Michael Moss
955d6c0b02
The next release will include breaking changes, so this bumps the major version to reflect that. PiperOrigin-RevId: 881351265 Change-Id: I970c68a0211651c07fcb8109ebd0b138196cf50a
292 lines
10 KiB
CMake
292 lines
10 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 3.6.0
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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 OBJECT ${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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set_source_files_properties(glfw_corevideo.mm PROPERTIES COMPILE_FLAGS -Wno-deprecated-declarations)
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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 $<BUILD_INTERFACE:${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(libmujoco_simulate STATIC $<TARGET_OBJECTS:platform_ui_adapter> $<TARGET_OBJECTS:lodepng>)
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set_target_properties(libmujoco_simulate PROPERTIES OUTPUT_NAME simulate)
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add_library(mujoco::libmujoco_simulate ALIAS libmujoco_simulate)
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set_target_properties(libmujoco_simulate PROPERTIES PUBLIC_HEADER "simulate.h;platform_ui_adapter.h;glfw_adapter.h;glfw_dispatch.h;glfw_corevideo.h;array_safety.h")
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target_sources(
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libmujoco_simulate
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PRIVATE simulate.cc
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)
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target_include_directories(libmujoco_simulate
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PUBLIC
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$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}>
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$<INSTALL_INTERFACE:${CMAKE_INSTALL_INCLUDEDIR}/simulate>
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PRIVATE
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${lodepng_SOURCE_DIR}
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)
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target_compile_options(libmujoco_simulate PRIVATE ${MUJOCO_SIMULATE_COMPILE_OPTIONS})
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target_link_libraries(libmujoco_simulate PUBLIC mujoco::mujoco)
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target_link_options(libmujoco_simulate PRIVATE ${MUJOCO_SIMULATE_LINK_OPTIONS})
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if(APPLE)
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target_sources(libmujoco_simulate PRIVATE macos_gui.mm)
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target_link_libraries(libmujoco_simulate 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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libmujoco_simulate
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mujoco::mujoco
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glfw
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Threads::Threads
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)
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if(APPLE)
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target_link_libraries(simulate "-framework CoreVideo")
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endif()
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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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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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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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# Specify public headers for libmujoco_simulate
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install(
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TARGETS libmujoco_simulate
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EXPORT mujoco
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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}/simulate" COMPONENT simulate
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)
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endif()
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endif()
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