122 lines
3.6 KiB
Nix
122 lines
3.6 KiB
Nix
{ cmake
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, fetchFromGitHub
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, fetchFromGitLab
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, git
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, lib
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, libGL
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, stdenv
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, xorg
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}:
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let
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# See https://github.com/deepmind/mujoco/blob/c9246e1f5006379d599e0bcddf159a8616d31441/cmake/MujocoDependencies.cmake#L17-L55
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abseil-cpp = fetchFromGitHub {
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owner = "abseil";
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repo = "abseil-cpp";
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rev = "c2435f8342c2d0ed8101cb43adfd605fdc52dca2";
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hash = "sha256-PLoI7ix+reUqkZ947kWzls8lujYqWXk9A9a55UcfahI=";
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};
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benchmark = fetchFromGitHub {
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owner = "google";
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repo = "benchmark";
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rev = "2dd015dfef425c866d9a43f2c67d8b52d709acb6";
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hash = "sha256-pUW9YVaujs/y00/SiPqDgK4wvVsaM7QUp/65k0t7Yr0=";
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};
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ccd = fetchFromGitHub {
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owner = "danfis";
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repo = "libccd";
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rev = "7931e764a19ef6b21b443376c699bbc9c6d4fba8";
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hash = "sha256-TIZkmqQXa0+bSWpqffIgaBela0/INNsX9LPM026x1Wk=";
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};
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eigen3 = fetchFromGitLab {
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owner = "libeigen";
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repo = "eigen";
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rev = "211c5dfc6741a5570ad007983c113ef4d144f9f3";
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hash = "sha256-oT/h8QkL0vwaflh46Zsnu9Db1b65AP6p//nAga8M5jI=";
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};
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googletest = fetchFromGitHub {
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owner = "google";
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repo = "googletest";
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rev = "b796f7d44681514f58a683a3a71ff17c94edb0c1";
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hash = "sha256-LVLEn+e7c8013pwiLzJiiIObyrlbBHYaioO/SWbItPQ=";
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};
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lodepng = fetchFromGitHub {
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owner = "lvandeve";
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repo = "lodepng";
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rev = "b4ed2cd7ecf61d29076169b49199371456d4f90b";
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hash = "sha256-5cCkdj/izP4e99BKfs/Mnwu9aatYXjlyxzzYiMD/y1M=";
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};
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qhull = fetchFromGitHub {
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owner = "qhull";
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repo = "qhull";
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rev = "0c8fc90d2037588024d9964515c1e684f6007ecc";
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hash = "sha256-Ptzxad3ewmKJbbcmrBT+os4b4SR976zlCG9F0nq0x94=";
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};
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tinyobjloader = fetchFromGitHub {
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owner = "tinyobjloader";
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repo = "tinyobjloader";
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rev = "1421a10d6ed9742f5b2c1766d22faa6cfbc56248";
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hash = "sha256-9z2Ne/WPCiXkQpT8Cun/pSGUwgClYH+kQ6Dx1JvW6w0=";
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};
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tinyxml2 = fetchFromGitHub {
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owner = "leethomason";
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repo = "tinyxml2";
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rev = "9a89766acc42ddfa9e7133c7d81a5bda108a0ade";
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hash = "sha256-YGAe4+Ttv/xeou+9FoJjmQCKgzupTYdDhd+gzvtz/88=";
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};
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# See https://github.com/deepmind/mujoco/blob/c9246e1f5006379d599e0bcddf159a8616d31441/simulate/cmake/SimulateDependencies.cmake#L32-L35
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glfw3 = fetchFromGitHub {
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owner = "glfw";
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repo = "glfw";
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rev = "7482de6071d21db77a7236155da44c172a7f6c9e";
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hash = "sha256-4+H0IXjAwbL5mAWfsIVhW0BSJhcWjkQx4j2TrzZ3aIo=";
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};
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in
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stdenv.mkDerivation rec {
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pname = "mujoco";
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version = "2.3.7";
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src = fetchFromGitHub {
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owner = "deepmind";
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repo = pname;
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rev = version;
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hash = "sha256-LgpA+iPGqciHuWBSD6/7yvZ7p+vo48ZYKjjrDZSnAwE=";
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};
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patches = [ ./dependencies.patch ];
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nativeBuildInputs = [ cmake git ];
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buildInputs = [
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libGL
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xorg.libX11
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xorg.libXcursor
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xorg.libXext
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xorg.libXi
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xorg.libXinerama
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xorg.libXrandr
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];
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# Move things into place so that cmake doesn't try downloading dependencies.
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preConfigure = ''
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mkdir -p build/_deps
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ln -s ${abseil-cpp} build/_deps/abseil-cpp-src
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ln -s ${benchmark} build/_deps/benchmark-src
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ln -s ${ccd} build/_deps/ccd-src
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ln -s ${eigen3} build/_deps/eigen3-src
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ln -s ${glfw3} build/_deps/glfw3-src
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ln -s ${googletest} build/_deps/googletest-src
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ln -s ${lodepng} build/_deps/lodepng-src
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ln -s ${qhull} build/_deps/qhull-src
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ln -s ${tinyobjloader} build/_deps/tinyobjloader-src
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ln -s ${tinyxml2} build/_deps/tinyxml2-src
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'';
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meta = with lib; {
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description = "Multi-Joint dynamics with Contact. A general purpose physics simulator.";
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homepage = "https://mujoco.org/";
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license = licenses.asl20;
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maintainers = with maintainers; [ samuela ];
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};
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}
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