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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.
- include(FindOrFetch)
- if(SAMPLE_STANDALONE)
- # If standalone, by default look for MuJoCo binary version.
- set(DEFAULT_USE_SYSTEM_MUJOCO ON)
- else()
- set(DEFAULT_USE_SYSTEM_MUJOCO OFF)
- endif()
- option(MUJOCO_SAMPLES_USE_SYSTEM_MUJOCO "Use installed MuJoCo version."
- ${DEFAULT_USE_SYSTEM_MUJOCO}
- )
- unset(DEFAULT_USE_SYSTEM_MUJOCO)
- option(MUJOCO_SAMPLES_USE_SYSTEM_MUJOCO "Use installed MuJoCo version." OFF)
- option(MUJOCO_SAMPLES_USE_SYSTEM_GLFW "Use installed GLFW version." OFF)
- set(MUJOCO_DEP_VERSION_glfw3
- 7482de6071d21db77a7236155da44c172a7f6c9e # 3.3.8
- CACHE STRING "Version of `glfw` to be fetched."
- )
- mark_as_advanced(MUJOCO_DEP_VERSION_glfw3)
- find_package(Threads REQUIRED)
- set(MUJOCO_BUILD_EXAMPLES OFF)
- set(MUJOCO_BUILD_TESTS OFF)
- set(MUJOCO_BUILD_PYTHON OFF)
- set(MUJOCO_TEST_PYTHON_UTIL OFF)
- findorfetch(
- USE_SYSTEM_PACKAGE
- MUJOCO_SAMPLES_USE_SYSTEM_MUJOCO
- PACKAGE_NAME
- mujoco
- LIBRARY_NAME
- mujoco
- GIT_REPO
- https://github.com/google-deepmind/mujoco.git
- GIT_TAG
- main
- TARGETS
- mujoco
- EXCLUDE_FROM_ALL
- )
- option(MUJOCO_EXTRAS_STATIC_GLFW
- "Link MuJoCo sample apps and simulate libraries against GLFW statically." ON
- )
- if(MUJOCO_EXTRAS_STATIC_GLFW)
- set(BUILD_SHARED_LIBS_OLD ${BUILD_SHARED_LIBS})
- set(BUILD_SHARED_LIBS
- OFF
- CACHE INTERNAL "Build SHARED libraries"
- )
- endif()
- set(GLFW_BUILD_EXAMPLES OFF)
- set(GLFW_BUILD_TESTS OFF)
- set(GLFW_BUILD_DOCS OFF)
- set(GLFW_INSTALL OFF)
- findorfetch(
- USE_SYSTEM_PACKAGE
- MUJOCO_SAMPLES_USE_SYSTEM_GLFW
- PACKAGE_NAME
- glfw3
- LIBRARY_NAME
- glfw3
- GIT_REPO
- https://github.com/glfw/glfw.git
- GIT_TAG
- ${MUJOCO_DEP_VERSION_glfw3}
- TARGETS
- glfw
- EXCLUDE_FROM_ALL
- )
- if(MUJOCO_EXTRAS_STATIC_GLFW)
- set(BUILD_SHARED_LIBS
- ${BUILD_SHARED_LIBS_OLD}
- CACHE BOOL "Build SHARED libraries" FORCE
- )
- unset(BUILD_SHARED_LIBS_OLD)
- endif()
- if(NOT SAMPLE_STANDALONE)
- target_compile_options(glfw PRIVATE ${MUJOCO_MACOS_COMPILE_OPTIONS})
- target_link_options(glfw PRIVATE ${MUJOCO_MACOS_LINK_OPTIONS})
- endif()
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