Move OBJ handling to a mjpDecoder.

PiperOrigin-RevId: 875194599 Change-Id: I2cccc683d69a217f1817e70d16bc1815e366d00c
2026-02-25 09:11:54 -08:00
parent abdea379af
commit b907ffedaa
12 changed files with 258 additions and 109 deletions
@@ -0,0 +1,46 @@
+# Copyright 2026 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.
+
+set(CMAKE_INSTALL_RPATH_USE_LINK_PATH TRUE)
+set(CMAKE_INSTALL_RPATH "${CMAKE_INSTALL_LIBDIR}")
+
+add_library(obj_decoder SHARED obj_decoder.cc)
+
+target_include_directories(obj_decoder PRIVATE
+  ${CMAKE_CURRENT_SOURCE_DIR}/../..
+)
+
+target_link_libraries(obj_decoder PRIVATE
+  mujoco
+  tinyobjloader
+)
+
+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}
+)
+
+target_link_options(obj_decoder PRIVATE
+  ${MUJOCO_MACOS_LINK_OPTIONS}
+  ${EXTRA_LINK_OPTIONS}
+)
+
+install(
+  TARGETS obj_decoder
+  LIBRARY DESTINATION "${CMAKE_INSTALL_BINDIR}/mujoco_plugin"
+)