(MUJOCO_STUDIO_TARGET_NAME mujoco_studio)
+
+add_executable(${MUJOCO_STUDIO_TARGET_NAME})
+
+target_sources(${MUJOCO_STUDIO_TARGET_NAME}
+    PRIVATE
+        app.cc
+        app.h
+        main.cc
+)
+
+target_include_directories(${MUJOCO_STUDIO_TARGET_NAME}
+    PUBLIC
+        ${PROJECT_SOURCE_DIR}/include
+        ${PROJECT_SOURCE_DIR}/src
+)
+
+target_compile_definitions(${MUJOCO_STUDIO_TARGET_NAME}
+    PRIVATE
+        -D${MUJOCO_STUDIO_RENDER_CONFIG}
+)
+
+include(third_party_deps/dear_imgui)
+include(third_party_deps/implot)
+target_link_libraries(${MUJOCO_STUDIO_TARGET_NAME}
+    PRIVATE
+        ${MUJOCO_STUDIO_RENDER_DEPS}
+        absl::flags
+        dear_imgui
+        dear_imgui_OpenGL3
+        dear_imgui_SDL2
+        implot
+        mujoco::mujoco
+        mujoco::toolbox
+)
+
+# Filament backend requires additional files to be copied into an "assets" folder.
+if(MUJOCO_USE_FILAMENT)
+    add_custom_command(
+        TARGET ${MUJOCO_STUDIO_TARGET_NAME}
+        POST_BUILD
+        COMMAND ${CMAKE_COMMAND}
+            -E create_symlink
+                ${CMAKE_RUNTIME_OUTPUT_DIRECTORY}/../src/experimental/filament/assets
+                ${CMAKE_RUNTIME_OUTPUT_DIRECTORY}/assets
+        COMMENT "Copying Filament assets to build directory"
+    )
+endif()