# This Makefile assumes that GLFW is installed via Homebrew, and that Homebrew
# packages are installed in /usr/local. If your setup is different, you will
# need to adjust the HOMEBREW variable accordingly.

HOMEBREW?=/usr/local

MUJOCO_LIBDIR=../MuJoCo.Framework/Versions/A
MUJOCO_INCLUDEDIR=../MuJoCo.Framework/Versions/A/Headers
CFLAGS=-O2 -I$(MUJOCO_INCLUDEDIR) -I$(HOMEBREW)/include -pthread
ALLFLAGS=$(CFLAGS) -L$(MUJOCO_LIBDIR) -L$(HOMEBREW)/lib -std=c++11 -stdlib=libc++

all:
	clang++ $(ALLFLAGS) testxml.cc    -lmujoco.2.1.2        -o testxml
	clang++ $(ALLFLAGS) testspeed.cc  -lmujoco.2.1.2        -o testspeed
	clang++ $(ALLFLAGS) compile.cc    -lmujoco.2.1.2        -o compile
	clang++ $(ALLFLAGS) derivative.cc -lmujoco.2.1.2        -o derivative
	clang++ $(ALLFLAGS) basic.cc      -lmujoco.2.1.2 -lglfw -o basic
	clang++ $(ALLFLAGS) record.cc     -lmujoco.2.1.2 -lglfw -o record
	clang -c $(CFLAGS) uitools.c
	clang++ $(ALLFLAGS) uitools.o simulate.cc -lmujoco.2.1.2 -lglfw -o simulate
	rm *.o