Enable MuJoCo Studio build and packaging on macos.

Also:
- Packages MuJoCo Studio as MuJoCoStudio.app in the MuJoCo.dmg.
- Fixes a Filament compile issue.
- Patches libwebp to fix compile error related to universal builds and forces
  it to build as static.
- Removes the separate, obsolete "build_studio" step.
PiperOrigin-RevId: 934564785
Change-Id: I50c83283b5e138062e37d53926a5a77fdf99dbfa

python/mujoco/CMakeLists.txt

@@ -89,6 +89,7 @@ if(NOT TARGET mujoco)
           ${MUJOCO_FRAMEWORK}/mujoco.framework/Versions/A/libmujoco.3.10.0.dylib
       )
       target_compile_options(mujoco INTERFACE -F${MUJOCO_FRAMEWORK})
+      set(MUJOCO_INCLUDE "${MUJOCO_FRAMEWORK}/mujoco.framework/Versions/A/Headers")
     endif()
   endif()
 
@@ -132,8 +133,12 @@ endif()
 
 # =================== MUJOCO PLATFORM STATIC LIBRARY ==========================
 if(NOT TARGET mujoco::platform)
+  set(MUJOCO_PLATFORM_HINTS ${MUJOCO_LIBRARY_DIR})
+  if(MUJOCO_FRAMEWORK)
+    list(APPEND MUJOCO_PLATFORM_HINTS "${MUJOCO_FRAMEWORK}/mujoco.framework/Versions/A")
+  endif()
   find_library(
-    MUJOCO_PLATFORM_LIBRARY mujoco_platform HINTS ${MUJOCO_LIBRARY_DIR}
+    MUJOCO_PLATFORM_LIBRARY mujoco_platform HINTS ${MUJOCO_PLATFORM_HINTS}
   )
   if(MUJOCO_PLATFORM_LIBRARY)
     message(STATUS "Found mujoco_platform library at ${MUJOCO_PLATFORM_LIBRARY}")
@@ -141,8 +146,9 @@ if(NOT TARGET mujoco::platform)
     set_target_properties(mujoco_platform PROPERTIES IMPORTED_LOCATION "${MUJOCO_PLATFORM_LIBRARY}")
     add_library(mujoco::platform ALIAS mujoco_platform)
 
+    set(PLATFORM_INCLUDES "${MUJOCO_INCLUDE}" "${MUJOCO_INCLUDE}/mujoco" "${MUJOCO_INCLUDE}/SDL2")
     set_target_properties(mujoco_platform PROPERTIES
-      INTERFACE_INCLUDE_DIRECTORIES "${MUJOCO_INCLUDE};${MUJOCO_INCLUDE}/mujoco;${MUJOCO_INCLUDE}/SDL2"
+      INTERFACE_INCLUDE_DIRECTORIES "${PLATFORM_INCLUDES}"
     )
     target_compile_features(mujoco_platform INTERFACE cxx_std_20)
 
@@ -177,7 +183,7 @@ if(NOT TARGET mujoco::platform)
       zstd
       z
     )
-      find_library(DEP_PATH_${dep_lib} ${dep_lib} HINTS ${MUJOCO_LIBRARY_DIR})
+      find_library(DEP_PATH_${dep_lib} ${dep_lib} HINTS ${MUJOCO_PLATFORM_HINTS})
       if(DEP_PATH_${dep_lib})
         add_library(mujoco::dep::${dep_lib} STATIC IMPORTED GLOBAL)
         set_target_properties(mujoco::dep::${dep_lib} PROPERTIES
@@ -191,6 +197,22 @@ if(NOT TARGET mujoco::platform)
     if(UNIX AND NOT APPLE)
       list(APPEND PLATFORM_DEPS pthread dl rt)
     endif()
+    if(APPLE)
+      list(APPEND PLATFORM_DEPS
+        "-framework Cocoa"
+        "-framework IOKit"
+        "-framework Carbon"
+        "-framework ForceFeedback"
+        "-framework CoreVideo"
+        "-framework CoreAudio"
+        "-framework AudioToolbox"
+        "-framework Metal"
+        "-framework GameController"
+        "-framework CoreHaptics"
+        "-framework AVFoundation"
+        "-framework QuartzCore"
+      )
+    endif()
 
     set_target_properties(mujoco_platform PROPERTIES INTERFACE_LINK_LIBRARIES "${PLATFORM_DEPS}")
   endif()
@@ -494,6 +516,10 @@ target_link_libraries(
           structs_wrappers
 )
 
+if(APPLE)
+  set_target_properties(_structs PROPERTIES INTERPROCEDURAL_OPTIMIZATION FALSE)
+endif()
+
 if(NOT EXISTS ${CMAKE_CURRENT_SOURCE_DIR}/specs.cc.inc)
   add_custom_command(
     OUTPUT specs.cc.inc

python/mujoco/experimental/studio/CMakeLists.txt

@@ -83,3 +83,26 @@ if(UNIX AND NOT APPLE)
     target_link_options(${target} PRIVATE "-Wl,--allow-multiple-definition")
   endforeach()
 endif()
+
+if(APPLE)
+  set(STUDIO_PY_MODULES
+      parser
+      native_viewer_cc
+      renderer
+      ux
+      sim
+      dear_imgui
+      implot
+  )
+  foreach(target ${STUDIO_PY_MODULES})
+    if(TARGET ${target})
+      add_custom_command(
+        TARGET ${target}
+        POST_BUILD
+        COMMAND
+          install_name_tool -add_rpath @loader_path/../../ $<TARGET_FILE:${target}>
+      )
+    endif()
+  endforeach()
+endif()
+