Sam Haves
ed0d7ba29f
PiperOrigin-RevId: 880820344 Change-Id: Ib3a714dd9698335433e518ed6af17d7b8407a8fb
66 lines
2.1 KiB
CMake
66 lines
2.1 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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# http://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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set(CMAKE_RUNTIME_OUTPUT_DIRECTORY "${CMAKE_SOURCE_DIR}/wasm/dist")
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set(CMAKE_INSTALL_PREFIX ${PROJECT_SOURCE_DIR}/wasm)
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include_directories(${PROJECT_SOURCE_DIR}/include)
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include_directories(${PROJECT_SOURCE_DIR}/src)
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include_directories(${PROJECT_SOURCE_DIR})
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link_directories(${CMAKE_BINARY_DIR}/lib)
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file(GLOB MUJOCO_WASM_FILES
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"codegen/generated/*.cc"
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"unpack.cc"
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)
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if(NOT MUJOCO_WASM_FILES)
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message(FATAL_ERROR "No source files found in codegen/generated/")
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endif()
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# Set Emscripten linker flags
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set(EMCC_LINKER_FLAGS
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"--bind"
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"-pthread"
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"-s PTHREAD_POOL_SIZE=navigator.hardwareConcurrency"
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"-s ASSERTIONS=1"
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"-s ALLOW_MEMORY_GROWTH=1"
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"-s EXPORT_ES6=1"
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"-s MODULARIZE=1"
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"-s FORCE_FILESYSTEM=1"
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"-s EXPORTED_RUNTIME_METHODS=['ccall','cwrap','FS','MEMFS']"
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"-s EXPORT_NAME=loadMujoco"
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"-s DISABLE_EXCEPTION_CATCHING=0"
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"-gsource-map"
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"-g"
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"--emit-tsd mujoco.d.ts"
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)
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string (REPLACE ";" " " EMCC_LINKER_FLAGS_STR "${EMCC_LINKER_FLAGS}")
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add_executable(mujoco_wasm ${MUJOCO_WASM_FILES})
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# Keep the internal target name distinct to avoid colliding with the native
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# `mujoco` library target, but emit artifacts named `mujoco.*` by setting the
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# output name. Also apply the emscripten linker flags to the wasm target.
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set_target_properties(mujoco_wasm PROPERTIES
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LINK_FLAGS "${EMCC_LINKER_FLAGS_STR}"
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OUTPUT_NAME "mujoco"
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)
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target_link_libraries(mujoco_wasm ccd lodepng mujoco tinyxml2 qhullstatic_r obj_decoder stl_decoder)
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install(TARGETS mujoco_wasm DESTINATION ${DIVISIBLE_INSTALL_BIN_DIR})
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