mirror of
https://github.com/NixOS/nixpkgs.git
synced 2024-12-03 04:13:01 +00:00
520 lines
16 KiB
Diff
520 lines
16 KiB
Diff
diff --git a/CMakeLists.txt b/CMakeLists.txt
|
|
index eea180c0..efb39178 100644
|
|
--- a/CMakeLists.txt
|
|
+++ b/CMakeLists.txt
|
|
@@ -93,7 +93,7 @@ add_subdirectory(src/render)
|
|
add_subdirectory(src/thread)
|
|
add_subdirectory(src/ui)
|
|
|
|
-target_compile_definitions(mujoco PRIVATE _GNU_SOURCE CCD_STATIC_DEFINE MUJOCO_DLL_EXPORTS -DMC_IMPLEM_ENABLE)
|
|
+target_compile_definitions(mujoco PRIVATE _GNU_SOURCE MUJOCO_DLL_EXPORTS -DMC_IMPLEM_ENABLE)
|
|
if(MUJOCO_ENABLE_AVX_INTRINSICS)
|
|
target_compile_definitions(mujoco PUBLIC mjUSEPLATFORMSIMD)
|
|
endif()
|
|
@@ -118,7 +118,7 @@ target_link_libraries(
|
|
lodepng
|
|
qhullstatic_r
|
|
tinyobjloader
|
|
- tinyxml2
|
|
+ tinyxml2::tinyxml2
|
|
)
|
|
|
|
set_target_properties(
|
|
diff --git a/cmake/MujocoDependencies.cmake b/cmake/MujocoDependencies.cmake
|
|
index 44962272..656beeb8 100644
|
|
--- a/cmake/MujocoDependencies.cmake
|
|
+++ b/cmake/MujocoDependencies.cmake
|
|
@@ -93,28 +93,36 @@ 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()
|
|
|
|
if(NOT TARGET marchingcubecpp)
|
|
FetchContent_Declare(
|
|
marchingcubecpp
|
|
- GIT_REPOSITORY https://github.com/aparis69/MarchingCubeCpp.git
|
|
- GIT_TAG ${MUJOCO_DEP_VERSION_MarchingCubeCpp}
|
|
)
|
|
|
|
FetchContent_GetProperties(marchingcubecpp)
|
|
@@ -124,119 +132,158 @@ 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(
|
|
USE_SYSTEM_PACKAGE
|
|
- OFF
|
|
+ ${MUJOCO_USE_SYSTEM_qhull}
|
|
PACKAGE_NAME
|
|
- qhull
|
|
+ Qhull
|
|
LIBRARY_NAME
|
|
qhull
|
|
- GIT_REPO
|
|
- https://github.com/qhull/qhull.git
|
|
- GIT_TAG
|
|
- ${MUJOCO_DEP_VERSION_qhull}
|
|
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
|
|
tinyxml2
|
|
LIBRARY_NAME
|
|
tinyxml2
|
|
- GIT_REPO
|
|
- https://github.com/leethomason/tinyxml2.git
|
|
- GIT_TAG
|
|
- ${MUJOCO_DEP_VERSION_tinyxml2}
|
|
TARGETS
|
|
- tinyxml2
|
|
+ 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
|
|
tinyobjloader
|
|
LIBRARY_NAME
|
|
tinyobjloader
|
|
- GIT_REPO
|
|
- https://github.com/tinyobjloader/tinyobjloader.git
|
|
- GIT_TAG
|
|
- ${MUJOCO_DEP_VERSION_tinyobjloader}
|
|
TARGETS
|
|
tinyobjloader
|
|
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)
|
|
+
|
|
option(SDFLIB_USE_ASSIMP OFF)
|
|
option(SDFLIB_USE_OPENMP OFF)
|
|
option(SDFLIB_USE_ENOKI OFF)
|
|
+
|
|
findorfetch(
|
|
USE_SYSTEM_PACKAGE
|
|
- OFF
|
|
+ ${MUJOCO_USE_SYSTEM_sdflib}
|
|
PACKAGE_NAME
|
|
- sdflib
|
|
+ SdfLib
|
|
LIBRARY_NAME
|
|
sdflib
|
|
- GIT_REPO
|
|
- https://github.com/UPC-ViRVIG/SdfLib.git
|
|
- GIT_TAG
|
|
- ${MUJOCO_DEP_VERSION_sdflib}
|
|
TARGETS
|
|
- SdfLib
|
|
+ SdfLib::SdfLib
|
|
EXCLUDE_FROM_ALL
|
|
)
|
|
-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
|
|
ccd
|
|
LIBRARY_NAME
|
|
ccd
|
|
- GIT_REPO
|
|
- https://github.com/danfis/libccd.git
|
|
- GIT_TAG
|
|
- ${MUJOCO_DEP_VERSION_ccd}
|
|
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 +296,11 @@ if(MUJOCO_BUILD_TESTS)
|
|
set(ABSL_BUILD_TESTING OFF)
|
|
findorfetch(
|
|
USE_SYSTEM_PACKAGE
|
|
- OFF
|
|
+ ${MUJOCO_USE_SYSTEM_abseil}
|
|
PACKAGE_NAME
|
|
absl
|
|
LIBRARY_NAME
|
|
abseil-cpp
|
|
- GIT_REPO
|
|
- https://github.com/abseil/abseil-cpp.git
|
|
- GIT_TAG
|
|
- ${MUJOCO_DEP_VERSION_abseil}
|
|
TARGETS
|
|
absl::core_headers
|
|
EXCLUDE_FROM_ALL
|
|
@@ -268,6 +311,9 @@ if(MUJOCO_BUILD_TESTS)
|
|
CACHE BOOL "Build tests." FORCE
|
|
)
|
|
|
|
+ option(MUJOCO_USE_SYSTEM_gtest "Use installed gtest version." OFF)
|
|
+ mark_as_advanced(MUJOCO_USE_SYSTEM_gtest)
|
|
+
|
|
# Avoid linking errors on Windows by dynamically linking to the C runtime.
|
|
set(gtest_force_shared_crt
|
|
ON
|
|
@@ -276,22 +322,20 @@ if(MUJOCO_BUILD_TESTS)
|
|
|
|
findorfetch(
|
|
USE_SYSTEM_PACKAGE
|
|
- OFF
|
|
+ ${MUJOCO_USE_SYSTEM_gtest}
|
|
PACKAGE_NAME
|
|
GTest
|
|
LIBRARY_NAME
|
|
googletest
|
|
- GIT_REPO
|
|
- https://github.com/google/googletest.git
|
|
- GIT_TAG
|
|
- ${MUJOCO_DEP_VERSION_gtest}
|
|
TARGETS
|
|
- gtest
|
|
- gmock
|
|
- gtest_main
|
|
+ GTest::gmock
|
|
+ GTest::gtest_main
|
|
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 +354,11 @@ if(MUJOCO_BUILD_TESTS)
|
|
|
|
findorfetch(
|
|
USE_SYSTEM_PACKAGE
|
|
- OFF
|
|
+ ${MUJOCO_USE_SYSTEM_benchmark}
|
|
PACKAGE_NAME
|
|
benchmark
|
|
LIBRARY_NAME
|
|
benchmark
|
|
- GIT_REPO
|
|
- https://github.com/google/benchmark.git
|
|
- GIT_TAG
|
|
- ${MUJOCO_DEP_VERSION_benchmark}
|
|
TARGETS
|
|
benchmark::benchmark
|
|
benchmark::benchmark_main
|
|
@@ -328,15 +368,18 @@ if(MUJOCO_BUILD_TESTS)
|
|
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()
|
|
|
|
FetchContent_Declare(
|
|
Eigen3
|
|
- GIT_REPOSITORY https://gitlab.com/libeigen/eigen.git
|
|
- GIT_TAG ${MUJOCO_DEP_VERSION_Eigen3}
|
|
)
|
|
|
|
FetchContent_GetProperties(Eigen3)
|
|
@@ -348,6 +391,19 @@ if(MUJOCO_TEST_PYTHON_UTIL)
|
|
set_target_properties(
|
|
Eigen3::Eigen PROPERTIES INTERFACE_INCLUDE_DIRECTORIES "${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 3e216fc4..e7e3a1eb 100644
|
|
--- a/plugin/sdf/CMakeLists.txt
|
|
+++ b/plugin/sdf/CMakeLists.txt
|
|
@@ -37,7 +37,7 @@ set(MUJOCO_SDF_SRCS
|
|
add_library(sdf SHARED)
|
|
target_sources(sdf PRIVATE ${MUJOCO_SDF_SRCS})
|
|
target_include_directories(sdf PRIVATE ${MUJOCO_SDF_INCLUDE})
|
|
-target_link_libraries(sdf PRIVATE mujoco SdfLib)
|
|
+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 666a3725..d89bb499 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 5141406c..75ff7884 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
|
|
- ${MUJOCO_DEP_VERSION_glfw3}
|
|
TARGETS
|
|
glfw
|
|
EXCLUDE_FROM_ALL
|
|
diff --git a/test/CMakeLists.txt b/test/CMakeLists.txt
|
|
index 122760a9..ddd90819 100644
|
|
--- a/test/CMakeLists.txt
|
|
+++ b/test/CMakeLists.txt
|
|
@@ -30,7 +30,7 @@ macro(mujoco_test name)
|
|
)
|
|
|
|
add_executable(${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.
|
|
@@ -60,20 +60,20 @@ target_link_libraries(
|
|
absl::synchronization
|
|
absl::flat_hash_map
|
|
absl::flat_hash_set
|
|
- 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(fixture_test fixture GTest::gmock)
|
|
|
|
mujoco_test(pipeline_test)
|
|
-target_link_libraries(pipeline_test fixture gmock)
|
|
+target_link_libraries(fixture_test fixture GTest::gmock)
|
|
|
|
add_subdirectory(benchmark)
|
|
add_subdirectory(engine)
|