Automated g4 rollback of changelist 885555524.

*** 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

plugin/stl_decoder/CMakeLists.txt

@@ -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()