Saran Tunyasuvunakool
90e14ac8d0
Going forward, the version number at head will be kept one ahead of the latest released version. The rationale behind this change is so that it is clear that the source code at head is more recent. PiperOrigin-RevId: 527687981 Change-Id: I7982ecd0b99ad70dccec6a8ffe86629754558bda
269 lines
9.4 KiB
CMake
269 lines
9.4 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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cmake_minimum_required(VERSION 3.16)
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# INTERPROCEDURAL_OPTIMIZATION is enforced when enabled.
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set(CMAKE_POLICY_DEFAULT_CMP0069 NEW)
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# Default to GLVND if available.
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set(CMAKE_POLICY_DEFAULT_CMP0072 NEW)
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# This line has to appear before 'PROJECT' in order to be able to disable incremental linking
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set(MSVC_INCREMENTAL_DEFAULT ON)
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set(MUJOCO_DEP_VERSION_lodepng
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b4ed2cd7ecf61d29076169b49199371456d4f90b
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CACHE STRING "Version of `lodepng` to be fetched."
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)
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project(
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mujoco_simulate
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VERSION 2.3.6
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DESCRIPTION "MuJoCo simulate binaries"
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HOMEPAGE_URL "https://mujoco.org"
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)
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enable_language(C)
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enable_language(CXX)
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if(APPLE)
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enable_language(OBJC)
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enable_language(OBJCXX)
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endif()
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option(SIMULATE_BUILD_EXECUTABLE "Build the simulate executable binary." ON)
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option(SIMULATE_GLFW_DYNAMIC_SYMBOLS "Whether to resolve GLFW symbols dynamically." OFF)
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# Check if we are building as standalone project.
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set(SIMULATE_STANDALONE OFF)
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set(_INSTALL_SIMULATE ON)
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if(CMAKE_SOURCE_DIR STREQUAL CMAKE_CURRENT_SOURCE_DIR)
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set(SIMULATE_STANDALONE ON)
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# If standalone, do not install the samples.
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set(_INSTALL_SIMULATE OFF)
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endif()
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list(APPEND CMAKE_MODULE_PATH "${PROJECT_SOURCE_DIR}/cmake")
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list(APPEND CMAKE_MODULE_PATH "${PROJECT_SOURCE_DIR}/../cmake")
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if(SIMULATE_STANDALONE)
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include(SimulateOptions)
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else()
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enforce_mujoco_macosx_min_version()
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endif()
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include(SimulateDependencies)
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set(MUJOCO_SIMULATE_COMPILE_OPTIONS "${AVX_COMPILE_OPTIONS}" "${EXTRA_COMPILE_OPTIONS}")
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set(MUJOCO_SIMULATE_LINK_OPTIONS "${EXTRA_LINK_OPTIONS}")
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if(MUJOCO_HARDEN)
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if(WIN32)
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set(MUJOCO_SIMULATE_LINK_OPTIONS "${MUJOCO_SIMULATE_LINK_OPTIONS}" -Wl,/DYNAMICBASE)
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else()
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set(MUJOCO_SIMULATE_COMPILE_OPTIONS "${MUJOCO_SIMULATE_COMPILE_OPTIONS}" -fPIE -fPIC)
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if(APPLE)
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set(MUJOCO_SIMULATE_LINK_OPTIONS "${MUJOCO_SIMULATE_LINK_OPTIONS}" -Wl,-pie)
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else()
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set(MUJOCO_SIMULATE_LINK_OPTIONS "${MUJOCO_SIMULATE_LINK_OPTIONS}" -pie)
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endif()
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endif()
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endif()
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# Fetch lodepng dependency.
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if(NOT TARGET lodepng)
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FetchContent_Declare(
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lodepng
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GIT_REPOSITORY https://github.com/lvandeve/lodepng.git
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GIT_TAG ${MUJOCO_DEP_VERSION_lodepng}
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)
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FetchContent_GetProperties(lodepng)
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if(NOT lodepng_POPULATED)
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FetchContent_Populate(lodepng)
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# This is not a CMake project.
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set(LODEPNG_SRCS ${lodepng_SOURCE_DIR}/lodepng.cpp)
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set(LODEPNG_HEADERS ${lodepng_SOURCE_DIR}/lodepng.h)
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add_library(lodepng STATIC ${LODEPNG_HEADERS} ${LODEPNG_SRCS})
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target_compile_options(lodepng PRIVATE ${MUJOCO_MACOS_COMPILE_OPTIONS})
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target_link_options(lodepng PRIVATE ${MUJOCO_MACOS_LINK_OPTIONS})
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target_include_directories(lodepng PUBLIC ${lodepng_SOURCE_DIR})
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endif()
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endif()
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# Simulate library
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add_library(platform_ui_adapter OBJECT)
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target_sources(
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platform_ui_adapter
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PUBLIC glfw_adapter.h glfw_dispatch.h platform_ui_adapter.h
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PRIVATE glfw_adapter.cc glfw_dispatch.cc platform_ui_adapter.cc
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)
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target_compile_options(platform_ui_adapter PRIVATE ${MUJOCO_SIMULATE_COMPILE_OPTIONS})
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if(APPLE)
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target_sources(platform_ui_adapter PUBLIC glfw_corevideo.h PRIVATE glfw_corevideo.mm)
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target_link_libraries(platform_ui_adapter PUBLIC "-framework CoreVideo")
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endif()
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target_include_directories(
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platform_ui_adapter PUBLIC ${CMAKE_CURRENT_SOURCE_DIR}
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$<TARGET_PROPERTY:glfw,INTERFACE_INCLUDE_DIRECTORIES>
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)
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target_link_libraries(platform_ui_adapter PUBLIC mujoco::mujoco)
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if(SIMULATE_GLFW_DYNAMIC_SYMBOLS)
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target_compile_definitions(platform_ui_adapter PUBLIC mjGLFW_DYNAMIC_SYMBOLS)
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endif()
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add_library(mujoco::platform_ui_adapter ALIAS platform_ui_adapter)
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add_library(libsimulate STATIC $<TARGET_OBJECTS:platform_ui_adapter>)
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set_target_properties(libsimulate PROPERTIES OUTPUT_NAME simulate)
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add_library(mujoco::libsimulate ALIAS libsimulate)
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target_sources(
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libsimulate
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PUBLIC simulate.h
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PRIVATE simulate.cc array_safety.h
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)
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target_include_directories(libsimulate PUBLIC ${CMAKE_CURRENT_SOURCE_DIR})
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target_compile_options(libsimulate PRIVATE ${MUJOCO_SIMULATE_COMPILE_OPTIONS})
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target_link_libraries(libsimulate PUBLIC lodepng mujoco::platform_ui_adapter mujoco::mujoco)
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target_link_options(libsimulate PRIVATE ${MUJOCO_SIMULATE_LINK_OPTIONS})
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if(APPLE)
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target_sources(libsimulate PRIVATE macos_gui.mm)
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target_link_libraries(libsimulate PUBLIC "-framework Cocoa")
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endif()
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# Build simulate executable
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if(SIMULATE_BUILD_EXECUTABLE)
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if(APPLE)
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set(SIMULATE_RESOURCE_FILES ${CMAKE_CURRENT_SOURCE_DIR}/../dist/mujoco.icns)
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elseif(WIN32)
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set(SIMULATE_RESOURCE_FILES ${CMAKE_CURRENT_SOURCE_DIR}/../dist/simulate.rc)
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else()
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set(SIMULATE_RESOURCE_FILES "")
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endif()
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add_executable(simulate main.cc array_safety.h ${SIMULATE_RESOURCE_FILES})
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target_compile_options(simulate PUBLIC ${MUJOCO_SIMULATE_COMPILE_OPTIONS})
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if(WIN32)
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add_custom_command(
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TARGET simulate
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PRE_BUILD
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COMMAND ${CMAKE_COMMAND} -E copy ${CMAKE_CURRENT_SOURCE_DIR}/../dist/mujoco.ico
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${CMAKE_CURRENT_SOURCE_DIR}
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POST_BUILD
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COMMAND ${CMAKE_COMMAND} -E rm ${CMAKE_CURRENT_SOURCE_DIR}/mujoco.ico
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)
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endif()
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target_link_libraries(
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simulate
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libsimulate
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mujoco::mujoco
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glfw
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Threads::Threads
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lodepng
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)
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target_link_options(simulate PRIVATE ${MUJOCO_SIMULATE_LINK_OPTIONS})
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if(APPLE AND MUJOCO_BUILD_MACOS_FRAMEWORKS)
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set_target_properties(
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simulate
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PROPERTIES INSTALL_RPATH @executable_path/../Frameworks
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BUILD_WITH_INSTALL_RPATH TRUE
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RESOURCE ${SIMULATE_RESOURCE_FILES}
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MACOSX_BUNDLE TRUE
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MACOSX_BUNDLE_INFO_PLIST ${CMAKE_CURRENT_SOURCE_DIR}/../dist/Info.plist.simulate.in
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MACOSX_BUNDLE_BUNDLE_NAME "MuJoCo"
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MACOSX_BUNDLE_GUI_IDENTIFIER "org.mujoco.mujoco"
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MACOSX_BUNDLE_BUNDLE_VERSION ${PROJECT_VERSION}
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MACOSX_BUNDLE_INFO_STRING ${PROJECT_VERSION}
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MACOSX_BUNDLE_LONG_VERSION_STRING ${PROJECT_VERSION}
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MACOSX_BUNDLE_SHORT_VERSION_STRING ${PROJECT_VERSION}
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MACOSX_BUNDLE_ICON_FILE "mujoco.icns"
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MACOSX_BUNDLE_COPYRIGHT "Copyright 2021 DeepMind Technologies Limited."
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)
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macro(embed_in_bundle target)
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add_dependencies(${target} simulate)
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set_target_properties(
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${target}
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PROPERTIES INSTALL_RPATH @executable_path/../Frameworks
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BUILD_WITH_INSTALL_RPATH TRUE
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RUNTIME_OUTPUT_DIRECTORY $<TARGET_FILE_DIR:simulate>
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)
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endmacro()
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# Embed mujoco.framework inside the App bundle ane move the icon file over too.
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add_custom_command(
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TARGET simulate
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POST_BUILD
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COMMAND mkdir -p $<TARGET_FILE_DIR:simulate>/../Frameworks
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COMMAND rm -rf $<TARGET_FILE_DIR:simulate>/../Frameworks/mujoco.framework
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COMMAND cp -a $<TARGET_FILE_DIR:mujoco::mujoco>/../../../mujoco.framework
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$<TARGET_FILE_DIR:simulate>/../Frameworks/
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# Delete the symlink and the TBD, otherwise we can't sign and notarize.
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COMMAND rm -rf $<TARGET_FILE_DIR:simulate>/../Frameworks/mujoco.framework/mujoco.tbd
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COMMAND rm -rf
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$<TARGET_FILE_DIR:simulate>/../Frameworks/mujoco.framework/Versions/A/libmujoco.dylib
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)
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endif()
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# Do not install if macOS Bundles are created as RPATH is managed manually there.
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if(APPLE AND MUJOCO_BUILD_MACOS_FRAMEWORKS)
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set(_INSTALL_SIMULATE OFF)
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endif()
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if(_INSTALL_SIMULATE)
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include(TargetAddRpath)
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# Add support to RPATH for the samples.
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target_add_rpath(
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TARGETS
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simulate
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INSTALL_DIRECTORY
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"${CMAKE_INSTALL_PREFIX}/${CMAKE_INSTALL_BINDIR}"
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LIB_DIRS
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"${CMAKE_INSTALL_PREFIX}/${CMAKE_INSTALL_LIBDIR}"
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DEPENDS
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MUJOCO_ENABLE_RPATH
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)
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install(
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TARGETS simulate
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EXPORT ${PROJECT_NAME}
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RUNTIME DESTINATION "${CMAKE_INSTALL_BINDIR}" COMPONENT simulate
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LIBRARY DESTINATION "${CMAKE_INSTALL_LIBDIR}" COMPONENT simulate
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ARCHIVE DESTINATION "${CMAKE_INSTALL_LIBDIR}" COMPONENT simulate
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BUNDLE DESTINATION "${CMAKE_INSTALL_BINDIR}" COMPONENT simulate
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PUBLIC_HEADER DESTINATION ${CMAKE_INSTALL_INCLUDEDIR} COMPONENT simulate
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)
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if(NOT MUJOCO_SIMULATE_USE_SYSTEM_GLFW)
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# We downloaded GLFW. Depending if it is a static or shared LIBRARY we might
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# need to install it.
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get_target_property(MJ_GLFW_LIBRARY_TYPE glfw TYPE)
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if(MJ_GLFW_LIBRARY_TYPE STREQUAL SHARED_LIBRARY)
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install(
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TARGETS glfw
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EXPORT ${PROJECT_NAME}
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RUNTIME DESTINATION "${CMAKE_INSTALL_BINDIR}" COMPONENT simulate
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LIBRARY DESTINATION "${CMAKE_INSTALL_LIBDIR}" COMPONENT simulate
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ARCHIVE DESTINATION "${CMAKE_INSTALL_LIBDIR}" COMPONENT simulate
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PUBLIC_HEADER DESTINATION ${CMAKE_INSTALL_INCLUDEDIR} COMPONENT simulate
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)
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endif()
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endif()
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endif()
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endif()
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