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- # Copyright 2021 DeepMind Technologies Limited
- #
- # Licensed under the Apache License, Version 2.0 (the "License");
- # you may not use this file except in compliance with the License.
- # You may obtain a copy of the License at
- #
- # https://www.apache.org/licenses/LICENSE-2.0
- #
- # Unless required by applicable law or agreed to in writing, software
- # distributed under the License is distributed on an "AS IS" BASIS,
- # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- # See the License for the specific language governing permissions and
- # limitations under the License.
- # Global compilation settings
- set(CMAKE_C_STANDARD 11)
- set(CMAKE_C_STANDARD_REQUIRED ON)
- set(CMAKE_CXX_STANDARD 17)
- set(CMAKE_CXX_STANDARD_REQUIRED ON)
- set(CMAKE_CXX_EXTENSIONS OFF)
- set(CMAKE_C_EXTENSIONS OFF)
- set(CMAKE_EXPORT_COMPILE_COMMANDS ON) # For LLVM tooling
- if(NOT CMAKE_CONFIGURATION_TYPES)
- if(NOT CMAKE_BUILD_TYPE)
- message(STATUS "Setting build type to 'Release' as none was specified.")
- set(CMAKE_BUILD_TYPE
- "Release"
- CACHE STRING "Choose the type of build, recommanded options are: Debug or Release" FORCE
- )
- endif()
- set(BUILD_TYPES
- "Debug"
- "Release"
- "MinSizeRel"
- "RelWithDebInfo"
- )
- set_property(CACHE CMAKE_BUILD_TYPE PROPERTY STRINGS ${BUILD_TYPES})
- endif()
- include(GNUInstallDirs)
- # Change the default output directory in the build structure. This is not stricly needed, but helps
- # running in Windows, such that all built executables have DLLs in the same folder as the .exe
- # files.
- set(CMAKE_RUNTIME_OUTPUT_DIRECTORY "${CMAKE_BINARY_DIR}/${CMAKE_INSTALL_BINDIR}")
- set(CMAKE_LIBRARY_OUTPUT_DIRECTORY "${CMAKE_BINARY_DIR}/${CMAKE_INSTALL_LIBDIR}")
- set(CMAKE_ARCHIVE_OUTPUT_DIRECTORY "${CMAKE_BINARY_DIR}/${CMAKE_INSTALL_LIBDIR}")
- set(OpenGL_GL_PREFERENCE GLVND)
- set(CMAKE_POSITION_INDEPENDENT_CODE ON)
- set(CMAKE_C_VISIBILITY_PRESET hidden)
- set(CMAKE_CXX_VISIBILITY_PRESET hidden)
- set(CMAKE_VISIBILITY_INLINES_HIDDEN ON)
- if(MSVC)
- add_compile_options(/Gy /Gw /Oi)
- elseif(CMAKE_CXX_COMPILER_ID STREQUAL "GNU" OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
- add_compile_options(-fdata-sections -ffunction-sections)
- endif()
- # We default to shared library.
- set(BUILD_SHARED_LIBS
- ON
- CACHE BOOL "Build Mujoco as shared library."
- )
- option(MUJOCO_ENABLE_AVX "Build binaries that require AVX instructions, if possible." ON)
- option(MUJOCO_ENABLE_AVX_INTRINSICS "Make use of hand-written AVX intrinsics, if possible." ON)
- option(MUJOCO_ENABLE_RPATH "Enable RPath support when installing Mujoco." ON)
- mark_as_advanced(MUJOCO_ENABLE_RPATH)
- if(MUJOCO_ENABLE_AVX)
- include(CheckAvxSupport)
- get_avx_compile_options(AVX_COMPILE_OPTIONS)
- else()
- set(AVX_COMPILE_OPTIONS)
- endif()
- option(MUJOCO_BUILD_MACOS_FRAMEWORKS "Build libraries as macOS Frameworks" OFF)
- # Get some extra link options.
- include(MujocoLinkOptions)
- get_mujoco_extra_link_options(EXTRA_LINK_OPTIONS)
- if(CMAKE_CXX_COMPILER_ID STREQUAL "GNU" OR (CMAKE_CXX_COMPILER_ID MATCHES "Clang" AND NOT MSVC))
- set(EXTRA_COMPILE_OPTIONS
- -Werror
- -Wall
- -Wpedantic
- -Wimplicit-fallthrough
- -Wunused
- -Wvla
- -Wno-int-in-bool-context
- -Wno-sign-compare
- -Wno-unknown-pragmas
- )
- if(CMAKE_CXX_COMPILER_ID STREQUAL "GNU")
- # Set -Wimplicit-fallthrough=5 to only allow fallthrough annotation via __attribute__.
- set(EXTRA_COMPILE_OPTIONS ${EXTRA_COMPILE_OPTIONS} -Wimplicit-fallthrough=5
- -Wno-maybe-uninitialized
- )
- endif()
- endif()
- if(NOT CMAKE_INTERPROCEDURAL_OPTIMIZATION AND (CMAKE_BUILD_TYPE AND NOT CMAKE_BUILD_TYPE STREQUAL "Debug"))
- set(CMAKE_INTERPROCEDURAL_OPTIMIZATION ON)
- endif()
- include(MujocoHarden)
- set(EXTRA_COMPILE_OPTIONS ${EXTRA_COMPILE_OPTIONS} ${MUJOCO_HARDEN_COMPILE_OPTIONS})
- set(EXTRA_LINK_OPTIONS ${EXTRA_LINK_OPTIONS} ${MUJOCO_HARDEN_LINK_OPTIONS})
- if(WIN32)
- add_definitions(-D_CRT_SECURE_NO_WARNINGS -D_CRT_SECURE_NO_DEPRECATE)
- endif()
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