Haroon Qureshi
e2180ff744
Refactor filament's debug drawing to be one such plugin. PiperOrigin-RevId: 859002002 Change-Id: Ibe9000dec19fce648eef6d57170ce435b9a8c6ff
93 lines
2.5 KiB
CMake
93 lines
2.5 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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set(MUJOCO_PLATFORM_TARGET_NAME mujoco_platform)
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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_PLATFORM_RENDER_CONFIG "USE_FILAMENT_VULKAN")
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set(MUJOCO_PLATFORM_RENDER_DEPS "mujoco::filament")
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elseif(MUJOCO_USE_FILAMENT)
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set(MUJOCO_PLATFORM_RENDER_CONFIG "USE_FILAMENT_OPENGL")
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set(MUJOCO_PLATFORM_RENDER_DEPS "mujoco::filament")
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else()
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set(MUJOCO_PLATFORM_RENDER_CONFIG "USE_CLASSIC_OPENGL")
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set(MUJOCO_PLATFORM_RENDER_DEPS "dear_imgui_OpenGL3")
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endif()
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add_library(${MUJOCO_PLATFORM_TARGET_NAME} STATIC)
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target_compile_definitions(${MUJOCO_PLATFORM_TARGET_NAME}
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PUBLIC
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-D${MUJOCO_PLATFORM_RENDER_CONFIG}
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)
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target_sources(${MUJOCO_PLATFORM_TARGET_NAME}
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PUBLIC
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gui.cc
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gui.h
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helpers.cc
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helpers.h
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imgui_widgets.cc
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imgui_widgets.h
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interaction.cc
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interaction.h
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picture_gui.h
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picture_gui.cc
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plugin.cc
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plugin.h
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renderer.cc
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renderer.h
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sim_history.cc
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sim_history.h
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sim_profiler.cc
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sim_profiler.h
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step_control.cc
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step_control.h
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window.cc
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window.h
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)
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if(APPLE)
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set_source_files_properties(window_osx.mm PROPERTIES
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COMPILE_FLAGS "-x objective-c++")
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target_sources(${MUJOCO_PLATFORM_TARGET_NAME} PUBLIC
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window_osx.mm
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)
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endif()
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target_include_directories(${MUJOCO_PLATFORM_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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include(third_party_deps/dear_imgui)
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include(third_party_deps/implot)
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include(third_party_deps/sdl2)
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include(third_party_deps/libwebp)
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target_link_libraries(${MUJOCO_PLATFORM_TARGET_NAME}
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dear_imgui
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dear_imgui_SDL2
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implot
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webp
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SDL2::SDL2-static
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${MUJOCO_PLATFORM_RENDER_DEPS}
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)
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add_library(mujoco::platform ALIAS ${MUJOCO_PLATFORM_TARGET_NAME})
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