Merge pull request #266099 from tmplt/feat/mujoco-3.0.0

mujoco: 2.3.7 -> 3.0.1, add Python bindings

4 files changed, 882 insertions, 204 deletions

diff --git a/pkgs/applications/science/robotics/mujoco/default.nix b/pkgs/applications/science/robotics/mujoco/default.nix
index c4f84e158399..139e1140e7c9 100644
--- a/pkgs/applications/science/robotics/mujoco/default.nix
+++ b/pkgs/applications/science/robotics/mujoco/default.nix
@@ -1,122 +1,184 @@
-{ cmake
+{ cereal_1_3_2
+, cmake
 , fetchFromGitHub
 , fetchFromGitLab
-, git
+, glfw
+, glm
 , lib
-, libGL
+, spdlog
 , stdenv
-, xorg
 }:
 
 let
-  # See https://github.com/deepmind/mujoco/blob/c9246e1f5006379d599e0bcddf159a8616d31441/cmake/MujocoDependencies.cmake#L17-L55
-  abseil-cpp = fetchFromGitHub {
-    owner = "abseil";
-    repo = "abseil-cpp";
-    rev = "c2435f8342c2d0ed8101cb43adfd605fdc52dca2";
-    hash = "sha256-PLoI7ix+reUqkZ947kWzls8lujYqWXk9A9a55UcfahI=";
-  };
-  benchmark = fetchFromGitHub {
-    owner = "google";
-    repo = "benchmark";
-    rev = "2dd015dfef425c866d9a43f2c67d8b52d709acb6";
-    hash = "sha256-pUW9YVaujs/y00/SiPqDgK4wvVsaM7QUp/65k0t7Yr0=";
-  };
-  ccd = fetchFromGitHub {
-    owner = "danfis";
-    repo = "libccd";
-    rev = "7931e764a19ef6b21b443376c699bbc9c6d4fba8";
-    hash = "sha256-TIZkmqQXa0+bSWpqffIgaBela0/INNsX9LPM026x1Wk=";
-  };
-  eigen3 = fetchFromGitLab {
-    owner = "libeigen";
-    repo = "eigen";
-    rev = "211c5dfc6741a5570ad007983c113ef4d144f9f3";
-    hash = "sha256-oT/h8QkL0vwaflh46Zsnu9Db1b65AP6p//nAga8M5jI=";
-  };
-  googletest = fetchFromGitHub {
-    owner = "google";
-    repo = "googletest";
-    rev = "b796f7d44681514f58a683a3a71ff17c94edb0c1";
-    hash = "sha256-LVLEn+e7c8013pwiLzJiiIObyrlbBHYaioO/SWbItPQ=";
-  };
-  lodepng = fetchFromGitHub {
-    owner = "lvandeve";
-    repo = "lodepng";
-    rev = "b4ed2cd7ecf61d29076169b49199371456d4f90b";
-    hash = "sha256-5cCkdj/izP4e99BKfs/Mnwu9aatYXjlyxzzYiMD/y1M=";
-  };
-  qhull = fetchFromGitHub {
-    owner = "qhull";
-    repo = "qhull";
-    rev = "0c8fc90d2037588024d9964515c1e684f6007ecc";
-    hash = "sha256-Ptzxad3ewmKJbbcmrBT+os4b4SR976zlCG9F0nq0x94=";
-  };
-  tinyobjloader = fetchFromGitHub {
-    owner = "tinyobjloader";
-    repo = "tinyobjloader";
-    rev = "1421a10d6ed9742f5b2c1766d22faa6cfbc56248";
-    hash = "sha256-9z2Ne/WPCiXkQpT8Cun/pSGUwgClYH+kQ6Dx1JvW6w0=";
-  };
-  tinyxml2 = fetchFromGitHub {
-    owner = "leethomason";
-    repo = "tinyxml2";
-    rev = "9a89766acc42ddfa9e7133c7d81a5bda108a0ade";
-    hash = "sha256-YGAe4+Ttv/xeou+9FoJjmQCKgzupTYdDhd+gzvtz/88=";
-  };
+  pin = {
+
+    # See https://github.com/google-deepmind/mujoco/blob/3.0.0/cmake/MujocoDependencies.cmake#L17-L64
+    abseil-cpp = fetchFromGitHub {
+      owner = "abseil";
+      repo = "abseil-cpp";
+      rev = "fb3621f4f897824c0dbe0615fa94543df6192f30";
+      hash = "sha256-uNGrTNg5G5xFGtc+BSWE389x0tQ/KxJQLHfebNWas/k=";
+    };
+    benchmark = fetchFromGitHub {
+      owner = "google";
+      repo = "benchmark";
+      rev = "344117638c8ff7e239044fd0fa7085839fc03021";
+      hash = "sha256-gztnxui9Fe/FTieMjdvfJjWHjkImtlsHn6fM1FruyME=";
+    };
+    ccd = fetchFromGitHub {
+      owner = "danfis";
+      repo = "libccd";
+      rev = "7931e764a19ef6b21b443376c699bbc9c6d4fba8";
+      hash = "sha256-TIZkmqQXa0+bSWpqffIgaBela0/INNsX9LPM026x1Wk=";
+    };
+    eigen3 = fetchFromGitLab {
+      owner = "libeigen";
+      repo = "eigen";
+      rev = "e8515f78ac098329ab9f8cab21c87caede090a3f";
+      hash = "sha256-HXKtFJsKGpug+wNPjYynTuyaG0igo3oG4rFQktveh1g=";
+    };
+    googletest = fetchFromGitHub {
+      owner = "google";
+      repo = "googletest";
+      rev = "f8d7d77c06936315286eb55f8de22cd23c188571";
+      hash = "sha256-t0RchAHTJbuI5YW4uyBPykTvcjy90JW9AOPNjIhwh6U=";
+    };
+    lodepng = fetchFromGitHub {
+      owner = "lvandeve";
+      repo = "lodepng";
+      rev = "b4ed2cd7ecf61d29076169b49199371456d4f90b";
+      hash = "sha256-5cCkdj/izP4e99BKfs/Mnwu9aatYXjlyxzzYiMD/y1M=";
+    };
+    qhull = fetchFromGitHub {
+      owner = "qhull";
+      repo = "qhull";
+      rev = "0c8fc90d2037588024d9964515c1e684f6007ecc";
+      hash = "sha256-Ptzxad3ewmKJbbcmrBT+os4b4SR976zlCG9F0nq0x94=";
+    };
+    tinyobjloader = fetchFromGitHub {
+      owner = "tinyobjloader";
+      repo = "tinyobjloader";
+      rev = "1421a10d6ed9742f5b2c1766d22faa6cfbc56248";
+      hash = "sha256-9z2Ne/WPCiXkQpT8Cun/pSGUwgClYH+kQ6Dx1JvW6w0=";
+    };
+    tinyxml2 = fetchFromGitHub {
+      owner = "leethomason";
+      repo = "tinyxml2";
+      rev = "9a89766acc42ddfa9e7133c7d81a5bda108a0ade";
+      hash = "sha256-YGAe4+Ttv/xeou+9FoJjmQCKgzupTYdDhd+gzvtz/88=";
+    };
+    marchingcubecpp = fetchFromGitHub {
+      owner = "aparis69";
+      repo = "MarchingCubeCpp";
+      rev = "5b79e5d6bded086a0abe276a4b5a69fc17ae9bf1";
+      hash = "sha256-L0DH1GJZ/3vatQAU/KZj/2xTKE6Fwcw9eQYzLdqX2N4=";
+    };
+
+    tmd = stdenv.mkDerivation rec {
+      name = "TriangleMeshDistance";
+
+      src = fetchFromGitHub {
+        owner = "InteractiveComputerGraphics";
+        repo = name;
+        rev = "e55a15c20551f36242fd6368df099a99de71d43a";
+        hash = "sha256-vj6TMMT8mp7ciLa5nzVAhMWPcAHXq+ZwHlWsRA3uCmg=";
+      };
+
+      installPhase = ''
+        mkdir -p $out/include/tmd
+        cp ${name}/include/tmd/${name}.h $out/include/tmd/
+      '';
+    };
+
+    sdflib = stdenv.mkDerivation rec {
+      name = "SdfLib";
+
+      src = fetchFromGitHub {
+        owner = "UPC-ViRVIG";
+        repo = name;
+        rev = "7c49cfba9bbec763b5d0f7b90b26555f3dde8088";
+        hash = "sha256-5bnQ3rHH9Pw1jRVpZpamFnhIJHWnGm6krgZgIBqNtVg=";
+      };
+
+      patches = [ ./sdflib-system-deps.patch ];
+
+      cmakeFlags = [
+        "-DSDFLIB_USE_ASSIMP=OFF"
+        "-DSDFLIB_USE_OPENMP=OFF"
+        "-DSDFLIB_USE_ENOKI=OFF"
+        "-DSDFLIB_USE_SYSTEM_GLM=ON"
+        "-DSDFLIB_USE_SYSTEM_SPDLOG=ON"
+        "-DSDFLIB_USE_SYSTEM_CEREAL=ON"
+        "-DSDFLIB_USE_SYSTEM_TRIANGLEMESHDISTANCE=ON"
+      ];
+
+      nativeBuildInputs = [ cmake ];
+      buildInputs = [
+        pin.tmd
+
+        # Mainline. The otherwise pinned glm realease from 2018 does
+        # not build due to test failures and missing files.
+        glm
+
+        spdlog
+        cereal_1_3_2
+      ];
+    };
 
-  # See https://github.com/deepmind/mujoco/blob/c9246e1f5006379d599e0bcddf159a8616d31441/simulate/cmake/SimulateDependencies.cmake#L32-L35
-  glfw3 = fetchFromGitHub {
-    owner = "glfw";
-    repo = "glfw";
-    rev = "7482de6071d21db77a7236155da44c172a7f6c9e";
-    hash = "sha256-4+H0IXjAwbL5mAWfsIVhW0BSJhcWjkQx4j2TrzZ3aIo=";
   };
-in
-stdenv.mkDerivation rec {
+
+in stdenv.mkDerivation rec {
   pname = "mujoco";
-  version = "2.3.7";
+  version = "3.0.1";
 
   src = fetchFromGitHub {
-    owner = "deepmind";
+    owner = "google-deepmind";
     repo = pname;
     rev = version;
-    hash = "sha256-LgpA+iPGqciHuWBSD6/7yvZ7p+vo48ZYKjjrDZSnAwE=";
+    hash = "sha256-UXE+7KDti8RarpoJoo9Ei3TgW/Qdnj3ASRo8uTWhGrU=";
   };
 
-  patches = [ ./dependencies.patch ];
+  patches = [ ./mujoco-system-deps-dont-fetch.patch ];
 
-  nativeBuildInputs = [ cmake git ];
+  nativeBuildInputs = [ cmake ];
 
   buildInputs = [
-    libGL
-    xorg.libX11
-    xorg.libXcursor
-    xorg.libXext
-    xorg.libXi
-    xorg.libXinerama
-    xorg.libXrandr
+    pin.sdflib
+    glm
+
+    # non-numerical
+    spdlog
+    cereal_1_3_2
+    glfw
+  ];
+
+  cmakeFlags = [
+    "-DMUJOCO_USE_SYSTEM_sdflib=ON"
+    "-DMUJOCO_SIMULATE_USE_SYSTEM_GLFW=ON"
+    "-DMUJOCO_SAMPLES_USE_SYSTEM_GLFW=ON"
   ];
 
   # Move things into place so that cmake doesn't try downloading dependencies.
   preConfigure = ''
     mkdir -p build/_deps
-    ln -s ${abseil-cpp} build/_deps/abseil-cpp-src
-    ln -s ${benchmark} build/_deps/benchmark-src
-    ln -s ${ccd} build/_deps/ccd-src
-    ln -s ${eigen3} build/_deps/eigen3-src
-    ln -s ${glfw3} build/_deps/glfw3-src
-    ln -s ${googletest} build/_deps/googletest-src
-    ln -s ${lodepng} build/_deps/lodepng-src
-    ln -s ${qhull} build/_deps/qhull-src
-    ln -s ${tinyobjloader} build/_deps/tinyobjloader-src
-    ln -s ${tinyxml2} build/_deps/tinyxml2-src
+    ln -s ${pin.abseil-cpp} build/_deps/abseil-cpp-src
+    ln -s ${pin.benchmark} build/_deps/benchmark-src
+    ln -s ${pin.ccd} build/_deps/ccd-src
+    ln -s ${pin.eigen3} build/_deps/eigen3-src
+    ln -s ${pin.googletest} build/_deps/googletest-src
+    ln -s ${pin.lodepng} build/_deps/lodepng-src
+    ln -s ${pin.qhull} build/_deps/qhull-src
+    ln -s ${pin.tinyobjloader} build/_deps/tinyobjloader-src
+    ln -s ${pin.tinyxml2} build/_deps/tinyxml2-src
+    ln -s ${pin.marchingcubecpp} build/_deps/marchingcubecpp-src
   '';
 
+  passthru.pin = { inherit (pin) lodepng eigen3 abseil-cpp; };
+
   meta = with lib; {
     description = "Multi-Joint dynamics with Contact. A general purpose physics simulator.";
     homepage = "https://mujoco.org/";
     license = licenses.asl20;
-    maintainers = with maintainers; [ samuela ];
+    maintainers = with maintainers; [ samuela tmplt ];
   };
 }
diff --git a/pkgs/applications/science/robotics/mujoco/dependencies.patch b/pkgs/applications/science/robotics/mujoco/dependencies.patch
deleted file mode 100644
index f7dcc06a9e05..000000000000
--- a/pkgs/applications/science/robotics/mujoco/dependencies.patch
+++ /dev/null
@@ -1,114 +0,0 @@
-diff --git a/cmake/MujocoDependencies.cmake b/cmake/MujocoDependencies.cmake
-index 3e322ea..980aace 100644
---- a/cmake/MujocoDependencies.cmake
-+++ b/cmake/MujocoDependencies.cmake
-@@ -87,8 +87,6 @@ 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}
-   )
- 
-   FetchContent_GetProperties(lodepng)
-@@ -127,10 +125,6 @@ findorfetch(
-   qhull
-   LIBRARY_NAME
-   qhull
--  GIT_REPO
--  https://github.com/qhull/qhull.git
--  GIT_TAG
--  ${MUJOCO_DEP_VERSION_qhull}
-   TARGETS
-   qhull
-   EXCLUDE_FROM_ALL
-@@ -151,10 +145,6 @@ findorfetch(
-   tinyxml2
-   LIBRARY_NAME
-   tinyxml2
--  GIT_REPO
--  https://github.com/leethomason/tinyxml2.git
--  GIT_TAG
--  ${MUJOCO_DEP_VERSION_tinyxml2}
-   TARGETS
-   tinyxml2
-   EXCLUDE_FROM_ALL
-@@ -169,10 +159,6 @@ findorfetch(
-   tinyobjloader
-   LIBRARY_NAME
-   tinyobjloader
--  GIT_REPO
--  https://github.com/tinyobjloader/tinyobjloader.git
--  GIT_TAG
--  ${MUJOCO_DEP_VERSION_tinyobjloader}
-   TARGETS
-   tinyobjloader
-   EXCLUDE_FROM_ALL
-@@ -187,10 +173,6 @@ findorfetch(
-   ccd
-   LIBRARY_NAME
-   ccd
--  GIT_REPO
--  https://github.com/danfis/libccd.git
--  GIT_TAG
--  ${MUJOCO_DEP_VERSION_ccd}
-   TARGETS
-   ccd
-   EXCLUDE_FROM_ALL
-@@ -227,10 +209,6 @@ if(MUJOCO_BUILD_TESTS)
-     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
-@@ -254,10 +232,6 @@ if(MUJOCO_BUILD_TESTS)
-     GTest
-     LIBRARY_NAME
-     googletest
--    GIT_REPO
--    https://github.com/google/googletest.git
--    GIT_TAG
--    ${MUJOCO_DEP_VERSION_gtest}
-     TARGETS
-     gtest
-     gmock
-@@ -288,10 +262,6 @@ if(MUJOCO_BUILD_TESTS)
-     benchmark
-     LIBRARY_NAME
-     benchmark
--    GIT_REPO
--    https://github.com/google/benchmark.git
--    GIT_TAG
--    ${MUJOCO_DEP_VERSION_benchmark}
-     TARGETS
-     benchmark::benchmark
-     benchmark::benchmark_main
-@@ -308,8 +278,6 @@ if(MUJOCO_TEST_PYTHON_UTIL)
- 
-     FetchContent_Declare(
-       Eigen3
--      GIT_REPOSITORY https://gitlab.com/libeigen/eigen.git
--      GIT_TAG ${MUJOCO_DEP_VERSION_Eigen3}
-     )
- 
-     FetchContent_GetProperties(Eigen3)
-diff --git a/simulate/cmake/SimulateDependencies.cmake b/simulate/cmake/SimulateDependencies.cmake
-index fa539c2..5985d5a 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/pkgs/applications/science/robotics/mujoco/mujoco-system-deps-dont-fetch.patch b/pkgs/applications/science/robotics/mujoco/mujoco-system-deps-dont-fetch.patch
new file mode 100644
index 000000000000..15373eb0b60f
--- /dev/null
+++ b/pkgs/applications/science/robotics/mujoco/mujoco-system-deps-dont-fetch.patch
@@ -0,0 +1,538 @@
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index 285250b..32d03e3 100644
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -92,7 +92,7 @@ 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()
+@@ -117,7 +117,7 @@ target_link_libraries(
+           lodepng
+           qhullstatic_r
+           tinyobjloader
+-          tinyxml2
++          tinyxml2::tinyxml2
+ )
+ 
+ set_target_properties(
+diff --git a/cmake/MujocoDependencies.cmake b/cmake/MujocoDependencies.cmake
+index 4e3e2c8..f6143d9 100644
+--- a/cmake/MujocoDependencies.cmake
++++ b/cmake/MujocoDependencies.cmake
+@@ -90,153 +90,203 @@ set(BUILD_SHARED_LIBS
+     CACHE INTERNAL "Build SHARED libraries"
+ )
+ 
++
+ if(NOT TARGET lodepng)
+-  FetchContent_Declare(
++  fetchcontent_declare(
+     lodepng
+-    GIT_REPOSITORY https://github.com/lvandeve/lodepng.git
+-    GIT_TAG ${MUJOCO_DEP_VERSION_lodepng}
+   )
++endif()
++
++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})
++    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(
++  fetchcontent_declare(
+     marchingcubecpp
+-    GIT_REPOSITORY https://github.com/aparis69/MarchingCubeCpp.git
+-    GIT_TAG ${MUJOCO_DEP_VERSION_MarchingCubeCpp}
+   )
+ 
+-  FetchContent_GetProperties(marchingcubecpp)
++  fetchcontent_getproperties(marchingcubecpp)
+   if(NOT marchingcubecpp_POPULATED)
+-    FetchContent_Populate(marchingcubecpp)
++    fetchcontent_populate(marchingcubecpp)
+     include_directories(${marchingcubecpp_SOURCE_DIR})
+   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 +299,11 @@ 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 +314,9 @@ 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 +325,20 @@ 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 +357,11 @@ 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
+@@ -328,26 +371,42 @@ 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(
++    fetchcontent_declare(
+       Eigen3
+-      GIT_REPOSITORY https://gitlab.com/libeigen/eigen.git
+-      GIT_TAG ${MUJOCO_DEP_VERSION_Eigen3}
+     )
+ 
+-    FetchContent_GetProperties(Eigen3)
++    fetchcontent_getproperties(Eigen3)
+     if(NOT Eigen3_POPULATED)
+-      FetchContent_Populate(Eigen3)
++      fetchcontent_populate(Eigen3)
+ 
+       # Mark the library as IMPORTED as a workaround for https://gitlab.kitware.com/cmake/cmake/-/issues/15415
+       add_library(Eigen3::Eigen INTERFACE IMPORTED)
+       set_target_properties(
+         Eigen3::Eigen PROPERTIES INTERFACE_INCLUDE_DIRECTORIES "${eigen3_SOURCE_DIR}"
+       )
++
++      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 3e216fc..e7e3a1e 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 666a372..d89bb49 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 5141406..75ff788 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
+-  ${MUJOCO_DEP_VERSION_glfw3}
+   TARGETS
+   glfw
+   EXCLUDE_FROM_ALL
+diff --git a/test/CMakeLists.txt b/test/CMakeLists.txt
+index 6bec911..2a16c21 100644
+--- a/test/CMakeLists.txt
++++ b/test/CMakeLists.txt
+@@ -30,7 +30,7 @@ macro(mujoco_test name)
+   )
+ 
+   add_executable(${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.
+@@ -59,20 +59,20 @@ target_link_libraries(
+   PUBLIC absl::core_headers
+          absl::strings
+          absl::synchronization
+-         gtest
+-         gmock
++         GTest::gtest
++         GTest::gmock
+          mujoco::mujoco
+ )
+ target_include_directories(fixture PRIVATE ${mujoco_SOURCE_DIR}/include gmock)
+ 
+ mujoco_test(fixture_test)
+-target_link_libraries(fixture_test fixture gmock)
++target_link_libraries(fixture_test fixture GTest::gmock)
+ 
+ mujoco_test(header_test)
+-target_link_libraries(header_test fixture gmock)
++target_link_libraries(header_test fixture GTest::gmock)
+ 
+ mujoco_test(pipeline_test)
+-target_link_libraries(pipeline_test fixture gmock)
++target_link_libraries(pipeline_test fixture GTest::gmock)
+ 
+ add_subdirectory(benchmark)
+ add_subdirectory(engine)
diff --git a/pkgs/applications/science/robotics/mujoco/sdflib-system-deps.patch b/pkgs/applications/science/robotics/mujoco/sdflib-system-deps.patch
new file mode 100644
index 000000000000..ca84c60a63df
--- /dev/null
+++ b/pkgs/applications/science/robotics/mujoco/sdflib-system-deps.patch
@@ -0,0 +1,192 @@
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index 251c456..3d30231 100644
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -27,7 +27,7 @@ option(SDFLIB_USE_SYSTEM_GLM "Use glm library via find_package instead of downlo
+ option(SDFLIB_USE_SYSTEM_SPDLOG "Use spdlog library via find_package instead of downloading it" OFF)
+ option(SDFLIB_USE_SYSTEM_CEREAL "Use cereal library via find_package instead of downloading it" OFF)
+ option(SDFLIB_USE_SYSTEM_ASSIMP "Use assimp library via find_package instead of downloading it" OFF)
+-
++option(SDFLIB_USE_SYSTEM_TRIANGLEMESHDISTANCE "Use TriangleMeshDistance library via system includes instead of downloading it" OFF)
+ 
+ if(SDFLIB_DEBUG_INFO)
+     add_compile_definitions(SDFLIB_PRINT_STATISTICS)
+@@ -55,13 +55,52 @@ file(GLOB UTILS_SOURCE_FILES src/utils/*.cpp)
+ file(GLOB UTILS_HEADER_FILES src/utils/*.h)
+ 
+ # Add libraries
+-add_library(${PROJECT_NAME} STATIC  ${SOURCE_FILES} ${HEADER_FILES} ${PUBLIC_HEADER_FILES}
+-                                    ${SDF_SOURCE_FILES} ${SDF_HEADER_FILES}
+-                                    ${UTILS_SOURCE_FILES} ${UTILS_HEADER_FILES})
+-
+-target_include_directories(${PROJECT_NAME} PUBLIC include/)
++add_library(${PROJECT_NAME} ${SOURCE_FILES} ${HEADER_FILES} ${PUBLIC_HEADER_FILES}
++                            ${SDF_SOURCE_FILES} ${SDF_HEADER_FILES}
++                            ${UTILS_SOURCE_FILES} ${UTILS_HEADER_FILES})
++add_library(${PROJECT_NAME}::${PROJECT_NAME} ALIAS ${PROJECT_NAME})
++if(BUILD_SHARED_LIBS AND WIN32)
++    set_target_properties(${PROJECT_NAME} PROPERTIES WINDOWS_EXPORT_ALL_SYMBOLS ON)
++endif()
++include(GNUInstallDirs)
++target_include_directories(${PROJECT_NAME} PUBLIC $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
++                                                  $<INSTALL_INTERFACE:${CMAKE_INSTALL_INCLUDEDIR}>)
+ target_include_directories(${PROJECT_NAME} PRIVATE src/)
+ 
++# Install library and CMake config files
++install(TARGETS ${PROJECT_NAME} EXPORT ${PROJECT_NAME})
++install(DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}/include/SdfLib
++        DESTINATION ${CMAKE_INSTALL_INCLUDEDIR})
++
++install(EXPORT ${PROJECT_NAME}
++        FILE ${PROJECT_NAME}Targets.cmake
++        DESTINATION lib/cmake/${PROJECT_NAME}
++        NAMESPACE ${PROJECT_NAME}::
++)
++
++include(CMakePackageConfigHelpers)
++set(PACKAGE_DEPENDENCIES "")
++if(SDFLIB_USE_SYSTEM_GLM)
++    string(APPEND PACKAGE_DEPENDENCIES "find_dependency(glm)\n")
++endif()
++if(SDFLIB_USE_SYSTEM_SPDLOG)
++    string(APPEND PACKAGE_DEPENDENCIES "find_dependency(spdlog)\n")
++endif()
++if(SDFLIB_USE_SYSTEM_CEREAL)
++    string(APPEND PACKAGE_DEPENDENCIES "find_dependency(cereal)\n")
++endif()
++if(SDFLIB_USE_ASSIMP AND SDFLIB_USE_SYSTEM_ASSIMP)
++    string(APPEND PACKAGE_DEPENDENCIES "find_dependency(assimp)\n")
++endif()
++
++configure_package_config_file(${CMAKE_CURRENT_SOURCE_DIR}/${PROJECT_NAME}Config.cmake.in
++                              "${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}Config.cmake"
++                              INSTALL_DESTINATION "lib/cmake/${PROJECT_NAME}"
++                              NO_SET_AND_CHECK_MACRO
++                              NO_CHECK_REQUIRED_COMPONENTS_MACRO)
++install(FILES ${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}Config.cmake
++        DESTINATION lib/cmake/${PROJECT_NAME})
++
+ # Add shaders
+ file(GLOB SHADER_FILES RELATIVE ${CMAKE_CURRENT_SOURCE_DIR}/src/render_engine/shaders 
+                        src/render_engine/shaders/*.frag 
+@@ -69,7 +108,7 @@ file(GLOB SHADER_FILES RELATIVE ${CMAKE_CURRENT_SOURCE_DIR}/src/render_engine/sh
+                        src/render_engine/shaders/*.comp)
+ 
+ foreach(SHADER IN LISTS SHADER_FILES)
+-    add_custom_command(OUTPUT ${SHADER}
++add_custom_command(OUTPUT ${SHADER}
+             COMMAND cmake -E copy_if_different ${CMAKE_CURRENT_SOURCE_DIR}/src/render_engine/shaders/${SHADER} $<TARGET_FILE_DIR:${PROJECT_NAME}>/shaders/${SHADER}
+             DEPENDS src/render_engine/shaders/${SHADER}
+         )
+@@ -112,7 +151,10 @@ endif()
+ target_link_libraries(${PROJECT_NAME} PUBLIC ${SDFLIB_GLM_TARGET})
+ target_link_libraries(${PROJECT_NAME} PUBLIC spdlog::spdlog)
+ target_link_libraries(${PROJECT_NAME} PUBLIC cereal::cereal)
+-target_link_libraries(${PROJECT_NAME} PUBLIC icg)
++
++if(NOT SDFLIB_USE_SYSTEM_TRIANGLEMESHDISTANCE)
++    target_link_libraries(${PROJECT_NAME} PUBLIC TriangleMeshDistance)
++endif()
+ 
+ if(CMAKE_CXX_COMPILER_ID MATCHES GNU)
+     target_link_libraries(${PROJECT_NAME} PUBLIC -lstdc++fs)
+diff --git a/SdfLibConfig.cmake.in b/SdfLibConfig.cmake.in
+new file mode 100644
+index 0000000..9b8265c
+--- /dev/null
++++ b/SdfLibConfig.cmake.in
+@@ -0,0 +1,7 @@
++@PACKAGE_INIT@

++

++include(CMakeFindDependencyMacro)

++

++@PACKAGE_DEPENDENCIES@

++

++include("${CMAKE_CURRENT_LIST_DIR}/SdfLibTargets.cmake")

+diff --git a/include/SdfLib/TrianglesInfluence.h b/include/SdfLib/TrianglesInfluence.h
+index fc2ca52..b276f23 100644
+--- a/include/SdfLib/TrianglesInfluence.h
++++ b/include/SdfLib/TrianglesInfluence.h
+@@ -11,7 +11,7 @@
+ #include "InterpolationMethods.h"
+ #include "utils/Timer.h"
+ #include "utils/GJK.h"
+-#include <InteractiveComputerGraphics/TriangleMeshDistance.h>
++#include <tmd/TriangleMeshDistance.h>
+ 
+ #include <vector>
+ #include <array>
+diff --git a/libs/CMakeLists.txt b/libs/CMakeLists.txt
+index 79f70c1..e2a4f10 100644
+--- a/libs/CMakeLists.txt
++++ b/libs/CMakeLists.txt
+@@ -137,9 +137,10 @@ if(SDFLIB_BUILD_APPS OR SDFLIB_BUILD_DEBUG_APPS)
+ 	target_include_directories(stb_image INTERFACE stb)
+  endif()
+ 
+-# icg
+-add_library(icg INTERFACE)
+-target_include_directories(icg INTERFACE InteractiveComputerGraphics)
++if (NOT SDFLIB_USE_SYSTEM_TRIANGLEMESHDISTANCE)
++	add_library(TriangleMeshDistance INTERFACE)
++	target_include_directories(TriangleMeshDistance INTERFACE InteractiveComputerGraphics)
++endif()
+ 
+ if(SDFLIB_BUILD_APPS OR SDFLIB_BUILD_DEBUG_APPS)
+ 	# glfw
+diff --git a/libs/InteractiveComputerGraphics/InteractiveComputerGraphics/TriangleMeshDistance.h b/libs/InteractiveComputerGraphics/tmd/TriangleMeshDistance.h
+similarity index 100%
+rename from libs/InteractiveComputerGraphics/InteractiveComputerGraphics/TriangleMeshDistance.h
+rename to libs/InteractiveComputerGraphics/tmd/TriangleMeshDistance.h
+diff --git a/src/tools/ImageQueryTime/main.cpp b/src/tools/ImageQueryTime/main.cpp
+index 357a78b..f4fd9e7 100644
+--- a/src/tools/ImageQueryTime/main.cpp
++++ b/src/tools/ImageQueryTime/main.cpp
+@@ -17,7 +17,7 @@
+ 
+ #define TEST_METHODS 
+ #ifdef TEST_METHODS
+-#include <InteractiveComputerGraphics/TriangleMeshDistance.h>
++#include <tmd/TriangleMeshDistance.h>
+ // #include <CGAL/Simple_cartesian.h>
+ // #include <CGAL/AABB_tree.h>
+ // #include <CGAL/AABB_traits.h>
+diff --git a/src/tools/SdfErrorCompare/main.cpp b/src/tools/SdfErrorCompare/main.cpp
+index deef25f..9e402c4 100644
+--- a/src/tools/SdfErrorCompare/main.cpp
++++ b/src/tools/SdfErrorCompare/main.cpp
+@@ -23,7 +23,7 @@ using namespace sdflib;
+ // #define TEST_OPENVDB
+ 
+ #ifdef TEST_ICG
+-#include <InteractiveComputerGraphics/TriangleMeshDistance.h>
++#include <tmd/TriangleMeshDistance.h>
+ #endif
+ #ifdef TEST_CGAL
+ #include <CGAL/Simple_cartesian.h>
+diff --git a/src/tools/SdfLibUnity/SdfExportFunc.cpp b/src/tools/SdfLibUnity/SdfExportFunc.cpp
+index ff4e017..7e06ada 100644
+--- a/src/tools/SdfLibUnity/SdfExportFunc.cpp
++++ b/src/tools/SdfLibUnity/SdfExportFunc.cpp
+@@ -1,7 +1,7 @@
+ #include "SdfExportFunc.h"
+ #include "spdlog/sinks/rotating_file_sink.h"
+ 
+-#include <InteractiveComputerGraphics/TriangleMeshDistance.h>
++#include <tmd/TriangleMeshDistance.h>
+ 
+ using namespace sdflib;
+ 
+diff --git a/src/tools/SdfOffsets/main.cpp b/src/tools/SdfOffsets/main.cpp
+index b6769d7..07f137b 100644
+--- a/src/tools/SdfOffsets/main.cpp
++++ b/src/tools/SdfOffsets/main.cpp
+@@ -9,7 +9,7 @@
+ #include <glm/gtc/type_ptr.hpp>
+ #include <glm/gtc/matrix_transform.hpp>
+ 
+-#include <InteractiveComputerGraphics/TriangleMeshDistance.h>
++#include <tmd/TriangleMeshDistance.h>
+ #include <CGAL/Surface_mesh_default_triangulation_3.h>
+ #include <CGAL/Complex_2_in_triangulation_3.h>
+ #include <CGAL/make_surface_mesh.h>