Merge pull request #201 from aftersomemath:refactor-simulate
PiperOrigin-RevId: 465044152 Change-Id: I54e65a30764a444dbd175260314d685fd7ffa6a1
This commit is contained in:
Saran Tunyasuvunakool
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# Copyright 2021 DeepMind Technologies Limited
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# You may obtain a copy of the License at
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#
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# https://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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# See the License for the specific language governing permissions and
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# limitations under the License.
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cmake_minimum_required(VERSION 3.16)
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# INTERPROCEDURAL_OPTIMIZATION is enforced when enabled.
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set(CMAKE_POLICY_DEFAULT_CMP0069 NEW)
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# Default to GLVND if available.
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set(CMAKE_POLICY_DEFAULT_CMP0072 NEW)
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# This line has to appear before 'PROJECT' in order to be able to disable incremental linking
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set(MSVC_INCREMENTAL_DEFAULT ON)
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project(
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mujoco_simulate
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VERSION 2.2.1
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DESCRIPTION "MuJoCo simulate binaries"
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HOMEPAGE_URL "https://mujoco.org"
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)
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enable_language(C)
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enable_language(CXX)
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if(APPLE)
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enable_language(OBJC)
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enable_language(OBJCXX)
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endif()
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# Check if we are building as standalone project.
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set(SIMULATE_STANDALONE OFF)
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set(_INSTALL_SIMULATE ON)
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if(CMAKE_SOURCE_DIR STREQUAL CMAKE_CURRENT_SOURCE_DIR)
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set(SIMULATE_STANDALONE ON)
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# If standalone, do not install the samples.
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set(_INSTALL_SIMULATE OFF)
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endif()
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list(APPEND CMAKE_MODULE_PATH "${PROJECT_SOURCE_DIR}/cmake")
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list(APPEND CMAKE_MODULE_PATH "${PROJECT_SOURCE_DIR}/../cmake")
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if(SIMULATE_STANDALONE)
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include(SimulateOptions)
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else()
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enforce_mujoco_macosx_min_version()
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endif()
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include(SimulateDependencies)
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set(MUJOCO_SIMULATE_COMPILE_OPTIONS "${AVX_COMPILE_OPTIONS}" "${EXTRA_COMPILE_OPTIONS}")
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set(MUJOCO_SIMULATE_LINK_OPTIONS "${EXTRA_LINK_OPTIONS}")
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if(MUJOCO_HARDEN)
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if(WIN32)
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set(MUJOCO_SIMULATE_LINK_OPTIONS "${MUJOCO_SIMULATE_LINK_OPTIONS}" -Wl,/DYNAMICBASE)
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else()
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set(MUJOCO_SIMULATE_COMPILE_OPTIONS "${MUJOCO_SIMULATE_COMPILE_OPTIONS}" -fPIE -fPIC)
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if(APPLE)
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set(MUJOCO_SIMULATE_LINK_OPTIONS "${MUJOCO_SIMULATE_LINK_OPTIONS}" -Wl,-pie)
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else()
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set(MUJOCO_SIMULATE_LINK_OPTIONS "${MUJOCO_SIMULATE_LINK_OPTIONS}" -pie)
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endif()
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endif()
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endif()
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# mjsimulate library
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add_library(mjsimulate STATIC)
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target_sources(
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mjsimulate
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PUBLIC simulate.h
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array_safety.h
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simulate.cc
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uitools.h
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uitools.c
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)
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target_include_directories(mjsimulate PUBLIC ${CMAKE_CURRENT_SOURCE_DIR})
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target_compile_definitions(mjsimulate PUBLIC MJSIMULATE_STATIC)
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target_compile_options(mjsimulate PUBLIC ${MUJOCO_SIMULATE_COMPILE_OPTIONS})
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target_link_libraries(mjsimulate PUBLIC glfw mujoco::mujoco)
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target_link_options(mjsimulate PRIVATE ${MUJOCO_SIMULATE_LINK_OPTIONS})
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if(APPLE)
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target_sources(mjsimulate PRIVATE macos_save.mm)
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target_link_libraries(mjsimulate PUBLIC "-framework Cocoa")
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endif()
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# Build simulate executable
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if(APPLE)
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set(SIMULATE_RESOURCE_FILES ${CMAKE_CURRENT_SOURCE_DIR}/../dist/mujoco.icns)
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elseif(WIN32)
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set(SIMULATE_RESOURCE_FILES ${CMAKE_CURRENT_SOURCE_DIR}/../dist/appicon.rc)
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else()
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set(SIMULATE_RESOURCE_FILES "")
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endif()
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add_executable(simulate main.cc array_safety.h ${SIMULATE_RESOURCE_FILES})
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target_compile_options(simulate PUBLIC ${MUJOCO_SIMULATE_COMPILE_OPTIONS})
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if(WIN32)
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add_custom_command(
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TARGET simulate
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PRE_BUILD
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COMMAND ${CMAKE_COMMAND} -E copy ${CMAKE_CURRENT_SOURCE_DIR}/../dist/mujoco.ico
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${CMAKE_CURRENT_SOURCE_DIR}
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POST_BUILD
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COMMAND ${CMAKE_COMMAND} -E rm ${CMAKE_CURRENT_SOURCE_DIR}/mujoco.ico
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)
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endif()
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target_link_libraries(
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simulate
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mjsimulate
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mujoco::mujoco
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glfw
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Threads::Threads
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)
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target_link_options(simulate PRIVATE ${MUJOCO_SIMULATE_LINK_OPTIONS})
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if(APPLE AND MUJOCO_BUILD_MACOS_FRAMEWORKS)
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set_target_properties(
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simulate
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PROPERTIES INSTALL_RPATH @executable_path/../Frameworks
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BUILD_WITH_INSTALL_RPATH TRUE
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RESOURCE ${SIMULATE_RESOURCE_FILES}
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MACOSX_BUNDLE TRUE
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MACOSX_BUNDLE_INFO_PLIST ${CMAKE_CURRENT_SOURCE_DIR}/../dist/Info.plist.simulate.in
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MACOSX_BUNDLE_BUNDLE_NAME "MuJoCo"
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MACOSX_BUNDLE_GUI_IDENTIFIER "org.mujoco.mujoco"
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MACOSX_BUNDLE_BUNDLE_VERSION ${PROJECT_VERSION}
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MACOSX_BUNDLE_INFO_STRING ${PROJECT_VERSION}
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MACOSX_BUNDLE_LONG_VERSION_STRING ${PROJECT_VERSION}
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MACOSX_BUNDLE_SHORT_VERSION_STRING ${PROJECT_VERSION}
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MACOSX_BUNDLE_ICON_FILE "mujoco.icns"
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MACOSX_BUNDLE_COPYRIGHT "Copyright 2021 DeepMind Technologies Limited."
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)
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macro(embed_in_bundle target)
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add_dependencies(${target} simulate)
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set_target_properties(
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${target}
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PROPERTIES INSTALL_RPATH @executable_path/../Frameworks
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BUILD_WITH_INSTALL_RPATH TRUE
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RUNTIME_OUTPUT_DIRECTORY $<TARGET_FILE_DIR:simulate>
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)
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endmacro()
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# Embed mujoco.framework inside the App bundle ane move the icon file over too.
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add_custom_command(
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TARGET simulate
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POST_BUILD
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COMMAND mkdir -p $<TARGET_FILE_DIR:simulate>/../Frameworks
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COMMAND rm -rf $<TARGET_FILE_DIR:simulate>/../Frameworks/mujoco.framework
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COMMAND cp -a $<TARGET_FILE_DIR:mujoco::mujoco>/../../../mujoco.framework
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$<TARGET_FILE_DIR:simulate>/../Frameworks/
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# Delete the symlink and the TBD, otherwise we can't sign and notarize.
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COMMAND rm -rf $<TARGET_FILE_DIR:simulate>/../Frameworks/mujoco.framework/mujoco.tbd
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COMMAND rm -rf
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$<TARGET_FILE_DIR:simulate>/../Frameworks/mujoco.framework/Versions/A/libmujoco.dylib
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)
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endif()
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# Do not install if macOS Bundles are created as RPATH is managed manually there.
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if(APPLE AND MUJOCO_BUILD_MACOS_FRAMEWORKS)
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set(_INSTALL_SIMULATE OFF)
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endif()
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if(_INSTALL_SIMULATE)
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include(TargetAddRpath)
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# Add support to RPATH for the samples.
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target_add_rpath(
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TARGETS
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simulate
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INSTALL_DIRECTORY
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"${CMAKE_INSTALL_PREFIX}/${CMAKE_INSTALL_BINDIR}"
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LIB_DIRS
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"${CMAKE_INSTALL_PREFIX}/${CMAKE_INSTALL_LIBDIR}"
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DEPENDS
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MUJOCO_ENABLE_RPATH
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)
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install(
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TARGETS simulate
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EXPORT ${PROJECT_NAME}
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RUNTIME DESTINATION "${CMAKE_INSTALL_BINDIR}" COMPONENT simulate
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LIBRARY DESTINATION "${CMAKE_INSTALL_LIBDIR}" COMPONENT simulate
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ARCHIVE DESTINATION "${CMAKE_INSTALL_LIBDIR}" COMPONENT simulate
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BUNDLE DESTINATION "${CMAKE_INSTALL_BINDIR}" COMPONENT simulate
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PUBLIC_HEADER DESTINATION ${CMAKE_INSTALL_INCLUDEDIR} COMPONENT simulate
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)
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if(NOT MUJOCO_SIMULATE_USE_SYSTEM_GLFW)
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# We downloaded GLFW. Depending if it is a static or shared LIBRARY we might
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# need to install it.
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get_target_property(MJ_GLFW_LIBRARY_TYPE glfw TYPE)
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if(MJ_GLFW_LIBRARY_TYPE STREQUAL SHARED_LIBRARY)
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install(
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TARGETS glfw
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EXPORT ${PROJECT_NAME}
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RUNTIME DESTINATION "${CMAKE_INSTALL_BINDIR}" COMPONENT simulate
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LIBRARY DESTINATION "${CMAKE_INSTALL_LIBDIR}" COMPONENT simulate
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ARCHIVE DESTINATION "${CMAKE_INSTALL_LIBDIR}" COMPONENT simulate
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PUBLIC_HEADER DESTINATION ${CMAKE_INSTALL_INCLUDEDIR} COMPONENT simulate
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)
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endif()
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endif()
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endif()
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