Merge pull request #201 from aftersomemath:refactor-simulate

PiperOrigin-RevId: 465044152
Change-Id: I54e65a30764a444dbd175260314d685fd7ffa6a1

CMakeLists.txt

@@ -39,10 +39,11 @@ enable_language(CXX)
 list(APPEND CMAKE_MODULE_PATH "${PROJECT_SOURCE_DIR}/cmake")
 
 option(MUJOCO_BUILD_EXAMPLES "Build samples for MuJoCo" ON)
+option(MUJOCO_BUILD_SIMULATE "Build simulate library for MuJoCo" ON)
 option(MUJOCO_BUILD_TESTS "Build tests for MuJoCo" ON)
 option(MUJOCO_TEST_PYTHON_UTIL "Build and test utility libraries for Python bindings" ON)
 
-if(APPLE AND MUJOCO_BUILD_EXAMPLES)
+if(APPLE AND (MUJOCO_BUILD_EXAMPLES OR MUJOCO_BUILD_SIMULATE))
   enable_language(OBJC)
   enable_language(OBJCXX)
 endif()
@@ -152,6 +153,13 @@ add_library(mujoco::mujoco ALIAS mujoco)
 
 add_subdirectory(model)
 
+# `simulate` defines a macro, embed_in_bundle, that's used by `sample`, so that
+# subdirectory needs to be added first.
+# TODO: Remove this order dependency.
+if(MUJOCO_BUILD_SIMULATE)
+  add_subdirectory(simulate)
+endif()
+
 if(MUJOCO_BUILD_EXAMPLES)
   add_subdirectory(sample)
 endif()