mirror of
https://github.com/microsoft/vcpkg.git
synced 2024-12-27 10:21:07 +08:00
[mujoco] Add new port (#28993)
* Add new port mujoco * Add usage text. --------- Co-authored-by: Billy Robert O'Neal III <bion@microsoft.com>
This commit is contained in:
talregev
GitHub
parent
b6dceb5053
commit
3eafaa76fb
172
ports/mujoco/fix_dependencies.patch
Normal file
172
ports/mujoco/fix_dependencies.patch
Normal file
@ -0,0 +1,172 @@
|
||||
diff --git a/CMakeLists.txt b/CMakeLists.txt
|
||||
index e34b07e..56ed5e8 100644
|
||||
--- a/CMakeLists.txt
|
||||
+++ b/CMakeLists.txt
|
||||
@@ -87,7 +87,7 @@ add_subdirectory(src/xml)
|
||||
add_subdirectory(src/render)
|
||||
add_subdirectory(src/ui)
|
||||
|
||||
-target_compile_definitions(mujoco PRIVATE _GNU_SOURCE CCD_STATIC_DEFINE MUJOCO_DLL_EXPORTS)
|
||||
+target_compile_definitions(mujoco PRIVATE _GNU_SOURCE MUJOCO_DLL_EXPORTS)
|
||||
if(MUJOCO_ENABLE_AVX_INTRINSICS)
|
||||
target_compile_definitions(mujoco PUBLIC mjUSEPLATFORMSIMD)
|
||||
endif()
|
||||
@@ -110,9 +110,9 @@ target_link_libraries(
|
||||
mujoco
|
||||
PRIVATE ccd
|
||||
lodepng
|
||||
- qhullstatic_r
|
||||
- tinyobjloader
|
||||
- tinyxml2
|
||||
+ Qhull::qhull_r
|
||||
+ tinyobjloader::tinyobjloader
|
||||
+ tinyxml2::tinyxml2
|
||||
)
|
||||
|
||||
set_target_properties(
|
||||
diff --git a/cmake/MujocoDependencies.cmake b/cmake/MujocoDependencies.cmake
|
||||
index 9c12ef7..af09f8a 100644
|
||||
--- a/cmake/MujocoDependencies.cmake
|
||||
+++ b/cmake/MujocoDependencies.cmake
|
||||
@@ -79,7 +79,7 @@ set(BUILD_SHARED_LIBS
|
||||
CACHE INTERNAL "Build SHARED libraries"
|
||||
)
|
||||
|
||||
-if(NOT TARGET lodepng)
|
||||
+if(0)
|
||||
FetchContent_Declare(
|
||||
lodepng
|
||||
GIT_REPOSITORY https://github.com/lvandeve/lodepng.git
|
||||
@@ -99,35 +99,57 @@ if(NOT TARGET lodepng)
|
||||
endif()
|
||||
endif()
|
||||
|
||||
+findorfetch(
|
||||
+ USE_SYSTEM_PACKAGE
|
||||
+ ON
|
||||
+ PACKAGE_NAME
|
||||
+ lodepng
|
||||
+ LIBRARY_NAME
|
||||
+ lodepng
|
||||
+ GIT_REPO
|
||||
+ https://github.com/lvandeve/lodepng.git
|
||||
+ GIT_TAG
|
||||
+ ${MUJOCO_DEP_VERSION_lodepng}
|
||||
+ TARGETS
|
||||
+ lodepng
|
||||
+ EXCLUDE_FROM_ALL
|
||||
+)
|
||||
+
|
||||
set(QHULL_ENABLE_TESTING OFF)
|
||||
|
||||
findorfetch(
|
||||
USE_SYSTEM_PACKAGE
|
||||
- OFF
|
||||
+ ON
|
||||
PACKAGE_NAME
|
||||
- qhull
|
||||
+ Qhull
|
||||
LIBRARY_NAME
|
||||
- qhull
|
||||
+ Qhull
|
||||
GIT_REPO
|
||||
https://github.com/qhull/qhull.git
|
||||
GIT_TAG
|
||||
${MUJOCO_DEP_VERSION_qhull}
|
||||
TARGETS
|
||||
- qhull
|
||||
+ Qhull
|
||||
EXCLUDE_FROM_ALL
|
||||
)
|
||||
# MuJoCo includes a file from libqhull_r which is not exported by the qhull include directories.
|
||||
# Add it to the target.
|
||||
+if(0)
|
||||
target_include_directories(
|
||||
qhullstatic_r INTERFACE $<BUILD_INTERFACE:${qhull_SOURCE_DIR}/src/libqhull_r>
|
||||
)
|
||||
target_compile_options(qhullstatic_r PRIVATE ${MUJOCO_MACOS_COMPILE_OPTIONS})
|
||||
target_link_options(qhullstatic_r PRIVATE ${MUJOCO_MACOS_LINK_OPTIONS})
|
||||
+endif()
|
||||
+
|
||||
+include_directories(
|
||||
+ ${Qhull_DIR}/../../include/libqhull_r
|
||||
+)
|
||||
|
||||
set(tinyxml2_BUILD_TESTING OFF)
|
||||
findorfetch(
|
||||
USE_SYSTEM_PACKAGE
|
||||
- OFF
|
||||
+ ON
|
||||
PACKAGE_NAME
|
||||
tinyxml2
|
||||
LIBRARY_NAME
|
||||
@@ -140,12 +162,14 @@ findorfetch(
|
||||
tinyxml2
|
||||
EXCLUDE_FROM_ALL
|
||||
)
|
||||
+if(0)
|
||||
target_compile_options(tinyxml2 PRIVATE ${MUJOCO_MACOS_COMPILE_OPTIONS})
|
||||
target_link_options(tinyxml2 PRIVATE ${MUJOCO_MACOS_LINK_OPTIONS})
|
||||
+endif()
|
||||
|
||||
findorfetch(
|
||||
USE_SYSTEM_PACKAGE
|
||||
- OFF
|
||||
+ ON
|
||||
PACKAGE_NAME
|
||||
tinyobjloader
|
||||
LIBRARY_NAME
|
||||
@@ -163,7 +187,7 @@ set(ENABLE_DOUBLE_PRECISION ON)
|
||||
set(CCD_HIDE_ALL_SYMBOLS ON)
|
||||
findorfetch(
|
||||
USE_SYSTEM_PACKAGE
|
||||
- OFF
|
||||
+ ON
|
||||
PACKAGE_NAME
|
||||
ccd
|
||||
LIBRARY_NAME
|
||||
@@ -176,11 +200,14 @@ findorfetch(
|
||||
ccd
|
||||
EXCLUDE_FROM_ALL
|
||||
)
|
||||
+if(0)
|
||||
target_compile_options(ccd PRIVATE ${MUJOCO_MACOS_COMPILE_OPTIONS})
|
||||
target_link_options(ccd PRIVATE ${MUJOCO_MACOS_LINK_OPTIONS})
|
||||
+endif()
|
||||
|
||||
# libCCD has an unconditional `#define _CRT_SECURE_NO_WARNINGS` on Windows.
|
||||
# TODO(stunya): Remove this after https://github.com/danfis/libccd/pull/77 is merged.
|
||||
+if(0)
|
||||
if(WIN32)
|
||||
if(MSVC)
|
||||
# C4005 is the MSVC equivalent of -Wmacro-redefined.
|
||||
@@ -189,6 +216,7 @@ if(WIN32)
|
||||
target_compile_options(ccd PRIVATE -Wno-macro-redefined)
|
||||
endif()
|
||||
endif()
|
||||
+endif()
|
||||
|
||||
if(MUJOCO_BUILD_TESTS)
|
||||
set(ABSL_PROPAGATE_CXX_STD ON)
|
||||
diff --git a/simulate/cmake/SimulateDependencies.cmake b/simulate/cmake/SimulateDependencies.cmake
|
||||
index fa539c2..8b3b239 100644
|
||||
--- a/simulate/cmake/SimulateDependencies.cmake
|
||||
+++ b/simulate/cmake/SimulateDependencies.cmake
|
||||
@@ -86,7 +86,7 @@ findorfetch(
|
||||
GIT_TAG
|
||||
${MUJOCO_DEP_VERSION_glfw3}
|
||||
TARGETS
|
||||
- glfw
|
||||
+ glfw3
|
||||
EXCLUDE_FROM_ALL
|
||||
)
|
||||
|
||||
@@ -98,7 +98,7 @@ if(MUJOCO_EXTRAS_STATIC_GLFW)
|
||||
unset(BUILD_SHARED_LIBS_OLD)
|
||||
endif()
|
||||
|
||||
-if(NOT SIMULATE_STANDALONE)
|
||||
+if(0)
|
||||
target_compile_options(glfw PRIVATE ${MUJOCO_MACOS_COMPILE_OPTIONS})
|
||||
target_link_options(glfw PRIVATE ${MUJOCO_MACOS_LINK_OPTIONS})
|
||||
endif()
|
||||
32
ports/mujoco/portfile.cmake
Normal file
32
ports/mujoco/portfile.cmake
Normal file
@ -0,0 +1,32 @@
|
||||
vcpkg_from_github(
|
||||
OUT_SOURCE_PATH SOURCE_PATH
|
||||
REPO deepmind/mujoco
|
||||
REF ${VERSION}
|
||||
SHA512 518b9ae09ea7cd4d2095df1be985a30957c6d57846933e111c326e45b61ac002bea014cd0d7902653c85e61ef0ba156b3324eff0edb5613467fe8e07e92dd6da
|
||||
PATCHES
|
||||
fix_dependencies.patch
|
||||
)
|
||||
|
||||
vcpkg_cmake_configure(
|
||||
SOURCE_PATH "${SOURCE_PATH}"
|
||||
OPTIONS
|
||||
-DMUJOCO_BUILD_EXAMPLES=OFF
|
||||
-DMUJOCO_BUILD_TESTS=OFF
|
||||
-DMUJOCO_TEST_PYTHON_UTIL=OFF
|
||||
-DSIMULATE_BUILD_EXECUTABLE=OFF
|
||||
-DMUJOCO_SIMULATE_USE_SYSTEM_GLFW=ON
|
||||
-DMUJOCO_SIMULATE_USE_SYSTEM_MUJOCO=ON
|
||||
)
|
||||
|
||||
vcpkg_cmake_install(ADD_BIN_TO_PATH)
|
||||
vcpkg_cmake_config_fixup(
|
||||
CONFIG_PATH lib/cmake/${PORT}
|
||||
)
|
||||
|
||||
file(REMOVE_RECURSE
|
||||
"${CURRENT_PACKAGES_DIR}/debug/include"
|
||||
"${CURRENT_PACKAGES_DIR}/debug/share"
|
||||
)
|
||||
|
||||
file(INSTALL "${SOURCE_PATH}/LICENSE" DESTINATION "${CURRENT_PACKAGES_DIR}/share/${PORT}" RENAME copyright)
|
||||
file(INSTALL "${CMAKE_CURRENT_LIST_DIR}/usage" DESTINATION "${CURRENT_PACKAGES_DIR}/share/${PORT}")
|
||||
4
ports/mujoco/usage
Normal file
4
ports/mujoco/usage
Normal file
@ -0,0 +1,4 @@
|
||||
mujoco provides CMake targets:
|
||||
|
||||
find_package(mujoco CONFIG REQUIRED)
|
||||
target_link_libraries(main PRIVATE mujoco::mujoco)
|
||||
29
ports/mujoco/vcpkg.json
Normal file
29
ports/mujoco/vcpkg.json
Normal file
@ -0,0 +1,29 @@
|
||||
{
|
||||
"name": "mujoco",
|
||||
"version": "2.3.2",
|
||||
"description": "Multi-Joint dynamics with Contact.",
|
||||
"homepage": "mujoco.org",
|
||||
"license": "Apache-2.0",
|
||||
"supports": "!(windows & static)",
|
||||
"dependencies": [
|
||||
{
|
||||
"name": "ccd",
|
||||
"features": [
|
||||
"double-precision"
|
||||
]
|
||||
},
|
||||
"glfw3",
|
||||
"lodepng",
|
||||
"qhull",
|
||||
"tinyobjloader",
|
||||
"tinyxml2",
|
||||
{
|
||||
"name": "vcpkg-cmake",
|
||||
"host": true
|
||||
},
|
||||
{
|
||||
"name": "vcpkg-cmake-config",
|
||||
"host": true
|
||||
}
|
||||
]
|
||||
}
|
||||
@ -5228,6 +5228,10 @@
|
||||
"baseline": "1.0.2",
|
||||
"port-version": 3
|
||||
},
|
||||
"mujoco": {
|
||||
"baseline": "2.3.2",
|
||||
"port-version": 0
|
||||
},
|
||||
"mujs": {
|
||||
"baseline": "1.3.2",
|
||||
"port-version": 1
|
||||
|
||||
9
versions/m-/mujoco.json
Normal file
9
versions/m-/mujoco.json
Normal file
@ -0,0 +1,9 @@
|
||||
{
|
||||
"versions": [
|
||||
{
|
||||
"git-tree": "086053d3e52e0d7565733cf06db736f2e1617a63",
|
||||
"version": "2.3.2",
|
||||
"port-version": 0
|
||||
}
|
||||
]
|
||||
}
|
||||
Loading…
x
Reference in New Issue
Block a user