Use system qhull

3 files changed, 64 insertions, 11 deletions

diff --git a/.SRCINFO b/.SRCINFO
index 70ca128f8bf1..4fc0992a0811 100644
--- a/.SRCINFO
+++ b/.SRCINFO
@@ -1,7 +1,7 @@
 pkgbase = mujoco
 	pkgdesc = Multi-Joint dynamics with Contact. A general purpose physics simulator.
 	pkgver = 2.2.1
-	pkgrel = 1
+	pkgrel = 2
 	url = https://www.mujoco.org
 	arch = x86_64
 	license = Apache
@@ -15,9 +15,10 @@ pkgbase = mujoco
 	depends = glfw
 	depends = tinyxml2
 	depends = tinyobjloader
+	depends = qhull
 	source = https://github.com/deepmind/mujoco/archive/refs/tags/2.2.1.tar.gz
 	source = mujoco.patch
 	sha256sums = e7fa0821c993073b19bd8034df63661e309edcdc2d602101c3f9b28201574ded
-	sha256sums = fa5799290dd68bd2bdd520515484112c3a72079af6425ee6d01b6865e81bdab1
+	sha256sums = fa3ec3a529a80aa74804c23fe8b7a0d3ddebd0c86cef1597e60aaf5cb39c7317
 
 pkgname = mujoco
diff --git a/PKGBUILD b/PKGBUILD
index b5b14202b30b..fcd386907e62 100644
--- a/PKGBUILD
+++ b/PKGBUILD
@@ -1,21 +1,22 @@
 pkgname=mujoco
 pkgver=2.2.1
-pkgrel=1
+pkgrel=2
 pkgdesc="Multi-Joint dynamics with Contact. A general purpose physics simulator."
 arch=('x86_64')
 url="https://www.mujoco.org"
 license=('Apache')
-depends=('libccd' 'libgl' 'glfw' 'tinyxml2' 'tinyobjloader')
+depends=('libccd' 'libgl' 'glfw' 'tinyxml2' 'tinyobjloader' 'qhull')
 makedepends=('abseil-cpp' 'gtest' 'benchmark' 'cmake' 'git')
 source=("https://github.com/deepmind/mujoco/archive/refs/tags/$pkgver.tar.gz"
     "${pkgname}.patch")
 sha256sums=('e7fa0821c993073b19bd8034df63661e309edcdc2d602101c3f9b28201574ded'
-            'fa5799290dd68bd2bdd520515484112c3a72079af6425ee6d01b6865e81bdab1')
+            'fa3ec3a529a80aa74804c23fe8b7a0d3ddebd0c86cef1597e60aaf5cb39c7317')
 
 prepare() {
 	cd "${pkgname}-${pkgver}"
 
 	# Use as many system libs as possible
+    # Patch to use system qhull comes from https://github.com/conda-forge/staged-recipes/pull/19049
 	patch -Np1 -i "${srcdir}/${pkgname}.patch"
 }
 
diff --git a/mujoco.patch b/mujoco.patch
index 739f11da6fd6..e51e459a692f 100644
--- a/mujoco.patch
+++ b/mujoco.patch
@@ -1,8 +1,42 @@
 diff --git a/cmake/MujocoDependencies.cmake b/cmake/MujocoDependencies.cmake
-index 56a1e64..7b95bfe 100644
+index b13a3ec..967d438 100644
 --- a/cmake/MujocoDependencies.cmake
 +++ b/cmake/MujocoDependencies.cmake
-@@ -141,7 +141,7 @@ target_link_options(qhullstatic_r PRIVATE ${MUJOCO_MACOS_LINK_OPTIONS})
+@@ -106,9 +106,9 @@ find_package(Git REQUIRED)
+ 
+ findorfetch(
+   USE_SYSTEM_PACKAGE
+-  OFF
++  ON
+   PACKAGE_NAME
+-  qhull
++  Qhull
+   LIBRARY_NAME
+   qhull
+   GIT_REPO
+@@ -130,18 +130,22 @@ findorfetch(
+   "true"
+   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 TARGET qhullstatic_r)
++  add_library(qhullstatic_r INTERFACE)
++  target_link_libraries(qhullstatic_r INTERFACE 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()
+ 
  set(tinyxml2_BUILD_TESTING OFF)
  findorfetch(
    USE_SYSTEM_PACKAGE
@@ -11,14 +45,12 @@ index 56a1e64..7b95bfe 100644
    PACKAGE_NAME
    tinyxml2
    LIBRARY_NAME
-@@ -154,12 +154,12 @@ findorfetch(
+@@ -154,12 +158,10 @@ findorfetch(
    tinyxml2
    EXCLUDE_FROM_ALL
  )
 -target_compile_options(tinyxml2 PRIVATE ${MUJOCO_MACOS_COMPILE_OPTIONS})
 -target_link_options(tinyxml2 PRIVATE ${MUJOCO_MACOS_LINK_OPTIONS})
-+#target_compile_options(tinyxml2 PRIVATE ${MUJOCO_MACOS_COMPILE_OPTIONS})
-+#target_link_options(tinyxml2 PRIVATE ${MUJOCO_MACOS_LINK_OPTIONS})
  
  findorfetch(
    USE_SYSTEM_PACKAGE
@@ -27,7 +59,7 @@ index 56a1e64..7b95bfe 100644
    PACKAGE_NAME
    tinyobjloader
    LIBRARY_NAME
-@@ -177,7 +177,7 @@ set(ENABLE_DOUBLE_PRECISION ON)
+@@ -177,7 +179,7 @@ set(ENABLE_DOUBLE_PRECISION ON)
  set(CCD_HIDE_ALL_SYMBOLS ON)
  findorfetch(
    USE_SYSTEM_PACKAGE
@@ -36,6 +68,15 @@ index 56a1e64..7b95bfe 100644
    PACKAGE_NAME
    ccd
    LIBRARY_NAME
+@@ -190,8 +192,6 @@ findorfetch(
+   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.
 @@ -217,7 +217,7 @@ if(MUJOCO_BUILD_TESTS)
    set(ABSL_BUILD_TESTING OFF)
    findorfetch(
@@ -63,6 +104,16 @@ index 56a1e64..7b95bfe 100644
      PACKAGE_NAME
      benchmark
      LIBRARY_NAME
+@@ -297,6 +297,9 @@ endif()
+ 
+ if(MUJOCO_TEST_PYTHON_UTIL)
+   add_compile_definitions(EIGEN_MPL2_ONLY)
++  find_package(Eigen3 REQUIRED)
++  # Doing that so the next if is not triggered
++  add_library(eigen ALIAS Eigen3::Eigen)
+   if(NOT TARGET eigen)
+     # Support new IN_LIST if() operator.
+     set(CMAKE_POLICY_DEFAULT_CMP0057 NEW)
 diff --git a/sample/cmake/SampleDependencies.cmake b/sample/cmake/SampleDependencies.cmake
 index 14cc943..588e788 100644
 --- a/sample/cmake/SampleDependencies.cmake