# This configuration is used to build and test on GitHub Actions only.
# It is not the same configuration that is used by DeepMind to create release binaries.
# The "official" binaries are built with Clang 13 on all platforms, and are linked against libc++
# on Linux.

name: build

on:
  push:
    branches: [main]
  pull_request:
    branches: [main]

jobs:
  mujoco:
    strategy:
      matrix:
        include:
          - os: ubuntu-20.04
            additional_label: "with GCC 10"
            cmake_args: "-G Ninja -DCMAKE_C_COMPILER:STRING=gcc-10 -DCMAKE_CXX_COMPILER:STRING=g++-10"
          - os: ubuntu-20.04
            additional_label: "with Clang 12"
            cmake_args: "-G Ninja -DCMAKE_C_COMPILER:STRING=clang-12 -DCMAKE_CXX_COMPILER:STRING=clang++-12 -DMUJOCO_HARDEN:BOOL=ON"
          - os: macos-12
            cmake_args: "-G Ninja -DMUJOCO_HARDEN:BOOL=ON"
          - os: windows-2022
            cmake_build_args: "-- /MP"

    name: "MuJoCo on ${{ matrix.os }} ${{ matrix.additional_label }}"
    runs-on: ${{ matrix.os }}
    env:
      CMAKE_ARGS: ${{ matrix.cmake_args }}
      CMAKE_BUILD_ARGS: ${{ matrix.cmake_build_args }}

    steps:
    - uses: actions/checkout@v2
    - name: Prepare Linux
      if: ${{ runner.os == 'Linux' }}
      run: |
        sudo apt-get install \
            libgl1-mesa-dev \
            libxinerama-dev \
            libxcursor-dev \
            libxrandr-dev \
            libxi-dev \
            ninja-build
    - name: Prepare macOS
      if: ${{ runner.os == 'macOS' }}
      run: brew install ninja
    - name: Configure
      run: |
        mkdir build
        cd build
        cmake .. -DCMAKE_BUILD_TYPE:STRING=Release $CMAKE_ARGS
    - name: Build
      working-directory: build
      run: cmake --build . --config=Release $CMAKE_BUILD_ARGS
    - name: Test
      working-directory: build
      run: ctest -C Release .