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

.github/workflows/build_steps.sh

@@ -107,8 +107,6 @@ copy_plugins_posix() {
     mkdir -p ${TMPDIR}/mujoco_install/mujoco_plugin &&
     cp lib/libactuator.* ${TMPDIR}/mujoco_install/mujoco_plugin &&
     cp lib/libelasticity.* ${TMPDIR}/mujoco_install/mujoco_plugin &&
-    cp lib/libobj_decoder.* ${TMPDIR}/mujoco_install/mujoco_plugin &&
-    cp lib/libstl_decoder.* ${TMPDIR}/mujoco_install/mujoco_plugin &&
     cp lib/libsensor.* ${TMPDIR}/mujoco_install/mujoco_plugin &&
     cp lib/libsdf_plugin.* ${TMPDIR}/mujoco_install/mujoco_plugin
 }
@@ -119,8 +117,6 @@ copy_plugins_window() {
     mkdir -p ${TMPDIR}/mujoco_install/mujoco_plugin &&
     cp bin/Release/actuator.dll ${TMPDIR}/mujoco_install/mujoco_plugin &&
     cp bin/Release/elasticity.dll ${TMPDIR}/mujoco_install/mujoco_plugin &&
-    cp bin/Release/obj_decoder.dll ${TMPDIR}/mujoco_install/mujoco_plugin &&
-    cp bin/Release/stl_decoder.dll ${TMPDIR}/mujoco_install/mujoco_plugin &&
     cp bin/Release/sensor.dll ${TMPDIR}/mujoco_install/mujoco_plugin
 }
 

CMakeLists.txt

@@ -112,6 +112,7 @@ if(NOT EMSCRIPTEN)
 endif()
 add_subdirectory(plugin/obj_decoder)
 add_subdirectory(plugin/stl_decoder)
+
 add_subdirectory(src/engine)
 add_subdirectory(src/user)
 add_subdirectory(src/xml)

cmake/ShellTests.cmake

@@ -38,7 +38,6 @@ function(add_mujoco_shell_test TEST_NAME TARGET_BINARY)
                "CMAKE_SOURCE_DIR=${CMAKE_SOURCE_DIR}"
                "TARGET_BINARY=$<TARGET_FILE:${TARGET_BINARY}>"
                "TEST_TMPDIR=${TEST_TMPDIR}"
-               "MUJOCO_PLUGIN_DIR=$<TARGET_FILE_DIR:obj_decoder>"
     )
     if(WIN32)
       # Define the directory containing the mujoco DLL library so that it can be added to the PATH.

doc/changelog.rst

@@ -40,6 +40,8 @@ General
      (previously the scalar), and subsequent elements are the higher-order :ref:`polynomial<gePolynomial>` coefficients.
 
      **Migration:** Replace assignments like ``joint.stiffness = val`` with ``joint.stiffness[0] = val``.
+   - ``.obj`` and ``.stl`` decoders are now included as source when building MuJoCo with CMake. This fixes the
+     behaviour from the previous release where it required downstream code to load these plugins explicitly.
 
    - The ``vertcollide`` field in :ref:`mjsFlex` has been removed. It is no longer required since
      :doc:`MuJoCo Warp <mjwarp/index>` supports native flex collisions.

plugin/obj_decoder/CMakeLists.txt

@@ -12,48 +12,9 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-if(EMSCRIPTEN)
+target_compile_definitions(mujoco PRIVATE TINYOBJLOADER_IMPLEMENTATION)
-  add_library(obj_decoder OBJECT obj_decoder.cc)
+target_sources(mujoco PRIVATE
-else()
+  obj_decoder.cc
-  set(CMAKE_INSTALL_RPATH_USE_LINK_PATH TRUE)
-  set(CMAKE_INSTALL_RPATH "${CMAKE_INSTALL_LIBDIR}")
-
-  add_library(obj_decoder SHARED obj_decoder.cc)
-endif()
-
-target_include_directories(obj_decoder PRIVATE
-  ${CMAKE_CURRENT_SOURCE_DIR}/../..
-  ${CMAKE_CURRENT_SOURCE_DIR}/../../include
 )
 
-if(EMSCRIPTEN)
+target_link_libraries(mujoco PRIVATE tinyobjloader)
-  target_link_libraries(obj_decoder PRIVATE
-    tinyobjloader
-  )
-else()
-  target_link_libraries(obj_decoder PRIVATE
-    mujoco
-    tinyobjloader
-  )
-endif()
-
-target_compile_definitions(obj_decoder PRIVATE TINYOBJLOADER_IMPLEMENTATION)
-
-target_compile_options(obj_decoder PRIVATE
-  ${AVX_COMPILE_OPTIONS}
-  ${MUJOCO_MACOS_COMPILE_OPTIONS}
-  ${EXTRA_COMPILE_OPTIONS}
-  ${MUJOCO_CXX_FLAGS}
-)
-
-if(NOT EMSCRIPTEN)
-  target_link_options(obj_decoder PRIVATE
-    ${MUJOCO_MACOS_LINK_OPTIONS}
-    ${EXTRA_LINK_OPTIONS}
-  )
-
-  install(
-    TARGETS obj_decoder
-    LIBRARY DESTINATION "${CMAKE_INSTALL_BINDIR}/mujoco_plugin"
-  )
-endif()

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)
+target_sources(mujoco PRIVATE
-  add_library(stl_decoder OBJECT stl_decoder.cc)
+  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
 )
-
-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()

sample/testspeed.cc

@@ -187,12 +187,6 @@ int main(int argc, char** argv) {
   nthread = mjMAX(1, mjMIN(maxthread, nthread));
   npoolthread = mjMAX(1, mjMIN(maxthread, npoolthread));
 
-  // load plugins from MUJOCO_PLUGIN_DIR if set
-  const char* plugin_dir = std::getenv("MUJOCO_PLUGIN_DIR");
-  if (plugin_dir) {
-    mj_loadAllPluginLibraries(plugin_dir, nullptr);
-  }
-
   // get filename, determine file type
   std::string filename(argv[1]);
   bool binary = (filename.find(".mjb") != std::string::npos);  // NOLINT

test/user/CMakeLists.txt

@@ -14,9 +14,6 @@
 
 mujoco_test(
   user_model_test
-  PROPERTIES
-  ENVIRONMENT
-  "MUJOCO_PLUGIN_DIR=$<TARGET_FILE_DIR:obj_decoder>"
   ADDITIONAL_LINK_LIBRARIES absl::str_format
 )
 
@@ -31,16 +28,10 @@ mujoco_test(
 
 mujoco_test(
   user_flex_test
-  PROPERTIES
-  ENVIRONMENT
-  "MUJOCO_PLUGIN_DIR=$<TARGET_FILE_DIR:obj_decoder>"
 )
 
 mujoco_test(
   user_mesh_test
-  PROPERTIES
-  ENVIRONMENT
-  "MUJOCO_PLUGIN_DIR=$<TARGET_FILE_DIR:obj_decoder>"
   ADDITIONAL_LINK_LIBRARIES absl::str_format
 )
 

test/xml/CMakeLists.txt

@@ -16,9 +16,6 @@ mujoco_test(xml_api_test)
 
 mujoco_test(
   xml_native_reader_test
-  PROPERTIES
-  ENVIRONMENT
-  "MUJOCO_PLUGIN_DIR=$<TARGET_FILE_DIR:obj_decoder>"
 )
 
 mujoco_test(xml_utils_test)

wasm/CMakeLists.txt

@@ -67,6 +67,11 @@ set_target_properties(mujoco_wasm PROPERTIES
     OUTPUT_NAME "mujoco"
 )
 
-target_link_libraries(mujoco_wasm ccd lodepng mujoco tinyxml2 qhullstatic_r obj_decoder stl_decoder)
+# Link the mujoco library as a whole archive to avoid losing plugin
+# registration such as obj_decoder and stl_decoder.
+target_link_libraries(mujoco_wasm PRIVATE
+    -Wl,--whole-archive mujoco -Wl,--no-whole-archive
+    ccd lodepng tinyxml2 qhullstatic_r
+)
 
 install(TARGETS mujoco_wasm DESTINATION ${DIVISIBLE_INSTALL_BIN_DIR})

wasm/tests/CMakeLists.txt

@@ -53,6 +53,11 @@ add_executable(mujoco_wasm_benchmark ${MUJOCO_WASM_FILES})
 
 set_target_properties(mujoco_wasm_benchmark PROPERTIES LINK_FLAGS "${EMCC_LINKER_FLAGS_STR}")
 
-target_link_libraries(mujoco_wasm_benchmark ccd lodepng mujoco tinyxml2 qhullstatic_r obj_decoder stl_decoder)
+# Link the mujoco library as a whole archive to avoid losing plugin
+# registration such as obj_decoder and stl_decoder.
+target_link_libraries(mujoco_wasm_benchmark PRIVATE
+    -Wl,--whole-archive mujoco -Wl,--no-whole-archive
+    ccd lodepng tinyxml2 qhullstatic_r
+)
 
 install(TARGETS mujoco_wasm_benchmark DESTINATION ${DIVISIBLE_INSTALL_BIN_DIR})