Gabe Oppenheimer
b6e162d6fa
PiperOrigin-RevId: 836719207 Change-Id: I28cbc90cee42aebfb5a4201561289ef6747cdc83
310 lines
9.9 KiB
CMake
310 lines
9.9 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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set(MUJOCO_CMAKE_MIN_REQ "3.16")
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cmake_minimum_required(VERSION ${MUJOCO_CMAKE_MIN_REQ})
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# Make CMAKE_C_VISIBILITY_PRESET work properly.
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set(CMAKE_POLICY_DEFAULT_CMP0063 NEW)
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# INTERPROCEDURAL_OPTIMIZATION is enforced when enabled.
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set(CMAKE_POLICY_DEFAULT_CMP0069 NEW)
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# Default to GLVND if available.
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set(CMAKE_POLICY_DEFAULT_CMP0072 NEW)
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# Avoid BUILD_SHARED_LIBS getting overridden by an option() in ccd.
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set(CMAKE_POLICY_DEFAULT_CMP0077 NEW)
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# This line has to appear before 'PROJECT' in order to be able to disable incremental linking
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set(MSVC_INCREMENTAL_DEFAULT ON)
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project(
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mujoco
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VERSION 3.4.0
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DESCRIPTION "MuJoCo Physics Simulator"
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HOMEPAGE_URL "https://mujoco.org"
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)
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enable_language(C)
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enable_language(CXX)
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list(APPEND CMAKE_MODULE_PATH "${PROJECT_SOURCE_DIR}/cmake")
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if(NOT EMSCRIPTEN)
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option(MUJOCO_BUILD_EXAMPLES "Build samples for MuJoCo" ON)
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option(MUJOCO_BUILD_SIMULATE "Build simulate library for MuJoCo" ON)
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option(MUJOCO_BUILD_STUDIO "Build studio library for MuJoCo" OFF)
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option(MUJOCO_BUILD_TESTS "Build tests for MuJoCo" ON)
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option(MUJOCO_TEST_PYTHON_UTIL "Build and test utility libraries for Python bindings" ON)
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option(MUJOCO_WITH_USD "Build with OpenUSD" OFF)
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option(MUJOCO_USE_FILAMENT "Use filament rendering" OFF)
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option(MUJOCO_USE_FILAMENT_VULKAN "Use vulkan backend for filament rendering" OFF)
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endif()
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if(EMSCRIPTEN)
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option(MUJOCO_BUILD_TESTS_WASM "Build tests for WASM bindings" ON)
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endif()
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# Option to provide a path to an existing USD build directory or to Houdini HFS directory.
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set(USD_DIR "" CACHE PATH "Path to an existing USD build directory.")
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set(HOUDINI_HFS_DIR "" CACHE PATH "Path to Houdini HFS directory to build USD plugins against.")
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if(USD_DIR)
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if(EXISTS "${USD_DIR}")
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# If the path is provided, set MUJOCO_WITH_USD to ON and add the path to CMAKE_PREFIX_PATH.
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set(MUJOCO_WITH_USD ON CACHE BOOL "Build with OpenUSD" FORCE)
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list(PREPEND CMAKE_PREFIX_PATH "${USD_DIR}")
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message(STATUS "Using custom USD build directory: ${USD_DIR}")
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else()
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message(WARNING "Invalid path provided for USD_DIR: ${USD_DIR}")
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endif()
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elseif(HOUDINI_HFS_DIR)
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if(EXISTS "${HOUDINI_HFS_DIR}")
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set(MUJOCO_WITH_USD ON CACHE BOOL "Build with OpenUSD" FORCE)
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message(STATUS "Building Mujoco USD against Houdini HFS: ${HOUDINI_HFS_DIR}")
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endif()
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endif()
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if(APPLE AND (MUJOCO_BUILD_EXAMPLES OR MUJOCO_BUILD_SIMULATE))
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enable_language(OBJC)
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enable_language(OBJCXX)
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endif()
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include(MujocoOptions)
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include(MujocoMacOS)
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include(MujocoDependencies)
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set(MUJOCO_HEADERS
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include/mujoco/mjdata.h
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include/mujoco/mjexport.h
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include/mujoco/mjmacro.h
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include/mujoco/mjmodel.h
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include/mujoco/mjplugin.h
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include/mujoco/mjrender.h
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include/mujoco/mjsan.h
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include/mujoco/mjspec.h
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include/mujoco/mjthread.h
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include/mujoco/mjtnum.h
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include/mujoco/mjui.h
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include/mujoco/mjvisualize.h
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include/mujoco/mjxmacro.h
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include/mujoco/mujoco.h
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)
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# Add metadata to mujoco.dll when building on Windows.
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if(WIN32)
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set(MUJOCO_RESOURCE_FILES ${CMAKE_CURRENT_SOURCE_DIR}/dist/mujoco.rc)
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else()
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set(MUJOCO_RESOURCE_FILES "")
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endif()
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# Emscripten does not support SHARED libs
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if(NOT EMSCRIPTEN)
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add_library(mujoco SHARED ${MUJOCO_RESOURCE_FILES})
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else()
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add_library(mujoco STATIC ${MUJOCO_RESOURCE_FILES})
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endif()
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target_include_directories(
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mujoco
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PUBLIC $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
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$<INSTALL_INTERFACE:${CMAKE_INSTALL_INCLUDEDIR}/>
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PRIVATE src
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)
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if(NOT EMSCRIPTEN)
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add_subdirectory(plugin/elasticity)
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add_subdirectory(plugin/actuator)
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add_subdirectory(plugin/sensor)
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add_subdirectory(plugin/sdf)
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endif()
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add_subdirectory(src/engine)
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add_subdirectory(src/user)
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add_subdirectory(src/xml)
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add_subdirectory(src/thread)
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if(MUJOCO_USE_FILAMENT AND NOT EMSCRIPTEN)
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# Note that, by default, the "src/render" and "src/ui" code is added directly
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# into the "mujoco" target. However, "mujoco::filament" is a separate,
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# explicit target. Therefore, if you want to use MuJoCo with Filament, you
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# will need to explicitly add the "mujoco::filament" target as a link
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# dependency in your project.
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add_subdirectory(src/experimental/filament)
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elseif(NOT EMSCRIPTEN)
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add_subdirectory(src/render)
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add_subdirectory(src/ui)
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endif()
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if(EMSCRIPTEN)
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add_subdirectory(wasm)
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if(MUJOCO_BUILD_TESTS_WASM)
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add_subdirectory(wasm/tests)
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endif()
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endif()
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target_compile_definitions(mujoco PRIVATE _GNU_SOURCE CCD_STATIC_DEFINE MUJOCO_DLL_EXPORTS -DMC_IMPLEM_ENABLE)
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if(MUJOCO_ENABLE_AVX_INTRINSICS)
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target_compile_definitions(mujoco PUBLIC mjUSEPLATFORMSIMD)
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endif()
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target_compile_options(
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mujoco
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PRIVATE ${AVX_COMPILE_OPTIONS}
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${MUJOCO_MACOS_COMPILE_OPTIONS}
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${EXTRA_COMPILE_OPTIONS}
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${MUJOCO_CXX_FLAGS}
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)
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target_link_options(
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mujoco
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PRIVATE
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${MUJOCO_MACOS_LINK_OPTIONS}
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${EXTRA_LINK_OPTIONS}
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)
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target_link_libraries(
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mujoco
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PRIVATE ccd
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lodepng
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qhullstatic_r
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tinyobjloader
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tinyxml2
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)
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set_target_properties(
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mujoco PROPERTIES VERSION "${mujoco_VERSION}" PUBLIC_HEADER "${MUJOCO_HEADERS}"
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)
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# CMake's built-in FRAMEWORK option doesn't give us control over the dylib name inside the
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# Framework. We instead make our own Framework here.
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if(APPLE AND MUJOCO_BUILD_MACOS_FRAMEWORKS)
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set(TAPI
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"/Applications/Xcode.app/Contents/Developer/Toolchains/XcodeDefault.xctoolchain/usr/bin/tapi"
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)
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configure_file(
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${CMAKE_CURRENT_SOURCE_DIR}/dist/Info.plist.framework.in
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${CMAKE_CURRENT_SOURCE_DIR}/dist/Info.framework.plist
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)
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set_target_properties(
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mujoco
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PROPERTIES LIBRARY_OUTPUT_DIRECTORY
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"${CMAKE_LIBRARY_OUTPUT_DIRECTORY}/mujoco.framework/Versions/A"
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BUILD_WITH_INSTALL_NAME_DIR TRUE
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INSTALL_NAME_DIR "@rpath/mujoco.framework/Versions/A"
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)
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add_custom_command(
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TARGET mujoco
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POST_BUILD
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COMMAND mkdir -p $<TARGET_FILE_DIR:mujoco>/Headers
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COMMAND cd ${CMAKE_CURRENT_SOURCE_DIR} && cp ${MUJOCO_HEADERS} $<TARGET_FILE_DIR:mujoco>/Headers
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COMMAND mkdir -p $<TARGET_FILE_DIR:mujoco>/Modules
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COMMAND cp ${CMAKE_CURRENT_SOURCE_DIR}/dist/module.modulemap $<TARGET_FILE_DIR:mujoco>/Modules
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COMMAND mkdir -p $<TARGET_FILE_DIR:mujoco>/Resources
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COMMAND mv ${CMAKE_CURRENT_SOURCE_DIR}/dist/Info.framework.plist
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$<TARGET_FILE_DIR:mujoco>/Resources/Info.plist
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COMMAND ${TAPI} stubify $<TARGET_FILE:mujoco> -o $<TARGET_FILE_DIR:mujoco>/mujoco.tbd
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COMMAND ln -fhs A $<TARGET_FILE_DIR:mujoco>/../Current
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COMMAND ln -fhs Versions/Current/mujoco.tbd $<TARGET_FILE_DIR:mujoco>/../../mujoco.tbd
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COMMAND ln -fhs Versions/Current/Headers $<TARGET_FILE_DIR:mujoco>/../../Headers
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COMMAND ln -fhs Versions/Current/Modules $<TARGET_FILE_DIR:mujoco>/../../Modules
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COMMAND ln -fhs Versions/Current/Resources $<TARGET_FILE_DIR:mujoco>/../../Resources
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COMMAND_EXPAND_LISTS
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)
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endif()
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# Add a namespace alias to mujoco to be used by the examples.
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# This simulates the install interface when building with sources.
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add_library(mujoco::mujoco ALIAS mujoco)
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add_subdirectory(model)
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# `simulate` defines a macro, embed_in_bundle, that's used by `sample`, so that
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# subdirectory needs to be added first.
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# TODO: Remove this order dependency.
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if(MUJOCO_BUILD_SIMULATE)
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add_subdirectory(simulate)
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endif()
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if(MUJOCO_BUILD_STUDIO)
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add_subdirectory(src/experimental/toolbox)
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add_subdirectory(src/experimental/studio)
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endif()
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if(MUJOCO_BUILD_EXAMPLES)
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add_subdirectory(sample)
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endif()
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if(MUJOCO_WITH_USD)
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target_compile_definitions(mujoco PUBLIC mjUSEUSD)
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add_subdirectory(src/experimental/usd)
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endif()
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if(BUILD_TESTING AND MUJOCO_BUILD_TESTS)
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enable_testing()
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add_subdirectory(test)
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if(MUJOCO_TEST_PYTHON_UTIL)
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add_subdirectory(python/mujoco/util)
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endif()
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endif()
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if(NOT (APPLE AND MUJOCO_BUILD_MACOS_FRAMEWORKS))
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set(MUJOCO_TARGETS mujoco)
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if (EMSCRIPTEN)
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list(APPEND MUJOCO_TARGETS lodepng)
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endif()
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# Install the libraries.
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install(
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TARGETS ${MUJOCO_TARGETS}
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EXPORT ${PROJECT_NAME}
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RUNTIME DESTINATION "${CMAKE_INSTALL_BINDIR}" COMPONENT runtime
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LIBRARY DESTINATION "${CMAKE_INSTALL_LIBDIR}" COMPONENT runtime
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ARCHIVE DESTINATION "${CMAKE_INSTALL_LIBDIR}" COMPONENT dev
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PUBLIC_HEADER DESTINATION "${CMAKE_INSTALL_INCLUDEDIR}/mujoco" COMPONENT dev
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)
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set(CONFIG_PACKAGE_LOCATION "${CMAKE_INSTALL_LIBDIR}/cmake/${PROJECT_NAME}")
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# Generate and install the mujocoTargets.cmake file. This defines the targets as
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# IMPORTED libraries for downstream users.
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install(
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EXPORT ${PROJECT_NAME}
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DESTINATION ${CONFIG_PACKAGE_LOCATION}
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NAMESPACE mujoco::
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FILE "${PROJECT_NAME}Targets.cmake"
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)
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include(CMakePackageConfigHelpers)
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write_basic_package_version_file(
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"${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}ConfigVersion.cmake"
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VERSION ${mujoco_VERSION}
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COMPATIBILITY AnyNewerVersion
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)
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configure_package_config_file(
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cmake/${PROJECT_NAME}Config.cmake.in "${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}Config.cmake"
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INSTALL_DESTINATION ${CONFIG_PACKAGE_LOCATION}
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)
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install(FILES "${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}Config.cmake"
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"${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}ConfigVersion.cmake"
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DESTINATION ${CONFIG_PACKAGE_LOCATION}
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)
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# Install also models into share folder.
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install(
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DIRECTORY model
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DESTINATION "${CMAKE_INSTALL_DATADIR}/mujoco"
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PATTERN "CMakeLists.txt" EXCLUDE
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)
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endif()
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