Sam Haves
ab63a7e824
This adds an option MUJOCO_BUILD_USD_PLUGINS to the top level CMakeLists which allows us to build the usdMjcf file format plugin with the rest of mujoco. In this first version, we allow building against either standalone USD or against Houdini (DCC) since it has it's own fork of USD. When building against standalone USD we also build the file format tests. PiperOrigin-RevId: 753969974 Change-Id: If691eecbddf45d18b7c4ff76f7650999d42e99c5
104 lines
3.4 KiB
CMake
104 lines
3.4 KiB
CMake
# Copyright 2021 DeepMind Technologies Limited
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# You may obtain a copy of the License at
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#
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# https://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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# See the License for the specific language governing permissions and
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# limitations under the License.
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set(MUJOCO_TEST_INCLUDE ${CMAKE_CURRENT_SOURCE_DIR}/.. ${CMAKE_CURRENT_SOURCE_DIR}/../src)
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set(MUJOCO_TEST_WORKING_DIR ${CMAKE_CURRENT_SOURCE_DIR})
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include(GoogleTest)
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# This macro is used to add a C++ test to MuJoCo CMake build system
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#
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# The CMake targets linked by default with target_link_libraries are:
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# mujoco fixture gmock
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#
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# The macro supports the following parameters:
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# * PROPERTIES: multiple value parameter, its value is set as test properties
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# via the set_tests_properties(<test> PROPERTIES <argument>) function
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# * ADDITIONAL_LINK_LIBRARIES: multiple value parameter, additional libraries linked
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# to the test via target_link_libraries
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# * MAIN_TARGET: single value parameter, used to specify the target linked to the tests
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# that define the main entry poiny. If not indicated, gest_main is used
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macro(mujoco_test name)
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set(options)
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set(oneValueArgs MAIN_TARGET)
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set(multiValueArgs PROPERTIES ADDITIONAL_LINK_LIBRARIES)
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cmake_parse_arguments(
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_ARGS
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"${options}"
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"${oneValueArgs}"
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"${multiValueArgs}"
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${ARGN}
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)
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add_executable(${name} ${name}.cc)
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target_link_libraries(${name} mujoco fixture gmock)
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if(_ARGS_MAIN_TARGET)
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target_link_libraries(${name} ${_ARGS_MAIN_TARGET})
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else()
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target_link_libraries(${name} gtest_main)
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endif()
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if(_ARGS_ADDITIONAL_LINK_LIBRARIES)
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target_link_libraries(${name} ${_ARGS_ADDITIONAL_LINK_LIBRARIES})
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endif()
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target_include_directories(${name} PRIVATE ${MUJOCO_TEST_INCLUDE})
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set_target_properties(${name} PROPERTIES BUILD_RPATH ${CMAKE_LIBRARY_OUTPUT_DIRECTORY})
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# gtest_discover_tests is recommended over gtest_add_tests, but has some issues in Windows.
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gtest_add_tests(
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TARGET ${name}
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SOURCES ${name}.cc
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WORKING_DIRECTORY ${MUJOCO_TEST_WORKING_DIR}
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TEST_LIST testList
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)
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if(WIN32)
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set_tests_properties(
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${testList} PROPERTIES ENVIRONMENT "PATH=$<TARGET_FILE_DIR:mujoco>;$ENV{PATH}"
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)
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endif()
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if(_ARGS_PROPERTIES)
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set_tests_properties(${testList} PROPERTIES ${_ARGS_PROPERTIES})
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endif()
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endmacro()
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add_library(fixture STATIC fixture.h fixture.cc)
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target_include_directories(fixture PUBLIC ${CMAKE_CURRENT_SOURCE_DIR}/..)
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target_compile_definitions(fixture PUBLIC MJSTATIC)
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target_link_libraries(
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fixture
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PUBLIC absl::core_headers
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absl::synchronization
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absl::flat_hash_map
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absl::flat_hash_set
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gtest
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gmock
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mujoco::mujoco
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)
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target_include_directories(fixture PRIVATE ${mujoco_SOURCE_DIR}/include gmock)
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mujoco_test(fixture_test)
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mujoco_test(header_test)
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mujoco_test(pipeline_test)
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add_subdirectory(benchmark)
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add_subdirectory(engine)
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add_subdirectory(sample)
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add_subdirectory(user)
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add_subdirectory(xml)
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add_subdirectory(plugin/elasticity)
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add_subdirectory(plugin/actuator)
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add_subdirectory(experimental)
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