Haroon Qureshi
a16805f8ee
This includes the filament, toolbox, and studio projects. Adds a MUJOCO_BUILD_STUDIO option to enable building of the `studio` app (disabled by default). Adds a MUJOCO_USE_FILAMENT to allow the studio app to use the filament rendering backend. A separate MUJOCO_USE_FILAMENT_VULKAN flag can be used to enable vulkan rendering. PiperOrigin-RevId: 824602367 Change-Id: I26d46c16211ae2118f96c163c4194fea5b5a15a9
76 lines
2.3 KiB
CMake
76 lines
2.3 KiB
CMake
# Copyright 2025 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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# Determine the render configuration and dependencies based options.
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if(MUJOCO_USE_FILAMENT AND MUJOCO_USE_FILAMENT_VULKAN)
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set(MUJOCO_STUDIO_RENDER_CONFIG "USE_FILAMENT_VULKAN")
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set(MUJOCO_STUDIO_RENDER_DEPS "mujoco::filament")
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elseif(MUJOCO_USE_FILAMENT)
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set(MUJOCO_STUDIO_RENDER_CONFIG "USE_FILAMENT_OPENGL")
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set(MUJOCO_STUDIO_RENDER_DEPS "mujoco::filament")
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else()
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set(MUJOCO_STUDIO_RENDER_CONFIG "USE_CLASSIC_OPENGL")
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endif()
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set(MUJOCO_STUDIO_TARGET_NAME mujoco_studio)
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add_executable(${MUJOCO_STUDIO_TARGET_NAME})
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target_sources(${MUJOCO_STUDIO_TARGET_NAME}
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PRIVATE
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app.cc
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app.h
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main.cc
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)
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target_include_directories(${MUJOCO_STUDIO_TARGET_NAME}
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PUBLIC
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${PROJECT_SOURCE_DIR}/include
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${PROJECT_SOURCE_DIR}/src
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)
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target_compile_definitions(${MUJOCO_STUDIO_TARGET_NAME}
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PRIVATE
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-D${MUJOCO_STUDIO_RENDER_CONFIG}
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)
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include(third_party_deps/dear_imgui)
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include(third_party_deps/implot)
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target_link_libraries(${MUJOCO_STUDIO_TARGET_NAME}
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PRIVATE
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${MUJOCO_STUDIO_RENDER_DEPS}
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absl::flags
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dear_imgui
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dear_imgui_OpenGL3
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dear_imgui_SDL2
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implot
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mujoco::mujoco
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mujoco::toolbox
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)
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# Filament backend requires additional files to be copied into an "assets" folder.
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if(MUJOCO_USE_FILAMENT)
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add_custom_command(
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TARGET ${MUJOCO_STUDIO_TARGET_NAME}
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POST_BUILD
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COMMAND ${CMAKE_COMMAND}
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-E create_symlink
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${CMAKE_RUNTIME_OUTPUT_DIRECTORY}/../src/experimental/filament/assets
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${CMAKE_RUNTIME_OUTPUT_DIRECTORY}/assets
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COMMENT "Copying Filament assets to build directory"
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)
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endif()
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