gador/nixpkgs
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

mujoco: clean unused hunks from CMakeLists.txt patch

Browse Source
This commit is contained in:
Gaetan Lepage
2025-08-19 16:30:22 +02:00
parent c6e7aaf33b
commit e6fc252db1
1 changed files with 18 additions and 226 deletions
Download Patch File Download Diff File Expand all files Collapse all files
pkgs/by-name/mu/mujoco/mujoco-system-deps-dont-fetch.patch
+18 -226
View File
@@ -1,8 +1,8 @@
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 3cab120d..abc526b1 100644
index a4794196..66525432 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -128,7 +128,7 @@ target_link_libraries(
@@ -140,7 +140,7 @@ target_link_libraries(
lodepng
qhullstatic_r
tinyobjloader
@@ -12,52 +12,19 @@ index 3cab120d..abc526b1 100644
set_target_properties(
diff --git a/cmake/MujocoDependencies.cmake b/cmake/MujocoDependencies.cmake
index 78522705..7c64e22a 100644
index cb17621a..e1bd0e9d 100644
--- a/cmake/MujocoDependencies.cmake
+++ b/cmake/MujocoDependencies.cmake
@@ -93,28 +93,36 @@ set(BUILD_SHARED_LIBS
@@ -93,8 +93,6 @@ set(BUILD_SHARED_LIBS
if(NOT TARGET lodepng)
FetchContent_Declare(
lodepng
- GIT_REPOSITORY https://github.com/lvandeve/lodepng.git
- GIT_TAG ${MUJOCO_DEP_VERSION_lodepng}
)
+endif()
- FetchContent_GetProperties(lodepng)
- if(NOT lodepng_POPULATED)
- FetchContent_Populate(lodepng)
- # This is not a CMake project.
- set(LODEPNG_SRCS ${lodepng_SOURCE_DIR}/lodepng.cpp)
- set(LODEPNG_HEADERS ${lodepng_SOURCE_DIR}/lodepng.h)
- add_library(lodepng STATIC ${LODEPNG_HEADERS} ${LODEPNG_SRCS})
- target_compile_options(lodepng PRIVATE ${MUJOCO_MACOS_COMPILE_OPTIONS})
- target_link_options(lodepng PRIVATE ${MUJOCO_MACOS_LINK_OPTIONS})
- target_include_directories(lodepng PUBLIC ${lodepng_SOURCE_DIR})
+if(NOT TARGET lodepng)
+ if(NOT MUJOCO_USE_SYSTEM_lodepng)
+ fetchcontent_declare(
+ lodepng
+ GIT_REPOSITORY https://github.com/lvandeve/lodepng.git
+ GIT_TAG ${MUJOCO_DEP_VERSION_lodepng}
+ )
+
+ FetchContent_GetProperties(lodepng)
+ if(NOT lodepng_POPULATED)
+ FetchContent_Populate(lodepng)
+ # This is not a CMake project.
+ set(LODEPNG_SRCS ${lodepng_SOURCE_DIR}/lodepng.cpp)
+ set(LODEPNG_HEADERS ${lodepng_SOURCE_DIR}/lodepng.h)
+ add_library(lodepng STATIC ${LODEPNG_HEADERS} ${LODEPNG_SRCS})
+ target_compile_options(lodepng PRIVATE ${MUJOCO_MACOS_COMPILE_OPTIONS})
+ target_link_options(lodepng PRIVATE ${MUJOCO_MACOS_LINK_OPTIONS})
+ target_include_directories(lodepng PUBLIC ${lodepng_SOURCE_DIR})
+ endif()
+ else()
+ find_package(lodepng REQUIRED)
endif()
endif()
FetchContent_GetProperties(lodepng)
@@ -113,8 +111,6 @@ endif()
if(NOT TARGET marchingcubecpp)
FetchContent_Declare(
marchingcubecpp
@@ -66,19 +33,9 @@ index 78522705..7c64e22a 100644
)
FetchContent_GetProperties(marchingcubecpp)
@@ -124,119 +132,157 @@ if(NOT TARGET marchingcubecpp)
endif()
endif()
+option(MUJOCO_USE_SYSTEM_qhull "Use installed qhull version." OFF)
+mark_as_advanced(MUJOCO_USE_SYSTEM_qhull)
+
set(QHULL_ENABLE_TESTING OFF)
findorfetch(
@@ -130,13 +126,9 @@ findorfetch(
USE_SYSTEM_PACKAGE
- OFF
+ ${MUJOCO_USE_SYSTEM_qhull}
OFF
PACKAGE_NAME
- qhull
+ Qhull
@@ -91,46 +48,7 @@ index 78522705..7c64e22a 100644
TARGETS
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.
-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})
+if(NOT MUJOCO_USE_SYSTEM_qhull)
+ # MuJoCo includes a file from libqhull_r which is not exported by the qhull include directories.
+ # Add it to the target.
+ 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})
+else()
+ if(NOT TARGET qhullstatic_r)
+ add_library(qhullstatic_r INTERFACE)
+ set_target_properties(qhullstatic_r PROPERTIES INTERFACE_LINK_LIBRARIES Qhull::qhull_r)
+
+ # Workaround as headers are installed in <prefix>/include/libqhull_r/something.h
+ # but mujoco include them as #include <something.h>
+ get_property(qhull_include_dirs TARGET Qhull::qhull_r PROPERTY INTERFACE_INCLUDE_DIRECTORIES)
+ foreach(qhull_include_dir IN LISTS qhull_include_dirs)
+ target_include_directories(qhullstatic_r INTERFACE ${qhull_include_dirs}/libqhull_r)
+ endforeach()
+ target_include_directories(qhullstatic_r INTERFACE )
+ endif()
+endif()
+
+option(MUJOCO_USE_SYSTEM_tinyxml2 "Use installed tinyxml2 version." OFF)
+mark_as_advanced(MUJOCO_USE_SYSTEM_tinyxml2)
set(tinyxml2_BUILD_TESTING OFF)
findorfetch(
USE_SYSTEM_PACKAGE
- OFF
+ ${MUJOCO_USE_SYSTEM_tinyxml2}
PACKAGE_NAME
@@ -157,12 +149,8 @@ findorfetch(
tinyxml2
LIBRARY_NAME
tinyxml2
@@ -143,21 +61,8 @@ index 78522705..7c64e22a 100644
+ tinyxml2::tinyxml2
EXCLUDE_FROM_ALL
)
-target_compile_options(tinyxml2 PRIVATE ${MUJOCO_MACOS_COMPILE_OPTIONS})
-target_link_options(tinyxml2 PRIVATE ${MUJOCO_MACOS_LINK_OPTIONS})
+if(NOT MUJOCO_USE_SYSTEM_tinyxml2)
+ target_compile_options(tinyxml2 PRIVATE ${MUJOCO_MACOS_COMPILE_OPTIONS})
+ target_link_options(tinyxml2 PRIVATE ${MUJOCO_MACOS_LINK_OPTIONS})
+endif()
+
+option(MUJOCO_USE_SYSTEM_tinyobjloader "Use installed tinyobjloader version." OFF)
+mark_as_advanced(MUJOCO_USE_SYSTEM_tinyobjloader)
findorfetch(
USE_SYSTEM_PACKAGE
- OFF
+ ${MUJOCO_USE_SYSTEM_tinyobjloader}
PACKAGE_NAME
target_compile_options(tinyxml2 PRIVATE ${MUJOCO_MACOS_COMPILE_OPTIONS})
@@ -175,35 +163,32 @@ findorfetch(
tinyobjloader
LIBRARY_NAME
tinyobjloader
@@ -170,17 +75,6 @@ index 78522705..7c64e22a 100644
EXCLUDE_FROM_ALL
)
+if(MUJOCO_USE_SYSTEM_tinyobjloader)
+ # As of tinyobjloader v2.0.0rc10, the tinyobjloader target is named tinyobjloader in the build,
+ # but tinyobjloader::tinyobjloader when it is installed. To deal with this, if tinyobjloader is
+ # found in the system, we create an ALIAS
+ # The following is equivalent to add_library(tinyobjloader ALIAS tinyobjloader::tinyobjloader),
+ # but compatible with CMake 3.16 . Once the minimum CMake is bumped to CMake 3.18, we can use
+ # the simpler version
+ add_library(tinyobjloader INTERFACE IMPORTED)
+ set_target_properties(tinyobjloader PROPERTIES INTERFACE_LINK_LIBRARIES tinyobjloader::tinyobjloader)
+endif()
+
+option(MUJOCO_USE_SYSTEM_sdflib "Use installed sdflib version." OFF)
+mark_as_advanced(MUJOCO_USE_SYSTEM_sdflib)
+
@@ -207,22 +101,14 @@ index 78522705..7c64e22a 100644
)
-target_compile_options(SdfLib PRIVATE ${MUJOCO_MACOS_COMPILE_OPTIONS})
-target_link_options(SdfLib PRIVATE ${MUJOCO_MACOS_LINK_OPTIONS})
+
+if(NOT MUJOCO_USE_SYSTEM_sdflib)
+ target_compile_options(SdfLib PRIVATE ${MUJOCO_MACOS_COMPILE_OPTIONS})
+ target_link_options(SdfLib PRIVATE ${MUJOCO_MACOS_LINK_OPTIONS})
+endif()
+
+option(MUJOCO_USE_SYSTEM_ccd "Use installed ccd version." OFF)
+mark_as_advanced(MUJOCO_USE_SYSTEM_ccd)
set(ENABLE_DOUBLE_PRECISION ON)
set(CCD_HIDE_ALL_SYMBOLS ON)
findorfetch(
USE_SYSTEM_PACKAGE
- OFF
+ ${MUJOCO_USE_SYSTEM_ccd}
PACKAGE_NAME
@@ -214,10 +199,6 @@ findorfetch(
ccd
LIBRARY_NAME
ccd
@@ -233,55 +119,7 @@ index 78522705..7c64e22a 100644
TARGETS
ccd
EXCLUDE_FROM_ALL
)
-target_compile_options(ccd PRIVATE ${MUJOCO_MACOS_COMPILE_OPTIONS})
-target_link_options(ccd PRIVATE ${MUJOCO_MACOS_LINK_OPTIONS})
-
-# 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(WIN32)
- if(MSVC)
- # C4005 is the MSVC equivalent of -Wmacro-redefined.
- target_compile_options(ccd PRIVATE /wd4005)
- else()
- target_compile_options(ccd PRIVATE -Wno-macro-redefined)
+
+if(NOT MUJOCO_USE_SYSTEM_ccd)
+ target_compile_options(ccd PRIVATE ${MUJOCO_MACOS_COMPILE_OPTIONS})
+ target_link_options(ccd PRIVATE ${MUJOCO_MACOS_LINK_OPTIONS})
+ # This is necessary to ensure that the any library that consumes the ccd
+ # compiled internally by MuJoCo (as static library) has CCD_EXPORT correctly
+ # defined as an empty string. For ccd itself, this is ensured by the variable
+ # CCD_HIDE_ALL_SYMBOLS set to ON before the call to findorfetch
+ # See https://github.com/danfis/libccd/pull/79
+ target_compile_definitions(ccd INTERFACE CCD_STATIC_DEFINE)
+
+ # 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(WIN32)
+ if(MSVC)
+ # C4005 is the MSVC equivalent of -Wmacro-redefined.
+ target_compile_options(ccd PRIVATE /wd4005)
+ else()
+ target_compile_options(ccd PRIVATE -Wno-macro-redefined)
+ endif()
endif()
endif()
if(MUJOCO_BUILD_TESTS)
+ option(MUJOCO_USE_SYSTEM_abseil "Use installed abseil version." OFF)
+ mark_as_advanced(MUJOCO_USE_SYSTEM_abseil)
+
set(ABSL_PROPAGATE_CXX_STD ON)
# This specific version of Abseil does not have the following variable. We need to work with BUILD_TESTING
@@ -249,15 +295,11 @@ if(MUJOCO_BUILD_TESTS)
set(ABSL_BUILD_TESTING OFF)
findorfetch(
USE_SYSTEM_PACKAGE
- OFF
+ ${MUJOCO_USE_SYSTEM_abseil}
PACKAGE_NAME
@@ -254,10 +235,6 @@ if(MUJOCO_BUILD_TESTS)
absl
LIBRARY_NAME
abseil-cpp
@@ -292,13 +130,7 @@ index 78522705..7c64e22a 100644
TARGETS
absl::core_headers
EXCLUDE_FROM_ALL
@@ -276,22 +318,20 @@ if(MUJOCO_BUILD_TESTS)
findorfetch(
USE_SYSTEM_PACKAGE
- OFF
+ ${MUJOCO_USE_SYSTEM_gtest}
PACKAGE_NAME
@@ -281,14 +258,9 @@ if(MUJOCO_BUILD_TESTS)
GTest
LIBRARY_NAME
googletest
@@ -315,19 +147,7 @@ index 78522705..7c64e22a 100644
EXCLUDE_FROM_ALL
)
+ option(MUJOCO_USE_SYSTEM_benchmark "Use installed benchmark version." OFF)
+ mark_as_advanced(MUJOCO_USE_SYSTEM_benchmark)
+
set(BENCHMARK_EXTRA_FETCH_ARGS "")
if(WIN32 AND NOT MSVC)
set(BENCHMARK_EXTRA_FETCH_ARGS
@@ -310,15 +350,11 @@ if(MUJOCO_BUILD_TESTS)
findorfetch(
USE_SYSTEM_PACKAGE
- OFF
+ ${MUJOCO_USE_SYSTEM_benchmark}
PACKAGE_NAME
@@ -315,10 +287,6 @@ if(MUJOCO_BUILD_TESTS)
benchmark
LIBRARY_NAME
benchmark
@@ -338,22 +158,14 @@ index 78522705..7c64e22a 100644
TARGETS
benchmark::benchmark
benchmark::benchmark_main
@@ -328,15 +364,18 @@ if(MUJOCO_BUILD_TESTS)
endif()
@@ -329,14 +297,12 @@ endif()
if(MUJOCO_TEST_PYTHON_UTIL)
+ option(MUJOCO_USE_SYSTEM_Eigen3 "Use installed Eigen3 version." OFF)
+ mark_as_advanced(MUJOCO_USE_SYSTEM_Eigen3)
+
add_compile_definitions(EIGEN_MPL2_ONLY)
- if(NOT TARGET eigen)
- # Support new IN_LIST if() operator.
- set(CMAKE_POLICY_DEFAULT_CMP0057 NEW)
+ if(NOT TARGET Eigen3::Eigen)
+ if(NOT MUJOCO_USE_SYSTEM_Eigen3)
+ # Support new IN_LIST if() operator.
+ set(CMAKE_POLICY_DEFAULT_CMP0057 NEW)
+ endif()
# Support new IN_LIST if() operator.
set(CMAKE_POLICY_DEFAULT_CMP0057 NEW)
FetchContent_Declare(
Eigen3
@@ -362,26 +174,6 @@ index 78522705..7c64e22a 100644
)
FetchContent_GetProperties(Eigen3)
@@ -348,6 +387,19 @@ if(MUJOCO_TEST_PYTHON_UTIL)
set_target_properties(
Eigen3::Eigen PROPERTIES INTERFACE_INCLUDE_DIRECTORIES "${eigen3_SOURCE_DIR}"
)
+
+ fetchcontent_getproperties(Eigen3)
+ # if(NOT Eigen3_POPULATED)
+ # fetchcontent_populate(Eigen3)
+
+ # # Mark the library as IMPORTED as a workaround for https://gitlab.kitware.com/cmake/cmake/-/issues/15415
+ # add_library(Eigen3::Eigen INTERFACE IMPORTED)
+ # set_target_properties(
+ # Eigen3::Eigen PROPERTIES INTERFACE_INCLUDE_DIRECTORIES "${eigen3_SOURCE_DIR}"
+ # )
+ # endif()
+ else()
+ find_package(Eigen3 REQUIRED)
endif()
endif()
endif()
diff --git a/plugin/sdf/CMakeLists.txt b/plugin/sdf/CMakeLists.txt
index 8b834971..25021fa1 100644
--- a/plugin/sdf/CMakeLists.txt