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/573d331b69845c5d651b70f5d1b0f3a0d2a3a233/cmake/MujocoDependencies.cmake#L21-L59
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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 = "8c0b94e793a66495e0b1f34a5eb26bd7dc672db0";
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hash = "sha256-Od1FZOOWEXVQsnZBwGjDIExi6LdYtomyL0STR44SsG8=";
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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 = "d845b7b3a27d54ad96280a29d61fa8988d4fddcf";
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hash = "sha256-XTnTM1k6xMGXUws/fKdJUbpCPcc4U0IelL6BPEEnpEQ=";
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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 = "3bb6a48d8c171cf20b5f8e48bfb4e424fbd4f79e";
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hash = "sha256-k71DoEsx8JpC9AlQ0cCRI0fWMIWFBFL/Yscx+2iBtNM=";
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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 = "58d77fa8070e8cec2dc1ed015d66b454c8d78850";
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hash = "sha256-W+OxRTVtemt2esw4P7IyGWXOonUN5ZuscjvzqkYvZbM=";
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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 = "3df027b91202cf179f3fba3c46eebe65bbac3790";
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hash = "sha256-aHO5n9Y35C7/zb3surfMyjyMjo109DoZnkozhiAKpYQ=";
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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 = "1dee28e51f9175a31955b9791c74c430fe13dc82";
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hash = "sha256-AQQOctXi7sWIH/VOeSUClX6hlm1raEQUOp+VoPjLM14=";
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};
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# See https://github.com/deepmind/mujoco/blob/573d331b69845c5d651b70f5d1b0f3a0d2a3a233/simulate/cmake/SimulateDependencies.cmake#L32-L35
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glfw = 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 = "2.3.0";
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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-FxMaXl7yfUAyY6LE1sxaw226dBtp1DOCWNnROp0WX2I=";
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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 ${glfw} build/_deps/glfw-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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