Merge pull request #201 from aftersomemath:refactor-simulate

PiperOrigin-RevId: 465044152
Change-Id: I54e65a30764a444dbd175260314d685fd7ffa6a1

sample/CMakeLists.txt

@@ -70,14 +70,6 @@ if(MUJOCO_HARDEN)
   endif()
 endif()
 
-# Utility library
-add_library(uitools STATIC)
-target_sources(uitools PRIVATE uitools.h uitools.c)
-target_include_directories(uitools PUBLIC ${CMAKE_CURRENT_SOURCE_DIR})
-target_compile_options(uitools PUBLIC ${MUJOCO_SAMPLE_COMPILE_OPTIONS})
-target_link_libraries(uitools PUBLIC glfw mujoco::mujoco)
-target_link_options(uitools PRIVATE ${MUJOCO_SAMPLE_LINK_OPTIONS})
-
 # Build sample binaries
 add_executable(compile compile.cc)
 target_compile_options(compile PUBLIC ${MUJOCO_SAMPLE_COMPILE_OPTIONS})
@@ -126,85 +118,13 @@ target_link_libraries(
 )
 target_link_options(record PRIVATE ${MUJOCO_SAMPLE_LINK_OPTIONS})
 
-if(APPLE)
-  set(SIMULATE_RESOURCE_FILES ${CMAKE_CURRENT_SOURCE_DIR}/../dist/mujoco.icns)
-elseif(WIN32)
-  set(SIMULATE_RESOURCE_FILES ${CMAKE_CURRENT_SOURCE_DIR}/../dist/appicon.rc)
-else()
-  set(SIMULATE_RESOURCE_FILES "")
-endif()
-
-add_executable(simulate simulate.cc array_safety.h ${SIMULATE_RESOURCE_FILES})
-target_compile_options(simulate PUBLIC ${MUJOCO_SAMPLE_COMPILE_OPTIONS})
-if(WIN32)
-  add_custom_command(
-    TARGET simulate
-    PRE_BUILD
-    COMMAND ${CMAKE_COMMAND} -E copy ${CMAKE_CURRENT_SOURCE_DIR}/../dist/mujoco.ico
-            ${CMAKE_CURRENT_SOURCE_DIR}
-    POST_BUILD
-    COMMAND ${CMAKE_COMMAND} -E rm ${CMAKE_CURRENT_SOURCE_DIR}/mujoco.ico
-  )
-endif()
-
-target_link_libraries(
-  simulate
-  mujoco::mujoco
-  uitools
-  glfw
-  Threads::Threads
-)
-target_link_options(simulate PRIVATE ${MUJOCO_SAMPLE_LINK_OPTIONS})
-
-if(APPLE)
-  target_sources(simulate PRIVATE macos_save.mm)
-  target_link_libraries(simulate "-framework Cocoa")
-endif()
-
 if(APPLE AND MUJOCO_BUILD_MACOS_FRAMEWORKS)
-  set_target_properties(
-    simulate
-    PROPERTIES INSTALL_RPATH @executable_path/../Frameworks
-               BUILD_WITH_INSTALL_RPATH TRUE
-               RESOURCE ${SIMULATE_RESOURCE_FILES}
-               MACOSX_BUNDLE TRUE
-               MACOSX_BUNDLE_INFO_PLIST ${CMAKE_CURRENT_SOURCE_DIR}/../dist/Info.plist.simulate.in
-               MACOSX_BUNDLE_BUNDLE_NAME "MuJoCo"
-               MACOSX_BUNDLE_GUI_IDENTIFIER "org.mujoco.app"
-               MACOSX_BUNDLE_BUNDLE_VERSION ${PROJECT_VERSION}
-               MACOSX_BUNDLE_INFO_STRING ${PROJECT_VERSION}
-               MACOSX_BUNDLE_LONG_VERSION_STRING ${PROJECT_VERSION}
-               MACOSX_BUNDLE_SHORT_VERSION_STRING ${PROJECT_VERSION}
-               MACOSX_BUNDLE_ICON_FILE "mujoco.icns"
-               MACOSX_BUNDLE_COPYRIGHT "Copyright 2021 DeepMind Technologies Limited."
-  )
-
-  macro(embed_in_bundle target)
-    add_dependencies(${target} simulate)
-    set_target_properties(
-      ${target}
-      PROPERTIES INSTALL_RPATH @executable_path/../Frameworks
-                 BUILD_WITH_INSTALL_RPATH TRUE
-                 RUNTIME_OUTPUT_DIRECTORY $<TARGET_FILE_DIR:simulate>
-    )
-  endmacro()
-
   embed_in_bundle(basic simulate)
   embed_in_bundle(compile simulate)
   embed_in_bundle(derivative simulate)
   embed_in_bundle(record simulate)
   embed_in_bundle(testspeed simulate)
   embed_in_bundle(testxml simulate)
-
-  # Embed mujoco.framework inside the App bundle.
-  add_custom_command(
-    TARGET simulate
-    POST_BUILD
-    COMMAND mkdir -p $<TARGET_FILE_DIR:simulate>/../Frameworks
-    COMMAND rm -rf $<TARGET_FILE_DIR:simulate>/../Frameworks/mujoco.framework
-    COMMAND cp -a $<TARGET_FILE_DIR:mujoco::mujoco>/../../../mujoco.framework
-            $<TARGET_FILE_DIR:simulate>/../Frameworks/
-  )
 endif()
 
 # Do not install if macOS Bundles are created as RPATH is managed manually there.
@@ -225,7 +145,6 @@ if(_INSTALL_SAMPLES)
     record
     testspeed
     testxml
-    simulate
     INSTALL_DIRECTORY
     "${CMAKE_INSTALL_PREFIX}/${CMAKE_INSTALL_BINDIR}"
     LIB_DIRS
@@ -241,7 +160,6 @@ if(_INSTALL_SAMPLES)
             record
             testspeed
             testxml
-            simulate
     EXPORT ${PROJECT_NAME}
     RUNTIME DESTINATION "${CMAKE_INSTALL_BINDIR}" COMPONENT samples
     LIBRARY DESTINATION "${CMAKE_INSTALL_LIBDIR}" COMPONENT samples