Include obj and stl decoder plugins as sources in CMake builds.

This removes the need to load these decoders via mj_loadAllPluginLibraries when using MuJoCo built with CMake. Other plugins are unchanged.

PiperOrigin-RevId: 897114719
Change-Id: Iee914cc5e05798186f384a67901f1cf86bc2f887

plugin/stl_decoder/CMakeLists.txt

@@ -12,43 +12,6 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-if(EMSCRIPTEN)
-  add_library(stl_decoder OBJECT stl_decoder.cc)
-else()
-  set(CMAKE_INSTALL_RPATH_USE_LINK_PATH TRUE)
-  set(CMAKE_INSTALL_RPATH "${CMAKE_INSTALL_LIBDIR}")
-
-  add_library(stl_decoder SHARED stl_decoder.cc)
-endif()
-
-target_include_directories(stl_decoder PRIVATE
-  ${CMAKE_CURRENT_SOURCE_DIR}/../..
-  ${CMAKE_CURRENT_SOURCE_DIR}/../../include
+target_sources(mujoco PRIVATE
+  stl_decoder.cc
 )
-
-if(EMSCRIPTEN)
-  target_link_libraries(stl_decoder PRIVATE)
-else()
-  target_link_libraries(stl_decoder PRIVATE
-    mujoco
-  )
-endif()
-
-target_compile_options(stl_decoder PRIVATE
-  ${AVX_COMPILE_OPTIONS}
-  ${MUJOCO_MACOS_COMPILE_OPTIONS}
-  ${EXTRA_COMPILE_OPTIONS}
-  ${MUJOCO_CXX_FLAGS}
-)
-
-if(NOT EMSCRIPTEN)
-  target_link_options(stl_decoder PRIVATE
-    ${MUJOCO_MACOS_LINK_OPTIONS}
-    ${EXTRA_LINK_OPTIONS}
-  )
-
-  install(
-    TARGETS stl_decoder
-    LIBRARY DESTINATION "${CMAKE_INSTALL_BINDIR}/mujoco_plugin"
-  )
-endif()