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Abstract out GLFW calls from Simulate.

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PiperOrigin-RevId: 500129478
Change-Id: I7ba998e20439575ad9a3fe1a866c3db4c36b9328
This commit is contained in:
Saran Tunyasuvunakool
2023-01-06 02:36:01 -08:00
committed by Copybara-Service
parent 048bd43724
commit e40775fab3
15 changed files with 847 additions and 624 deletions
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simulate/CMakeLists.txt
+28 -14
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@@ -101,24 +101,42 @@ if(NOT TARGET lodepng)
endif()
# Simulate library
add_library(libsimulate STATIC)
add_library(platform_ui_adapter OBJECT)
target_sources(
platform_ui_adapter
PUBLIC glfw_adapter.h
glfw_dispatch.h
platform_ui_adapter.h
PRIVATE glfw_adapter.cc
glfw_dispatch.cc
platform_ui_adapter.cc
)
target_compile_options(platform_ui_adapter PUBLIC ${MUJOCO_SIMULATE_COMPILE_OPTIONS})
target_include_directories(
platform_ui_adapter
PUBLIC
${CMAKE_CURRENT_SOURCE_DIR}
$<TARGET_PROPERTY:glfw,INTERFACE_INCLUDE_DIRECTORIES>
)
target_link_libraries(platform_ui_adapter PUBLIC mujoco::mujoco)
if(SIMULATE_GLFW_DYNAMIC_SYMBOLS)
target_compile_definitions(platform_ui_adapter PUBLIC mjGLFW_DYNAMIC_SYMBOLS)
endif()
add_library(mujoco::platform_ui_adapter ALIAS platform_ui_adapter)
add_library(libsimulate STATIC $<TARGET_OBJECTS:platform_ui_adapter>)
set_target_properties(libsimulate PROPERTIES OUTPUT_NAME simulate)
add_library(mujoco::libsimulate ALIAS libsimulate)
target_sources(
libsimulate
PUBLIC simulate.h
array_safety.h
glfw_dispatch.h
glfw_dispatch.cc
simulate.cc
uitools.h
uitools.cc
PRIVATE simulate.cc
array_safety.h
)
target_include_directories(libsimulate PUBLIC ${CMAKE_CURRENT_SOURCE_DIR})
target_compile_definitions(libsimulate PUBLIC MJSIMULATE_STATIC)
target_compile_options(libsimulate PUBLIC ${MUJOCO_SIMULATE_COMPILE_OPTIONS})
target_link_libraries(libsimulate PUBLIC lodepng mujoco::mujoco)
target_include_directories(libsimulate PUBLIC $<TARGET_PROPERTY:glfw,INTERFACE_INCLUDE_DIRECTORIES>)
target_link_libraries(libsimulate PUBLIC lodepng mujoco::platform_ui_adapter mujoco::mujoco)
target_link_options(libsimulate PRIVATE ${MUJOCO_SIMULATE_LINK_OPTIONS})
if(APPLE)
@@ -126,10 +144,6 @@ if(APPLE)
target_link_libraries(libsimulate PUBLIC "-framework Cocoa")
endif()
if(SIMULATE_GLFW_DYNAMIC_SYMBOLS)
target_compile_definitions(libsimulate PUBLIC mjGLFW_DYNAMIC_SYMBOLS)
endif()
# Build simulate executable
if(SIMULATE_BUILD_EXECUTABLE)
if(APPLE)