Sam Haves
a5dc57c0c3
Add usd_decoder to mujoco/plugin. - Previously was src/experimental/usd/usd_to_mjspec.cc, now that same spec is returned by the plugin. PiperOrigin-RevId: 854350962 Change-Id: Ia980190a557c50ce8197980922a2594b613859b4
54 lines
1.6 KiB
CMake
54 lines
1.6 KiB
CMake
# Copyright 2026 DeepMind Technologies Limited
|
|
#
|
|
# Licensed under the Apache License, Version 2.0 (the "License");
|
|
# you may not use this file except in compliance with the License.
|
|
# You may obtain a copy of the License at
|
|
#
|
|
# https://www.apache.org/licenses/LICENSE-2.0
|
|
#
|
|
# Unless required by applicable law or agreed to in writing, software
|
|
# distributed under the License is distributed on an "AS IS" BASIS,
|
|
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
|
# See the License for the specific language governing permissions and
|
|
# limitations under the License.
|
|
find_package(pxr REQUIRED)
|
|
|
|
set(CMAKE_INSTALL_RPATH_USE_LINK_PATH TRUE)
|
|
set(USD_DECODER_SRCS
|
|
usd_decoder.cc
|
|
kinematic_tree.cc
|
|
kinematic_tree.h
|
|
material_parsing.cc
|
|
material_parsing.h
|
|
utils.h
|
|
)
|
|
|
|
add_library(usd_decoder_plugin SHARED ${USD_DECODER_SRCS})
|
|
target_include_directories(usd_decoder_plugin PRIVATE
|
|
${CMAKE_CURRENT_SOURCE_DIR}/../..
|
|
)
|
|
target_link_libraries(usd_decoder_plugin PRIVATE
|
|
mujoco
|
|
mjcPhysics
|
|
)
|
|
target_compile_options(usd_decoder_plugin PRIVATE
|
|
${AVX_COMPILE_OPTIONS}
|
|
${MUJOCO_MACOS_COMPILE_OPTIONS}
|
|
${EXTRA_COMPILE_OPTIONS}
|
|
${MUJOCO_CXX_FLAGS}
|
|
-Wno-deprecated # pxr Tf lib uses deprecated header
|
|
)
|
|
target_link_options(usd_decoder_plugin PRIVATE
|
|
${MUJOCO_MACOS_LINK_OPTIONS}
|
|
${EXTRA_LINK_OPTIONS}
|
|
)
|
|
|
|
# Install to mujoco_plugin directory in bin location so that it is picked up by simulate
|
|
# on startup.
|
|
install(
|
|
TARGETS usd_decoder_plugin
|
|
LIBRARY DESTINATION "${CMAKE_INSTALL_BINDIR}/mujoco_plugin"
|
|
)
|
|
|
|
target_link_libraries(usd_decoder_plugin PRIVATE usd usdGeom usdPhysics usdShade gf tf ar vt kind)
|