Also:
- Patched Filament to support building with Clang, so the default MuJoCo build
mode doesn't need to change. This should probably be upstreamed.
- Added missing Windows deps to MuJoCo Platform CMake config.
- Updated Studio CMake config to fix unresolved symbols issues on Windows.
PiperOrigin-RevId: 934612701
Change-Id: I3a34a5d274e1452c9cfef0e2868f2788b4b0c7e8
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
--
3439d8a5cd745dfd2776593916eead65cb456afc by Kevin Zakka <kevinarmandzakka@gmail.com>:
Respect an explicit CMAKE_INTERPROCEDURAL_OPTIMIZATION=OFF
The default-LTO guard checked the value rather than whether it was DEFINED, so an
explicit -DCMAKE_INTERPROCEDURAL_OPTIMIZATION=OFF (used in CI to cut build time)
was silently flipped back ON. Check DEFINED instead; default-on for Release is
preserved when the caller makes no choice.
--
bd15d1b264e5ab9594669b58fa1e0388d0a16f6b by Kevin Zakka <kevinarmandzakka@gmail.com>:
Speed up CI
~10x faster on the POSIX jobs (~45m -> ~4-5m) and ~2x overall wall-clock.
- Build Studio/Filament and WASM only in their dedicated canary jobs, not in
every matrix job (WASM uses emcc, which ignores the host compiler).
- Compiler matrix -> build_matrix.json with core/extended tiers: PRs build the
core set, pushes to main run the full sweep.
- ccache across build jobs (studio cache keyed on the Filament pin); fix the
Python-bindings build so ccache hits (CCACHE_BASEDIR).
- Disable IPO/LTO on POSIX (it was silently on); keep it on Windows where /GL-off
exposes a latent test bug and build time is not the bottleneck.
- Run ctest in parallel on POSIX (~2x); uv for Python installs (~29s -> ~8s).
- Move MJX (compiler-independent) to a single dedicated job.
- Restrict GITHUB_TOKEN to contents: read; bump actions off deprecated Node20.
--
c0618ab7aef524b238e0a30f2f23c50c4ce0c9b1 by Kevin Zakka <kevinarmandzakka@gmail.com>:
Build the gcc jobs with LTO off too
Restores LTO-off for gcc (recovering the build-time win). That surfaces known
gcc-12 -Wrestrict false positives in libstdc++ <char_traits> at -O3; two clean,
behavior-preserving rewrites in the XML writer avoid them. Confirmed gcc-12 and
gcc-14 build clean with LTO off (PR #3325).
--
2c38da0f48f77635e58e4b7931b86d60f3c253c7 by Kevin Zakka <kevinarmandzakka@gmail.com>:
Respect explicit IPO=OFF in the Simulate and Sample options too
Apply the same DEFINED check as cmake/MujocoOptions.cmake to the simulate/ and
sample/ subprojects (which carry identical copies of the guard) to keep the three
in sync, as the internal import requires. Since the guard now honors =OFF, stop
forcing IPO=OFF on the tiny samples/simulate CI builds so they keep their default
LTO and don't expose the gcc -Werror false positives that -O3-without-LTO triggers.
COPYBARA_INTEGRATE_REVIEW=https://github.com/google-deepmind/mujoco/pull/3315 from google-deepmind:speed-up-ci 2c38da0f48f77635e58e4b7931b86d60f3c253c7
PiperOrigin-RevId: 930008698
Change-Id: Ic41dc87881833c95f2ebfc0602de1ed438db3d4f
This is a combination of minor tweaks to the existing Studio WASM application, CMake cleanup to make it buildable, and integration with GitHub Actions for deployment.
The new features added are drag-and-drop, model specification through `?model=` URL parameter, HTTP and HTTPS resource provider, and a user-visible loading message while the model is loading.
PiperOrigin-RevId: 904594610
Change-Id: I3a73b1ca0fcd6fc9ba192469942b2dab010a9308
This removes the need to load these decoders via mj_loadAllPluginLibraries when using MuJoCo built with CMake. Other plugins are unchanged.
PiperOrigin-RevId: 897114719
Change-Id: Iee914cc5e05798186f384a67901f1cf86bc2f887
This forces `CMAKE_REQUIRED_FLAGS` to be treated as a string instead of list,
so none of the args get dropped when passed through `check_c_source_compiles`.
PiperOrigin-RevId: 886717366
Change-Id: I6314f9bfabd9d62bdcad5070c8801c453c381b79
*** 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 removes the need to load these decoders via mj_loadAllPluginLibraries when using MuJoCo built with CMake. Other plugins are unchanged.
PiperOrigin-RevId: 885555524
Change-Id: I20aa5b6c55b678398345d49cb1c47667ae2bebcf
The `mjCOctree::ComputeSdfCoeffs` function has been replaced by `mjCOctree::ComputeSdf`. The new implementation removes the dependency on the `triangle_mesh_distance` library. Instead, it uses a provided `mjCBoundingVolumeHierarchy` to perform closest point queries on the mesh. The signed distance is computed by finding the closest triangle face via the BVH and determining the sign based on the dot product of the vector from the closest point on the triangle to the octree vertex and the triangle's normal.
Optional Laplacian smoothing has been added to the SDF coefficients. This helps smooth out potential discontinuities at octree level boundaries.
PiperOrigin-RevId: 875093374
Change-Id: I6fa53243a2dda107ccf255bc6b876ca5a4554d4f
- Detect linker type (lld-link vs ld) and use the appropriate stack flag: /STACK:16777216 for lld-link, --stack,16777216 for MinGW ld
- Filter out stack-related flags from Python binding modules to prevent crashes when loading MuJoCo as a DLL in Python
Fixes#3011
Add usd_decoder to mujoco/plugin.
- Previously was src/experimental/usd/usd_to_mjspec.cc, now that same spec is returned by the plugin.
PiperOrigin-RevId: 854350962
Change-Id: Ia980190a557c50ce8197980922a2594b613859b4
This will fetch and call the build_usd.py build helper for OpenUSD and build within the MuJoCo _deps folder. Simplifying the build process for MuJoCo with USD. Users can still provide their own USD build, but must now do so via pxr_DIR.
PiperOrigin-RevId: 846735578
Change-Id: I0da7eb2da6465e2d518084340e762bf370adb6d5
Adds targets for dear_imgui, implot, filament, sdl2, and webp. These
targets are not currently used.
PiperOrigin-RevId: 824554405
Change-Id: Ibebdd50752d251852a945b6abc230e2c6e65fae9
FetchPackage calls FindOrFetch, but sets USE_SYSTEM_PACKAGE to OFF
(i.e. do not find, just fetch). It also sets EXCLUDE_FROM_ALL.
PiperOrigin-RevId: 822565180
Change-Id: I70476f57b8d3371cefd02e840add279423913f3f
Michael Moss