Sam Haves
92bcbeb5d3
PiperOrigin-RevId: 782942169 Change-Id: I344b5e47d1d63c9d4e50173cb6a96d0af177ec9e
266 lines
8.6 KiB
CMake
266 lines
8.6 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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# --- Global Configuration ---
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# Plugin target names (used for library and plugInfo.json)
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set(MJCF_PLUGIN_TARGET_NAME usdMjcf)
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set(MJC_PHYSICS_PLUGIN_TARGET_NAME mjcPhysics)
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# Installation directory for USD plugins
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set(MJ_USD_INSTALL_DIR_LIB ${CMAKE_INSTALL_LIBDIR}/mujocoUsd)
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# Common OpenUSD libraries
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set(OPENUSD_CORE_LIBS
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usd ar kind tf gf vt usdShade usdLux usdGeom usdImaging usdPhysics
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)
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# We need to set the visibility to default until core type symbol visibility
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# is resolved in OpenUSD https://github.com/PixarAnimationStudios/OpenUSD/issues/1475
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set(DEFAULT_CXX_VISIBILITY_PROPS
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CXX_VISIBILITY_PRESET default
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)
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# --- Helper Functions ---
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function(configure_and_install_usd_plugin_info plugin_name source_subpath install_base_dir)
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# Determine shared library prefix
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if(CMAKE_SHARED_LIBRARY_PREFIX)
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set(LIB_PREFIX ${CMAKE_SHARED_LIBRARY_PREFIX})
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else()
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set(LIB_PREFIX "")
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endif()
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set(PLUG_INFO_LIBRARY_PATH "../../${LIB_PREFIX}${plugin_name}${CMAKE_SHARED_LIBRARY_SUFFIX}")
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set(OUTPUT_DIR "${CMAKE_BINARY_DIR}/${install_base_dir}/resources/${plugin_name}")
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set(OUTPUT_FILE "${OUTPUT_DIR}/plugInfo.json")
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# Create the output directory if it doesn't exist
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file(MAKE_DIRECTORY "${OUTPUT_DIR}")
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# Configure the plugInfo.json file to replace @PLUG_INFO_LIBRARY_PATH@ instances.
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configure_file(
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"${CMAKE_CURRENT_SOURCE_DIR}/${source_subpath}/plugInfo.json"
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"${OUTPUT_FILE}"
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@ONLY
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)
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install(FILES "${OUTPUT_FILE}"
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DESTINATION "${install_base_dir}/resources/${plugin_name}"
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)
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endfunction()
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# Function to apply Houdini-specific link directories and include paths
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function(configure_houdini_target target_name link_scope include_scope)
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set(HOUDINI_LIBS_DIR "${HOUDINI_HFS_DIR}/../Libraries")
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get_filename_component(HOUDINI_LIBS_DIR "${HOUDINI_LIBS_DIR}" ABSOLUTE) # Normalize the path
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# Assume everyone using Houdini on 3.11 for now.
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set(USD_MJCF_PYTHON_LIB python3.11)
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set(USD_MJCF_PYTHON_LIB_NUMBER python311) # For boost library names
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set(PYTHON_LIB "${HOUDINI_HFS_DIR}/Frameworks/Python.framework/Versions/3.11/Python")
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set(PXR_LIB_PREFIX "pxr_")
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# Houdini-specific PXR and other libraries
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set(HOUDINI_SPECIFIC_LIBS
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${PXR_LIB_PREFIX}usd
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${PXR_LIB_PREFIX}ar
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${PXR_LIB_PREFIX}kind
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${PXR_LIB_PREFIX}tf
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${PXR_LIB_PREFIX}gf
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${PXR_LIB_PREFIX}vt
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${PXR_LIB_PREFIX}sdf
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${PXR_LIB_PREFIX}usdShade
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${PXR_LIB_PREFIX}usdLux
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${PXR_LIB_PREFIX}usdGeom
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${PXR_LIB_PREFIX}usdImaging
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${PXR_LIB_PREFIX}usdPhysics
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tbb
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hboost_${USD_MJCF_PYTHON_LIB_NUMBER}
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${PYTHON_LIB}
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)
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target_link_directories(${target_name} ${link_scope} ${HOUDINI_LIBS_DIR})
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target_include_directories(${target_name} ${include_scope}
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"${HOUDINI_HFS_DIR}/toolkit/include"
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"${HOUDINI_HFS_DIR}/toolkit/include/python3.11"
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)
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target_link_libraries(${target_name} ${link_scope}
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${HOUDINI_SPECIFIC_LIBS}
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mujoco
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tinyxml2
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)
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endfunction()
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## usdMjcf
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set(CMAKE_INSTALL_RPATH_USE_LINK_PATH TRUE)
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# The list of RPATHs:
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# 1. $ORIGIN: For libmjcPhysics.so (since it's in the same install dir)
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# 2. Path to OpenUSD libraries: Typically ${USD_DIR}/lib
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# 3. Path to MuJoCo library: Assuming it's in ${MUJOCO_INSTALL_DIR}/lib
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if(APPLE)
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set(RPATH_LIST "@loader_path")
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# Add OpenUSD lib to RPATH for macOS
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if(DEFINED USD_DIR AND EXISTS "${USD_DIR}/lib")
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list(APPEND RPATH_LIST "${USD_DIR}/lib")
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endif()
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# Add MuJoCo lib to RPATH for macOS
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if(DEFINED MUJOCO_INSTALL_DIR AND EXISTS "${MUJOCO_INSTALL_DIR}/lib")
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list(APPEND RPATH_LIST "${MUJOCO_INSTALL_DIR}/lib")
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endif()
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string(JOIN ":" CMAKE_INSTALL_RPATH "${RPATH_LIST}") # macOS uses colon for RPATH separator
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message(STATUS "Final CMAKE_INSTALL_RPATH: ${CMAKE_INSTALL_RPATH}")
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elseif(UNIX)
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# For adjacent libs.
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set(RPATH_LIST "\$ORIGIN")
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# Add OpenUSD library directory
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if(DEFINED USD_DIR AND EXISTS "${USD_DIR}/lib")
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list(APPEND RPATH_LIST "${USD_DIR}/lib")
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message(STATUS "Adding OpenUSD lib to RPATH: ${USD_DIR}/lib")
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else()
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message(WARNING "USD_DIR is not defined or ${USD_DIR}/lib does not exist. OpenUSD libraries might not be found via RPATH.")
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endif()
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# Add MuJoCo library directory
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if(DEFINED MUJOCO_INSTALL_DIR AND EXISTS "${MUJOCO_INSTALL_DIR}/lib")
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list(APPEND RPATH_LIST "${MUJOCO_INSTALL_DIR}/lib")
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message(STATUS "Adding MuJoCo lib to RPATH: ${MUJOCO_INSTALL_DIR}/lib")
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elseif(DEFINED MUJOCO_INSTALL_DIR AND EXISTS "${MUJOCO_INSTALL_DIR}/bin")
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list(APPEND RPATH_LIST "${MUJOCO_INSTALL_DIR}/bin")
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message(STATUS "Adding MuJoCo bin to RPATH: ${MUJOCO_INSTALL_DIR}/bin")
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endif()
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# Set the final RPATH for installation
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string(JOIN ";" CMAKE_INSTALL_RPATH "${RPATH_LIST}")
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message(STATUS "Final CMAKE_INSTALL_RPATH: ${CMAKE_INSTALL_RPATH}")
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endif()
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set(CMAKE_BUILD_WITH_INSTALL_RPATH TRUE)
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add_library(${MJCF_PLUGIN_TARGET_NAME} SHARED)
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add_library(mujoco::usd::mjcf ALIAS ${MJCF_PLUGIN_TARGET_NAME})
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target_sources(${MJCF_PLUGIN_TARGET_NAME} PRIVATE
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plugins/mjcf/mjcf_file_format.cc
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plugins/mjcf/mjcf_file_format.h
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plugins/mjcf/mujoco_to_usd.cc
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plugins/mjcf/mujoco_to_usd.h
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plugins/mjcf/utils.cc
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plugins/mjcf/utils.h
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)
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set_target_properties(${MJCF_PLUGIN_TARGET_NAME} PROPERTIES
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OUTPUT_NAME ${MJCF_PLUGIN_TARGET_NAME}
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${DEFAULT_CXX_VISIBILITY_PROPS}
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)
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target_include_directories(${MJCF_PLUGIN_TARGET_NAME} PRIVATE
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"${CMAKE_CURRENT_SOURCE_DIR}/plugins"
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)
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## mjcPhysics
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add_library(${MJC_PHYSICS_PLUGIN_TARGET_NAME} SHARED)
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target_sources(${MJC_PHYSICS_PLUGIN_TARGET_NAME} PRIVATE
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mjcPhysics/actuator.cpp
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mjcPhysics/collisionAPI.cpp
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mjcPhysics/jointAPI.cpp
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mjcPhysics/keyframe.cpp
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mjcPhysics/materialAPI.cpp
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mjcPhysics/meshCollisionAPI.cpp
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mjcPhysics/sceneAPI.cpp
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mjcPhysics/siteAPI.cpp
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mjcPhysics/tokens.cpp
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)
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set_target_properties(${MJC_PHYSICS_PLUGIN_TARGET_NAME} PROPERTIES
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OUTPUT_NAME ${MJC_PHYSICS_PLUGIN_TARGET_NAME}
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${DEFAULT_CXX_VISIBILITY_PROPS}
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)
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target_include_directories(${MJC_PHYSICS_PLUGIN_TARGET_NAME} PUBLIC
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$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/../../../include>
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)
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## mj_usd
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target_sources(mujoco PRIVATE
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kinematic_tree.cc
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kinematic_tree.h
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layer_sink.cc
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usd_to_mjspec.cc
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utils.cc
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writer.cc
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)
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if (USD_DIR)
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find_package(pxr REQUIRED)
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target_link_libraries(${MJC_PHYSICS_PLUGIN_TARGET_NAME} PRIVATE
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${OPENUSD_CORE_LIBS}
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)
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target_link_libraries(${MJCF_PLUGIN_TARGET_NAME} PRIVATE
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${OPENUSD_CORE_LIBS}
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mujoco
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tinyxml2
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${MJC_PHYSICS_PLUGIN_TARGET_NAME}
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)
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target_link_libraries(mujoco PUBLIC
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${OPENUSD_CORE_LIBS}
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${MJC_PHYSICS_PLUGIN_TARGET_NAME}
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)
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elseif (HOUDINI_HFS_DIR)
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message(STATUS "Configuring for Houdini target...")
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# In Houdini, the Houdini package we would typically use via find_package
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# does not have all the USD dependencies that we need (namely UsdPhysics)
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# so we need to manually link all the required libraries.
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configure_houdini_target(${MJC_PHYSICS_PLUGIN_TARGET_NAME} PRIVATE PRIVATE)
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configure_houdini_target(${MJCF_PLUGIN_TARGET_NAME} PRIVATE PRIVATE)
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# Re-add inter-plugin dependencies after Houdini-specific linking
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target_link_libraries(${MJCF_PLUGIN_TARGET_NAME} PRIVATE ${MJC_PHYSICS_PLUGIN_TARGET_NAME})
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endif()
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## Installation
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message(STATUS "Mujoco USD plugins will be installed to: ${CMAKE_INSTALL_PREFIX}/${MJ_USD_INSTALL_DIR_LIB}")
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message(STATUS "Make sure PXR_PLUGINPATH_NAME includes: ${CMAKE_INSTALL_PREFIX}/${MJ_USD_INSTALL_DIR_LIB}/*/resources")
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# Generate and install plugInfo.json for each plugin
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configure_and_install_usd_plugin_info(
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${MJCF_PLUGIN_TARGET_NAME}
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plugins/mjcf
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${MJ_USD_INSTALL_DIR_LIB}
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)
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configure_and_install_usd_plugin_info(
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${MJC_PHYSICS_PLUGIN_TARGET_NAME}
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mjcPhysics
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${MJ_USD_INSTALL_DIR_LIB}
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)
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# Install specific resources that are not plugInfo.json (like generatedSchema.usda)
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install(FILES
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mjcPhysics/generatedSchema.usda
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DESTINATION ${MJ_USD_INSTALL_DIR_LIB}/resources/mjcPhysics
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)
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# Install shared libraries
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install(TARGETS
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${MJCF_PLUGIN_TARGET_NAME}
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${MJC_PHYSICS_PLUGIN_TARGET_NAME}
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EXPORT ${PROJECT_NAME}
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LIBRARY DESTINATION ${MJ_USD_INSTALL_DIR_LIB}
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)
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