diff options
Diffstat (limited to 'pkgs/applications/science/robotics/mujoco/mujoco-system-deps-dont-fetch.patch')
| -rw-r--r-- | pkgs/applications/science/robotics/mujoco/mujoco-system-deps-dont-fetch.patch | 538 |
1 files changed, 538 insertions, 0 deletions
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) |