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mujoco: add package (#8810)
* mujoco: add package * fix qhull * fix bugs * remove lto * limit bsd
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‎packages/m/mujoco/xmake.lua‎

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package("mujoco")
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set_homepage("https://mujoco.org/")
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set_description("Multi-Joint dynamics with Contact. A general purpose physics simulator.")
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set_license("Apache-2.0")
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set_urls("https://github.com/google-deepmind/mujoco/archive/refs/tags/$(version).tar.gz",
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"https://github.com/google-deepmind/mujoco.git")
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add_versions("3.4.0", "adff5e9397aac20189ee1525aabf1fbecc63c43697e8ad66a61220222983810f")
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add_configs("simulate", {description = "Build simulate library for MuJoCo", default = false, type = "boolean"})
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add_configs("usd", {description = "Build with OpenUSD", default = false, type = "boolean"})
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add_links("simulate", "mujoco")
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add_deps("cmake")
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if is_subhost("windows") then
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add_deps("pkgconf")
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else
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add_deps("pkg-config")
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end
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add_deps("libccd", "lodepng", "qhull", "tinyobjloader", "tinyxml2", "trianglemeshdistance", "marchingcubecpp")
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if on_check then
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on_check("android", function (package)
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local ndk = package:toolchain("ndk")
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local ndk_sdkver = ndk:config("ndk_sdkver")
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assert(ndk_sdkver and tonumber(ndk_sdkver) > 21, "package(mujoco) require ndk api level > 21")
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end)
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end
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on_load(function (package)
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if package:config("usd") then
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package:add("deps", "usd")
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package:add("defines", "mjUSEUSD")
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end
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if package:config("simulate") then
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package:add("deps", "glfw")
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end
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if not package:config("shared") then
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package:add("defines", "MJ_STATIC")
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end
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end)
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on_install("!wasm and !bsd", function (package)
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if package:dep("qhull"):config("shared") then
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-- TODO: patch cmake target_link_libraries
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raise("package(mujoco) unsupported shared qhull library")
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end
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-- support static build
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io.replace("CMakeLists.txt", "add_library(mujoco SHARED", "add_library(mujoco ", {plain = true})
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-- remove fetch content
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io.replace("CMakeLists.txt", "include(MujocoDependencies)", "", {plain = true})
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-- remove hardcode ccd and dynamic library export macro
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io.replace("CMakeLists.txt", "CCD_STATIC_DEFINE MUJOCO_DLL_EXPORTS", "", {plain = true})
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-- remove unused install target
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io.replace("CMakeLists.txt", "list(APPEND MUJOCO_TARGETS lodepng)", "", {plain = true})
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if package:is_plat("mingw") then
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-- mujoco.rc:23: syntax error
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io.replace("CMakeLists.txt", "set(MUJOCO_RESOURCE_FILES ${CMAKE_CURRENT_SOURCE_DIR}/dist/mujoco.rc)", "", {plain = true})
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-- remove /STACK:16777216
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io.replace("cmake/MujocoLinkOptions.cmake", "if(WIN32)", "if(0)", {plain = true})
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io.replace("simulate/cmake/MujocoLinkOptions.cmake", "if(WIN32)", "if(0)", {plain = true})
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end
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io.replace("cmake/MujocoOptions.cmake", "set(CMAKE_INTERPROCEDURAL_OPTIMIZATION ON)", "", {plain = true})
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io.replace("simulate/cmake/SimulateOptions.cmake", "set(CMAKE_INTERPROCEDURAL_OPTIMIZATION ON)", "", {plain = true})
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io.replace("cmake/MujocoOptions.cmake", "-Werror", "", {plain = true})
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io.replace("simulate/cmake/SimulateOptions.cmake", "-Werror", "", {plain = true})
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io.replace("src/user/user_mesh.cc", [[#include "qhull_ra.h"]], "#include <libqhull_r/qhull_ra.h>", {plain = true})
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io.replace("src/user/user_mesh.cc",
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"#include <TriangleMeshDistance/include/tmd/TriangleMeshDistance.h>",
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"#include <tmd/TriangleMeshDistance.h>", {plain = true})
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io.replace("CMakeLists.txt", [[target_link_libraries(
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mujoco
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PRIVATE ccd
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lodepng
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qhullstatic_r
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tinyobjloader
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tinyxml2
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)]], "", {plain = true})
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local file = io.open("CMakeLists.txt", "a")
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if file then
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file:print([[
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if (BUILD_SHARED_LIBS)
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target_compile_definitions(mujoco PRIVATE MUJOCO_DLL_EXPORTS)
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else()
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target_compile_definitions(mujoco PUBLIC MJ_STATIC)
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endif()
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find_package(ccd CONFIG REQUIRED)
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include(FindPkgConfig)
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pkg_search_module("lodepng" REQUIRED IMPORTED_TARGET "lodepng")
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find_package(Qhull CONFIG REQUIRED)
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find_package(tinyobjloader CONFIG REQUIRED)
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find_package(tinyxml2 CONFIG REQUIRED)
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pkg_search_module("trianglemeshdistance" REQUIRED IMPORTED_TARGET "trianglemeshdistance")
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pkg_search_module("marchingcubecpp" REQUIRED IMPORTED_TARGET "marchingcubecpp")
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target_link_libraries(mujoco PRIVATE
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ccd
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PkgConfig::lodepng
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Qhull::qhullstatic_r
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tinyobjloader::tinyobjloader
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tinyxml2::tinyxml2
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PkgConfig::trianglemeshdistance
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PkgConfig::marchingcubecpp
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)
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]])
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file:close()
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end
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if package:config("simulate") then
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-- remove fetch content
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io.replace("simulate/CMakeLists.txt", "include(SimulateDependencies)", "", {plain = true})
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io.replace("simulate/CMakeLists.txt", "if(NOT TARGET lodepng)", "if(0)", {plain = true})
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io.replace("simulate/CMakeLists.txt",
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"add_library(libmujoco_simulate STATIC $<TARGET_OBJECTS:platform_ui_adapter> $<TARGET_OBJECTS:lodepng>)",
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[[
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add_library(libmujoco_simulate STATIC $<TARGET_OBJECTS:platform_ui_adapter>)
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include(FindPkgConfig)
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pkg_search_module("lodepng" REQUIRED IMPORTED_TARGET "lodepng")
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find_package(Qhull CONFIG REQUIRED)
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find_package(glfw3 REQUIRED CONFIG)
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target_link_libraries(libmujoco_simulate PRIVATE PkgConfig::lodepng Qhull::qhullstatic_r)
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]], {plain = true})
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end
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local configs = {
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"-DMUJOCO_BUILD_EXAMPLES=OFF",
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"-DMUJOCO_BUILD_TESTS=OFF",
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"-DMUJOCO_BUILD_TESTS_WASM=OFF",
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"-DMUJOCO_SIMULATE_USE_SYSTEM_GLFW=ON",
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}
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table.insert(configs, "-DCMAKE_BUILD_TYPE=" .. (package:is_debug() and "Debug" or "Release"))
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table.insert(configs, "-DBUILD_SHARED_LIBS=" .. (package:config("shared") and "ON" or "OFF"))
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table.insert(configs, "-DCMAKE_INTERPROCEDURAL_OPTIMIZATION=" .. (package:config("lto") and "ON" or "OFF"))
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table.insert(configs, "-DMUJOCO_BUILD_SIMULATE=" .. (package:config("simulate") and "ON" or "OFF"))
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table.insert(configs, "-DMUJOCO_WITH_USD=" .. (package:config("usd") and "ON" or "OFF"))
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local opt = {}
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opt.cxflags = {}
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if package:has_tool("cc", "gcc") or package:is_plat("wasm") then
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table.insert(opt.cxflags, "-Wno-error=incompatible-pointer-types")
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end
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if package:is_plat("android", "bsd", "mingw") then
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-- src/engine/engine_util_errmem.c:107:6: error: #error "Thread-safe version of `localtime` is not present in the standard C library"
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table.insert(opt.cxflags, "-D_POSIX_C_SOURCE=200112L")
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end
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import("package.tools.cmake").install(package, configs, opt)
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end)
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on_test(function (package)
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assert(package:has_cfuncs("mjv_defaultCamera", {includes = "mujoco/mujoco.h"}))
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end)

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