chenlin/Mujoco_WASM
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Automated g4 rollback of changelist 885555524.

Browse Source 
*** Reason for rollback ***

Rolling back obj/stl decoder inclusion as sources due to broken windows build.

*** Original change description ***

Include obj and stl decoder plugins as sources in CMake builds.

This removes the need to load these decoders via mj_loadAllPluginLibraries when using MuJoCo built with CMake. Other plugins are unchanged.

***

PiperOrigin-RevId: 885576586
Change-Id: I31e6fa4d10697862f7d800d0d771ca752747e36d
This commit is contained in:
Sam Haves
2026-03-18 07:17:39 -07:00
committed by Copybara-Service
parent 15ca42ff68
commit ef78f07ffb
10 changed files with 103 additions and 21 deletions
Download Patch File Download Diff File Expand all files Collapse all files
CMakeLists.txt
-1
View File
@@ -112,7 +112,6 @@ if(NOT EMSCRIPTEN)
endif()
add_subdirectory(plugin/obj_decoder)
add_subdirectory(plugin/stl_decoder)
add_subdirectory(src/engine)
add_subdirectory(src/user)
add_subdirectory(src/xml)
cmake/ShellTests.cmake
+1
View File
@@ -38,6 +38,7 @@ function(add_mujoco_shell_test TEST_NAME TARGET_BINARY)
"CMAKE_SOURCE_DIR=${CMAKE_SOURCE_DIR}"
"TARGET_BINARY=$<TARGET_FILE:${TARGET_BINARY}>"
"TEST_TMPDIR=${TEST_TMPDIR}"
"MUJOCO_PLUGIN_DIR=$<TARGET_FILE_DIR:obj_decoder>"
)
if(WIN32)
# Define the directory containing the mujoco DLL library so that it can be added to the PATH.
doc/changelog.rst
-2
View File
@@ -28,8 +28,6 @@ General
(previously the scalar), and subsequent elements are the higher-order :ref:`polynomial<gePolynomial>` coefficients.
**Migration:** Replace assignments like ``joint.stiffness = val`` with ``joint.stiffness[0] = val``.
- ``.obj`` and ``.stl`` decoders are now included as source when building MuJoCo with CMake. This fixes the
behaviour from the previous release where it required downstream code to load these plugins explicitly.
Bug fixes
plugin/obj_decoder/CMakeLists.txt
+43 -4
View File
@@ -12,9 +12,48 @@
# See the License for the specific language governing permissions and
# limitations under the License.
target_compile_definitions(mujoco PRIVATE TINYOBJLOADER_IMPLEMENTATION)
target_sources(mujoco PRIVATE
obj_decoder.cc
if(EMSCRIPTEN)
add_library(obj_decoder OBJECT obj_decoder.cc)
else()
set(CMAKE_INSTALL_RPATH_USE_LINK_PATH TRUE)
set(CMAKE_INSTALL_RPATH "${CMAKE_INSTALL_LIBDIR}")
add_library(obj_decoder SHARED obj_decoder.cc)
endif()
target_include_directories(obj_decoder PRIVATE
${CMAKE_CURRENT_SOURCE_DIR}/../..
${CMAKE_CURRENT_SOURCE_DIR}/../../include
)
target_link_libraries(mujoco PRIVATE tinyobjloader)
if(EMSCRIPTEN)
target_link_libraries(obj_decoder PRIVATE
tinyobjloader
)
else()
target_link_libraries(obj_decoder PRIVATE
mujoco
tinyobjloader
)
endif()
target_compile_definitions(obj_decoder PRIVATE TINYOBJLOADER_IMPLEMENTATION)
target_compile_options(obj_decoder PRIVATE
${AVX_COMPILE_OPTIONS}
${MUJOCO_MACOS_COMPILE_OPTIONS}
${EXTRA_COMPILE_OPTIONS}
${MUJOCO_CXX_FLAGS}
)
if(NOT EMSCRIPTEN)
target_link_options(obj_decoder PRIVATE
${MUJOCO_MACOS_LINK_OPTIONS}
${EXTRA_LINK_OPTIONS}
)
install(
TARGETS obj_decoder
LIBRARY DESTINATION "${CMAKE_INSTALL_BINDIR}/mujoco_plugin"
)
endif()
plugin/stl_decoder/CMakeLists.txt
+39 -2
View File
@@ -12,6 +12,43 @@
# See the License for the specific language governing permissions and
# limitations under the License.
target_sources(mujoco PRIVATE
stl_decoder.cc
if(EMSCRIPTEN)
add_library(stl_decoder OBJECT stl_decoder.cc)
else()
set(CMAKE_INSTALL_RPATH_USE_LINK_PATH TRUE)
set(CMAKE_INSTALL_RPATH "${CMAKE_INSTALL_LIBDIR}")
add_library(stl_decoder SHARED stl_decoder.cc)
endif()
target_include_directories(stl_decoder PRIVATE
${CMAKE_CURRENT_SOURCE_DIR}/../..
${CMAKE_CURRENT_SOURCE_DIR}/../../include
)
if(EMSCRIPTEN)
target_link_libraries(stl_decoder PRIVATE)
else()
target_link_libraries(stl_decoder PRIVATE
mujoco
)
endif()
target_compile_options(stl_decoder PRIVATE
${AVX_COMPILE_OPTIONS}
${MUJOCO_MACOS_COMPILE_OPTIONS}
${EXTRA_COMPILE_OPTIONS}
${MUJOCO_CXX_FLAGS}
)
if(NOT EMSCRIPTEN)
target_link_options(stl_decoder PRIVATE
${MUJOCO_MACOS_LINK_OPTIONS}
${EXTRA_LINK_OPTIONS}
)
install(
TARGETS stl_decoder
LIBRARY DESTINATION "${CMAKE_INSTALL_BINDIR}/mujoco_plugin"
)
endif()
sample/testspeed.cc
+6
View File
@@ -187,6 +187,12 @@ int main(int argc, char** argv) {
nthread = mjMAX(1, mjMIN(maxthread, nthread));
npoolthread = mjMAX(1, mjMIN(maxthread, npoolthread));
// load plugins from MUJOCO_PLUGIN_DIR if set
const char* plugin_dir = std::getenv("MUJOCO_PLUGIN_DIR");
if (plugin_dir) {
mj_loadAllPluginLibraries(plugin_dir, nullptr);
}
// get filename, determine file type
std::string filename(argv[1]);
bool binary = (filename.find(".mjb") != std::string::npos); // NOLINT
test/user/CMakeLists.txt
+9
View File
@@ -14,6 +14,9 @@
mujoco_test(
user_model_test
PROPERTIES
ENVIRONMENT
"MUJOCO_PLUGIN_DIR=$<TARGET_FILE_DIR:obj_decoder>"
ADDITIONAL_LINK_LIBRARIES absl::str_format
)
@@ -28,10 +31,16 @@ mujoco_test(
mujoco_test(
user_flex_test
PROPERTIES
ENVIRONMENT
"MUJOCO_PLUGIN_DIR=$<TARGET_FILE_DIR:obj_decoder>"
)
mujoco_test(
user_mesh_test
PROPERTIES
ENVIRONMENT
"MUJOCO_PLUGIN_DIR=$<TARGET_FILE_DIR:obj_decoder>"
ADDITIONAL_LINK_LIBRARIES absl::str_format
)
test/xml/CMakeLists.txt
+3
View File
@@ -16,6 +16,9 @@ mujoco_test(xml_api_test)
mujoco_test(
xml_native_reader_test
PROPERTIES
ENVIRONMENT
"MUJOCO_PLUGIN_DIR=$<TARGET_FILE_DIR:obj_decoder>"
)
mujoco_test(xml_utils_test)
wasm/CMakeLists.txt
+1 -6
View File
@@ -60,11 +60,6 @@ set_target_properties(mujoco_wasm PROPERTIES
OUTPUT_NAME "mujoco"
)
# Link the mujoco library as a whole archive to avoid losing plugin
# registration such as obj_decoder and stl_decoder.
target_link_libraries(mujoco_wasm PRIVATE
-Wl,--whole-archive mujoco -Wl,--no-whole-archive
ccd lodepng tinyxml2 qhullstatic_r
)
target_link_libraries(mujoco_wasm ccd lodepng mujoco tinyxml2 qhullstatic_r obj_decoder stl_decoder)
install(TARGETS mujoco_wasm DESTINATION ${DIVISIBLE_INSTALL_BIN_DIR})
wasm/tests/CMakeLists.txt
+1 -6
View File
@@ -53,11 +53,6 @@ add_executable(mujoco_wasm_benchmark ${MUJOCO_WASM_FILES})
set_target_properties(mujoco_wasm_benchmark PROPERTIES LINK_FLAGS "${EMCC_LINKER_FLAGS_STR}")
# Link the mujoco library as a whole archive to avoid losing plugin
# registration such as obj_decoder and stl_decoder.
target_link_libraries(mujoco_wasm_benchmark PRIVATE
-Wl,--whole-archive mujoco -Wl,--no-whole-archive
ccd lodepng tinyxml2 qhullstatic_r
)
target_link_libraries(mujoco_wasm_benchmark ccd lodepng mujoco tinyxml2 qhullstatic_r obj_decoder stl_decoder)
install(TARGETS mujoco_wasm_benchmark DESTINATION ${DIVISIBLE_INSTALL_BIN_DIR})