538 lines
17 KiB
Diff
538 lines
17 KiB
Diff
diff --git a/CMakeLists.txt b/CMakeLists.txt
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index 285250b..32d03e3 100644
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--- a/CMakeLists.txt
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+++ b/CMakeLists.txt
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@@ -92,7 +92,7 @@ add_subdirectory(src/render)
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add_subdirectory(src/thread)
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add_subdirectory(src/ui)
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-target_compile_definitions(mujoco PRIVATE _GNU_SOURCE CCD_STATIC_DEFINE MUJOCO_DLL_EXPORTS -DMC_IMPLEM_ENABLE)
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+target_compile_definitions(mujoco PRIVATE _GNU_SOURCE 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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@@ -117,7 +117,7 @@ target_link_libraries(
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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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+ tinyxml2::tinyxml2
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)
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set_target_properties(
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diff --git a/cmake/MujocoDependencies.cmake b/cmake/MujocoDependencies.cmake
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index 4e3e2c8..f6143d9 100644
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--- a/cmake/MujocoDependencies.cmake
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+++ b/cmake/MujocoDependencies.cmake
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@@ -90,153 +90,203 @@ set(BUILD_SHARED_LIBS
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CACHE INTERNAL "Build SHARED libraries"
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)
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+
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if(NOT TARGET lodepng)
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- FetchContent_Declare(
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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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+endif()
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+
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+if(NOT TARGET lodepng)
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+ if(NOT MUJOCO_USE_SYSTEM_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 STATIC ${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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+ 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 STATIC ${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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+ else()
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+ find_package(lodepng REQUIRED)
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endif()
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endif()
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if(NOT TARGET marchingcubecpp)
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- FetchContent_Declare(
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+ fetchcontent_declare(
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marchingcubecpp
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- GIT_REPOSITORY https://github.com/aparis69/MarchingCubeCpp.git
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- GIT_TAG ${MUJOCO_DEP_VERSION_MarchingCubeCpp}
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)
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- FetchContent_GetProperties(marchingcubecpp)
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+ fetchcontent_getproperties(marchingcubecpp)
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if(NOT marchingcubecpp_POPULATED)
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- FetchContent_Populate(marchingcubecpp)
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+ fetchcontent_populate(marchingcubecpp)
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include_directories(${marchingcubecpp_SOURCE_DIR})
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endif()
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endif()
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+option(MUJOCO_USE_SYSTEM_qhull "Use installed qhull version." OFF)
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+mark_as_advanced(MUJOCO_USE_SYSTEM_qhull)
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+
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set(QHULL_ENABLE_TESTING OFF)
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findorfetch(
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USE_SYSTEM_PACKAGE
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- OFF
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+ ${MUJOCO_USE_SYSTEM_qhull}
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PACKAGE_NAME
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- qhull
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+ Qhull
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LIBRARY_NAME
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qhull
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- GIT_REPO
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- https://github.com/qhull/qhull.git
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- GIT_TAG
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- ${MUJOCO_DEP_VERSION_qhull}
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TARGETS
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qhull
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EXCLUDE_FROM_ALL
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)
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-# MuJoCo includes a file from libqhull_r which is not exported by the qhull include directories.
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-# Add it to the target.
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-target_include_directories(
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- qhullstatic_r INTERFACE $<BUILD_INTERFACE:${qhull_SOURCE_DIR}/src/libqhull_r>
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-)
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-target_compile_options(qhullstatic_r PRIVATE ${MUJOCO_MACOS_COMPILE_OPTIONS})
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-target_link_options(qhullstatic_r PRIVATE ${MUJOCO_MACOS_LINK_OPTIONS})
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+
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+if(NOT MUJOCO_USE_SYSTEM_qhull)
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+ # MuJoCo includes a file from libqhull_r which is not exported by the qhull include directories.
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+ # Add it to the target.
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+ target_include_directories(
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+ qhullstatic_r INTERFACE $<BUILD_INTERFACE:${qhull_SOURCE_DIR}/src/libqhull_r>
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+ )
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+ target_compile_options(qhullstatic_r PRIVATE ${MUJOCO_MACOS_COMPILE_OPTIONS})
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+ target_link_options(qhullstatic_r PRIVATE ${MUJOCO_MACOS_LINK_OPTIONS})
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+else()
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+ if(NOT TARGET qhullstatic_r)
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+ add_library(qhullstatic_r INTERFACE)
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+ set_target_properties(qhullstatic_r PROPERTIES INTERFACE_LINK_LIBRARIES Qhull::qhull_r)
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+
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+ # Workaround as headers are installed in <prefix>/include/libqhull_r/something.h
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+ # but mujoco include them as #include <something.h>
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+ get_property(qhull_include_dirs TARGET Qhull::qhull_r PROPERTY INTERFACE_INCLUDE_DIRECTORIES)
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+ foreach(qhull_include_dir IN LISTS qhull_include_dirs)
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+ target_include_directories(qhullstatic_r INTERFACE ${qhull_include_dirs}/libqhull_r)
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+ endforeach()
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+ target_include_directories(qhullstatic_r INTERFACE )
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+ endif()
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+endif()
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+
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+option(MUJOCO_USE_SYSTEM_tinyxml2 "Use installed tinyxml2 version." OFF)
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+mark_as_advanced(MUJOCO_USE_SYSTEM_tinyxml2)
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set(tinyxml2_BUILD_TESTING OFF)
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findorfetch(
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USE_SYSTEM_PACKAGE
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- OFF
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+ ${MUJOCO_USE_SYSTEM_tinyxml2}
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PACKAGE_NAME
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tinyxml2
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LIBRARY_NAME
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tinyxml2
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- GIT_REPO
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- https://github.com/leethomason/tinyxml2.git
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- GIT_TAG
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- ${MUJOCO_DEP_VERSION_tinyxml2}
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TARGETS
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- tinyxml2
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+ tinyxml2::tinyxml2
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EXCLUDE_FROM_ALL
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)
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-target_compile_options(tinyxml2 PRIVATE ${MUJOCO_MACOS_COMPILE_OPTIONS})
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-target_link_options(tinyxml2 PRIVATE ${MUJOCO_MACOS_LINK_OPTIONS})
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+
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+if(NOT MUJOCO_USE_SYSTEM_tinyxml2)
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+ target_compile_options(tinyxml2 PRIVATE ${MUJOCO_MACOS_COMPILE_OPTIONS})
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+ target_link_options(tinyxml2 PRIVATE ${MUJOCO_MACOS_LINK_OPTIONS})
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+endif()
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+
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+option(MUJOCO_USE_SYSTEM_tinyobjloader "Use installed tinyobjloader version." OFF)
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+mark_as_advanced(MUJOCO_USE_SYSTEM_tinyobjloader)
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findorfetch(
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USE_SYSTEM_PACKAGE
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- OFF
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+ ${MUJOCO_USE_SYSTEM_tinyobjloader}
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PACKAGE_NAME
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tinyobjloader
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LIBRARY_NAME
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tinyobjloader
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- GIT_REPO
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- https://github.com/tinyobjloader/tinyobjloader.git
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- GIT_TAG
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- ${MUJOCO_DEP_VERSION_tinyobjloader}
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TARGETS
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tinyobjloader
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EXCLUDE_FROM_ALL
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)
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+if(MUJOCO_USE_SYSTEM_tinyobjloader)
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+ # As of tinyobjloader v2.0.0rc10, the tinyobjloader target is named tinyobjloader in the build,
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+ # but tinyobjloader::tinyobjloader when it is installed. To deal with this, if tinyobjloader is
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+ # found in the system, we create an ALIAS
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+ # The following is equivalent to add_library(tinyobjloader ALIAS tinyobjloader::tinyobjloader),
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+ # but compatible with CMake 3.16 . Once the minimum CMake is bumped to CMake 3.18, we can use
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+ # the simpler version
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+ add_library(tinyobjloader INTERFACE IMPORTED)
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+ set_target_properties(tinyobjloader PROPERTIES INTERFACE_LINK_LIBRARIES tinyobjloader::tinyobjloader)
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+endif()
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+
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+option(MUJOCO_USE_SYSTEM_sdflib "Use installed sdflib version." OFF)
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+mark_as_advanced(MUJOCO_USE_SYSTEM_sdflib)
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+
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option(SDFLIB_USE_ASSIMP OFF)
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option(SDFLIB_USE_OPENMP OFF)
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option(SDFLIB_USE_ENOKI OFF)
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+
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findorfetch(
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USE_SYSTEM_PACKAGE
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- OFF
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+ ${MUJOCO_USE_SYSTEM_sdflib}
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PACKAGE_NAME
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- sdflib
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+ SdfLib
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LIBRARY_NAME
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sdflib
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- GIT_REPO
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- https://github.com/UPC-ViRVIG/SdfLib.git
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- GIT_TAG
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- ${MUJOCO_DEP_VERSION_sdflib}
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TARGETS
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- SdfLib
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+ SdfLib::SdfLib
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EXCLUDE_FROM_ALL
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)
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-target_compile_options(SdfLib PRIVATE ${MUJOCO_MACOS_COMPILE_OPTIONS})
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-target_link_options(SdfLib PRIVATE ${MUJOCO_MACOS_LINK_OPTIONS})
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+
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+if(NOT MUJOCO_USE_SYSTEM_sdflib)
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+ target_compile_options(SdfLib PRIVATE ${MUJOCO_MACOS_COMPILE_OPTIONS})
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+ target_link_options(SdfLib PRIVATE ${MUJOCO_MACOS_LINK_OPTIONS})
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+endif()
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+
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+option(MUJOCO_USE_SYSTEM_ccd "Use installed ccd version." OFF)
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+mark_as_advanced(MUJOCO_USE_SYSTEM_ccd)
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set(ENABLE_DOUBLE_PRECISION ON)
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set(CCD_HIDE_ALL_SYMBOLS ON)
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findorfetch(
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USE_SYSTEM_PACKAGE
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- OFF
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+ ${MUJOCO_USE_SYSTEM_ccd}
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PACKAGE_NAME
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ccd
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LIBRARY_NAME
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ccd
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- GIT_REPO
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- https://github.com/danfis/libccd.git
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- GIT_TAG
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- ${MUJOCO_DEP_VERSION_ccd}
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TARGETS
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ccd
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EXCLUDE_FROM_ALL
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)
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-target_compile_options(ccd PRIVATE ${MUJOCO_MACOS_COMPILE_OPTIONS})
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-target_link_options(ccd PRIVATE ${MUJOCO_MACOS_LINK_OPTIONS})
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-
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-# libCCD has an unconditional `#define _CRT_SECURE_NO_WARNINGS` on Windows.
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-# TODO(stunya): Remove this after https://github.com/danfis/libccd/pull/77 is merged.
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-if(WIN32)
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- if(MSVC)
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- # C4005 is the MSVC equivalent of -Wmacro-redefined.
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- target_compile_options(ccd PRIVATE /wd4005)
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- else()
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- target_compile_options(ccd PRIVATE -Wno-macro-redefined)
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+
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+if(NOT MUJOCO_USE_SYSTEM_ccd)
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+ target_compile_options(ccd PRIVATE ${MUJOCO_MACOS_COMPILE_OPTIONS})
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+ target_link_options(ccd PRIVATE ${MUJOCO_MACOS_LINK_OPTIONS})
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+ # This is necessary to ensure that the any library that consumes the ccd
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+ # compiled internally by MuJoCo (as static library) has CCD_EXPORT correctly
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+ # defined as an empty string. For ccd itself, this is ensured by the variable
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+ # CCD_HIDE_ALL_SYMBOLS set to ON before the call to findorfetch
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+ # See https://github.com/danfis/libccd/pull/79
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+ target_compile_definitions(ccd INTERFACE CCD_STATIC_DEFINE)
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+
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+ # libCCD has an unconditional `#define _CRT_SECURE_NO_WARNINGS` on Windows.
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+ # TODO(stunya): Remove this after https://github.com/danfis/libccd/pull/77 is merged.
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+ if(WIN32)
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+ if(MSVC)
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+ # C4005 is the MSVC equivalent of -Wmacro-redefined.
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+ target_compile_options(ccd PRIVATE /wd4005)
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+ else()
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+ target_compile_options(ccd PRIVATE -Wno-macro-redefined)
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+ endif()
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endif()
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endif()
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if(MUJOCO_BUILD_TESTS)
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+ option(MUJOCO_USE_SYSTEM_abseil "Use installed abseil version." OFF)
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+ mark_as_advanced(MUJOCO_USE_SYSTEM_abseil)
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+
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set(ABSL_PROPAGATE_CXX_STD ON)
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# This specific version of Abseil does not have the following variable. We need to work with BUILD_TESTING
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@@ -249,15 +299,11 @@ if(MUJOCO_BUILD_TESTS)
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set(ABSL_BUILD_TESTING OFF)
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findorfetch(
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USE_SYSTEM_PACKAGE
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- OFF
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+ ${MUJOCO_USE_SYSTEM_abseil}
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PACKAGE_NAME
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absl
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LIBRARY_NAME
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abseil-cpp
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- GIT_REPO
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- https://github.com/abseil/abseil-cpp.git
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- GIT_TAG
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- ${MUJOCO_DEP_VERSION_abseil}
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TARGETS
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absl::core_headers
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EXCLUDE_FROM_ALL
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@@ -268,6 +314,9 @@ if(MUJOCO_BUILD_TESTS)
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CACHE BOOL "Build tests." FORCE
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)
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+ option(MUJOCO_USE_SYSTEM_gtest "Use installed gtest version." OFF)
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+ mark_as_advanced(MUJOCO_USE_SYSTEM_gtest)
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+
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# Avoid linking errors on Windows by dynamically linking to the C runtime.
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set(gtest_force_shared_crt
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ON
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@@ -276,22 +325,20 @@ if(MUJOCO_BUILD_TESTS)
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findorfetch(
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USE_SYSTEM_PACKAGE
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- OFF
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+ ${MUJOCO_USE_SYSTEM_gtest}
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PACKAGE_NAME
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GTest
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LIBRARY_NAME
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googletest
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- GIT_REPO
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- https://github.com/google/googletest.git
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- GIT_TAG
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- ${MUJOCO_DEP_VERSION_gtest}
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TARGETS
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- gtest
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- gmock
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- gtest_main
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+ GTest::gmock
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+ GTest::gtest_main
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EXCLUDE_FROM_ALL
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)
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+ option(MUJOCO_USE_SYSTEM_benchmark "Use installed benchmark version." OFF)
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+ mark_as_advanced(MUJOCO_USE_SYSTEM_benchmark)
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+
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set(BENCHMARK_EXTRA_FETCH_ARGS "")
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if(WIN32 AND NOT MSVC)
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set(BENCHMARK_EXTRA_FETCH_ARGS
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@@ -310,15 +357,11 @@ if(MUJOCO_BUILD_TESTS)
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findorfetch(
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USE_SYSTEM_PACKAGE
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- OFF
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+ ${MUJOCO_USE_SYSTEM_benchmark}
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PACKAGE_NAME
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benchmark
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LIBRARY_NAME
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benchmark
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- GIT_REPO
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- https://github.com/google/benchmark.git
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- GIT_TAG
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- ${MUJOCO_DEP_VERSION_benchmark}
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TARGETS
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benchmark::benchmark
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benchmark::benchmark_main
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@@ -328,26 +371,42 @@ if(MUJOCO_BUILD_TESTS)
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endif()
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if(MUJOCO_TEST_PYTHON_UTIL)
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+ option(MUJOCO_USE_SYSTEM_Eigen3 "Use installed Eigen3 version." OFF)
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+ mark_as_advanced(MUJOCO_USE_SYSTEM_Eigen3)
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+
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add_compile_definitions(EIGEN_MPL2_ONLY)
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- if(NOT TARGET eigen)
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- # Support new IN_LIST if() operator.
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- set(CMAKE_POLICY_DEFAULT_CMP0057 NEW)
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+ if(NOT TARGET Eigen3::Eigen)
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+ if(NOT MUJOCO_USE_SYSTEM_Eigen3)
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+ # Support new IN_LIST if() operator.
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+ set(CMAKE_POLICY_DEFAULT_CMP0057 NEW)
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+ endif()
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- FetchContent_Declare(
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+ fetchcontent_declare(
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Eigen3
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- GIT_REPOSITORY https://gitlab.com/libeigen/eigen.git
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- GIT_TAG ${MUJOCO_DEP_VERSION_Eigen3}
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)
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- FetchContent_GetProperties(Eigen3)
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+ fetchcontent_getproperties(Eigen3)
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if(NOT Eigen3_POPULATED)
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- FetchContent_Populate(Eigen3)
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+ fetchcontent_populate(Eigen3)
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# Mark the library as IMPORTED as a workaround for https://gitlab.kitware.com/cmake/cmake/-/issues/15415
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add_library(Eigen3::Eigen INTERFACE IMPORTED)
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set_target_properties(
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Eigen3::Eigen PROPERTIES INTERFACE_INCLUDE_DIRECTORIES "${eigen3_SOURCE_DIR}"
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)
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+
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+ fetchcontent_getproperties(Eigen3)
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+ # if(NOT Eigen3_POPULATED)
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+ # fetchcontent_populate(Eigen3)
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+
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+ # # Mark the library as IMPORTED as a workaround for https://gitlab.kitware.com/cmake/cmake/-/issues/15415
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+ # add_library(Eigen3::Eigen INTERFACE IMPORTED)
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+ # set_target_properties(
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+ # Eigen3::Eigen PROPERTIES INTERFACE_INCLUDE_DIRECTORIES "${eigen3_SOURCE_DIR}"
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+ # )
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+ # endif()
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+ else()
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+ find_package(Eigen3 REQUIRED)
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endif()
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endif()
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endif()
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diff --git a/plugin/sdf/CMakeLists.txt b/plugin/sdf/CMakeLists.txt
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index 3e216fc..e7e3a1e 100644
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--- a/plugin/sdf/CMakeLists.txt
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+++ b/plugin/sdf/CMakeLists.txt
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|
@@ -37,7 +37,7 @@ set(MUJOCO_SDF_SRCS
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add_library(sdf SHARED)
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target_sources(sdf PRIVATE ${MUJOCO_SDF_SRCS})
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target_include_directories(sdf PRIVATE ${MUJOCO_SDF_INCLUDE})
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-target_link_libraries(sdf PRIVATE mujoco SdfLib)
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|
+target_link_libraries(sdf PRIVATE mujoco SdfLib::SdfLib)
|
|
target_compile_options(
|
|
sdf
|
|
PRIVATE ${AVX_COMPILE_OPTIONS}
|
|
diff --git a/python/mujoco/util/CMakeLists.txt b/python/mujoco/util/CMakeLists.txt
|
|
index 666a372..d89bb49 100644
|
|
--- a/python/mujoco/util/CMakeLists.txt
|
|
+++ b/python/mujoco/util/CMakeLists.txt
|
|
@@ -63,8 +63,8 @@ if(BUILD_TESTING)
|
|
target_link_libraries(
|
|
array_traits_test
|
|
array_traits
|
|
- gmock
|
|
- gtest_main
|
|
+ GTest::gmock
|
|
+ GTest::gtest_main
|
|
)
|
|
gtest_add_tests(TARGET array_traits_test SOURCES array_traits_test.cc)
|
|
|
|
@@ -72,8 +72,8 @@ if(BUILD_TESTING)
|
|
target_link_libraries(
|
|
func_traits_test
|
|
func_traits
|
|
- gmock
|
|
- gtest_main
|
|
+ GTest::gmock
|
|
+ GTest::gtest_main
|
|
)
|
|
gtest_add_tests(TARGET func_traits_test SOURCES func_traits_test.cc)
|
|
|
|
@@ -81,8 +81,8 @@ if(BUILD_TESTING)
|
|
target_link_libraries(
|
|
func_wrap_test
|
|
func_wrap
|
|
- gmock
|
|
- gtest_main
|
|
+ GTest::gmock
|
|
+ GTest::gtest_main
|
|
)
|
|
gtest_add_tests(TARGET func_wrap_test SOURCES func_wrap_test.cc)
|
|
|
|
@@ -90,8 +90,8 @@ if(BUILD_TESTING)
|
|
target_link_libraries(
|
|
tuple_tools_test
|
|
func_wrap
|
|
- gmock
|
|
- gtest_main
|
|
+ GTest::gmock
|
|
+ GTest::gtest_main
|
|
)
|
|
gtest_add_tests(TARGET tuple_tools_test SOURCES tuple_tools_test.cc)
|
|
endif()
|
|
diff --git a/simulate/cmake/SimulateDependencies.cmake b/simulate/cmake/SimulateDependencies.cmake
|
|
index 5141406..75ff788 100644
|
|
--- a/simulate/cmake/SimulateDependencies.cmake
|
|
+++ b/simulate/cmake/SimulateDependencies.cmake
|
|
@@ -81,10 +81,6 @@ findorfetch(
|
|
glfw3
|
|
LIBRARY_NAME
|
|
glfw3
|
|
- GIT_REPO
|
|
- https://github.com/glfw/glfw.git
|
|
- GIT_TAG
|
|
- ${MUJOCO_DEP_VERSION_glfw3}
|
|
TARGETS
|
|
glfw
|
|
EXCLUDE_FROM_ALL
|
|
diff --git a/test/CMakeLists.txt b/test/CMakeLists.txt
|
|
index 6bec911..2a16c21 100644
|
|
--- a/test/CMakeLists.txt
|
|
+++ b/test/CMakeLists.txt
|
|
@@ -30,7 +30,7 @@ macro(mujoco_test name)
|
|
)
|
|
|
|
add_executable(${name} ${name}.cc)
|
|
- target_link_libraries(${name} gtest_main mujoco)
|
|
+ target_link_libraries(${name} GTest::gtest_main mujoco)
|
|
target_include_directories(${name} PRIVATE ${MUJOCO_TEST_INCLUDE})
|
|
set_target_properties(${name} PROPERTIES BUILD_RPATH ${CMAKE_LIBRARY_OUTPUT_DIRECTORY})
|
|
# gtest_discover_tests is recommended over gtest_add_tests, but has some issues in Windows.
|
|
@@ -59,20 +59,20 @@ target_link_libraries(
|
|
PUBLIC absl::core_headers
|
|
absl::strings
|
|
absl::synchronization
|
|
- gtest
|
|
- gmock
|
|
+ GTest::gtest
|
|
+ GTest::gmock
|
|
mujoco::mujoco
|
|
)
|
|
target_include_directories(fixture PRIVATE ${mujoco_SOURCE_DIR}/include gmock)
|
|
|
|
mujoco_test(fixture_test)
|
|
-target_link_libraries(fixture_test fixture gmock)
|
|
+target_link_libraries(fixture_test fixture GTest::gmock)
|
|
|
|
mujoco_test(header_test)
|
|
-target_link_libraries(header_test fixture gmock)
|
|
+target_link_libraries(header_test fixture GTest::gmock)
|
|
|
|
mujoco_test(pipeline_test)
|
|
-target_link_libraries(pipeline_test fixture gmock)
|
|
+target_link_libraries(pipeline_test fixture GTest::gmock)
|
|
|
|
add_subdirectory(benchmark)
|
|
add_subdirectory(engine)
|