Pack mujoco

3 files changed, 160 insertions, 0 deletions

diff --git a/.SRCINFO b/.SRCINFO
new file mode 100644
index 000000000000..1f89881683e0
--- /dev/null
+++ b/.SRCINFO
@@ -0,0 +1,23 @@
+pkgbase = mujoco
+	pkgdesc = Multi-Joint dynamics with Contact. A general purpose physics simulator.
+	pkgver = 2.2.0
+	pkgrel = 1
+	url = https://www.mujoco.org
+	arch = x86_64
+	license = Apache
+	makedepends = libccd
+	makedepends = abseil-cpp
+	makedepends = gtest
+	makedepends = benchmark
+	makedepends = cmake
+	makedepends = git
+	depends = libgl
+	depends = glfw
+	depends = tinyxml2
+	depends = tinyobjloader
+	source = https://github.com/deepmind/mujoco/archive/refs/tags/2.2.0.tar.gz
+	source = mujoco.patch
+	sha256sums = 5bd3847aca1f53e2467b680f797fe74ce6a1c20870e0fee534cfda38a25ea1d5
+	sha256sums = fa5799290dd68bd2bdd520515484112c3a72079af6425ee6d01b6865e81bdab1
+
+pkgname = mujoco
diff --git a/PKGBUILD b/PKGBUILD
new file mode 100644
index 000000000000..9043721c73ef
--- /dev/null
+++ b/PKGBUILD
@@ -0,0 +1,39 @@
+pkgname=mujoco
+pkgver=2.2.0
+pkgrel=1
+pkgdesc="Multi-Joint dynamics with Contact. A general purpose physics simulator."
+arch=('x86_64')
+url="https://www.mujoco.org"
+license=('Apache')
+depends=('libgl' 'glfw' 'tinyxml2' 'tinyobjloader')
+makedepends=('libccd' 'abseil-cpp' 'gtest' 'benchmark' 'cmake' 'git')
+source=("https://github.com/deepmind/mujoco/archive/refs/tags/$pkgver.tar.gz"
+    "${pkgname}.patch")
+sha256sums=('5bd3847aca1f53e2467b680f797fe74ce6a1c20870e0fee534cfda38a25ea1d5'
+            'fa5799290dd68bd2bdd520515484112c3a72079af6425ee6d01b6865e81bdab1')
+
+prepare() {
+	cd "${pkgname}-${pkgver}"
+
+	# Use as many system libs as possible
+	patch -Np1 -i "${srcdir}/${pkgname}.patch"
+}
+
+build() {
+	cd "${pkgname}-${pkgver}"
+    mkdir build
+    cd build
+    cmake .. -DCMAKE_BUILD_TYPE=Release
+
+	make
+}
+
+package() {
+	cd "${pkgname}-${pkgver}/build"
+    make DESTDIR="${pkgdir}" install
+    mv $pkgdir/usr/local/* $pkgdir/usr/
+    rmdir $pkgdir/usr/local
+    mkdir $pkgdir/usr/lib/mujoco
+    mv $pkgdir/usr/bin/* $pkgdir/usr/lib/mujoco/
+    rmdir $pkgdir/usr/bin
+}
diff --git a/mujoco.patch b/mujoco.patch
new file mode 100644
index 000000000000..739f11da6fd6
--- /dev/null
+++ b/mujoco.patch
@@ -0,0 +1,98 @@
+diff --git a/cmake/MujocoDependencies.cmake b/cmake/MujocoDependencies.cmake
+index 56a1e64..7b95bfe 100644
+--- a/cmake/MujocoDependencies.cmake
++++ b/cmake/MujocoDependencies.cmake
+@@ -141,7 +141,7 @@ target_link_options(qhullstatic_r PRIVATE ${MUJOCO_MACOS_LINK_OPTIONS})
+ set(tinyxml2_BUILD_TESTING OFF)
+ findorfetch(
+   USE_SYSTEM_PACKAGE
+-  OFF
++  ON
+   PACKAGE_NAME
+   tinyxml2
+   LIBRARY_NAME
+@@ -154,12 +154,12 @@ 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
+-  OFF
++  ON
+   PACKAGE_NAME
+   tinyobjloader
+   LIBRARY_NAME
+@@ -177,7 +177,7 @@ set(ENABLE_DOUBLE_PRECISION ON)
+ set(CCD_HIDE_ALL_SYMBOLS ON)
+ findorfetch(
+   USE_SYSTEM_PACKAGE
+-  OFF
++  ON
+   PACKAGE_NAME
+   ccd
+   LIBRARY_NAME
+@@ -217,7 +217,7 @@ if(MUJOCO_BUILD_TESTS)
+   set(ABSL_BUILD_TESTING OFF)
+   findorfetch(
+     USE_SYSTEM_PACKAGE
+-    OFF
++    ON
+     PACKAGE_NAME
+     absl
+     LIBRARY_NAME
+@@ -244,7 +244,7 @@ if(MUJOCO_BUILD_TESTS)
+ 
+   findorfetch(
+     USE_SYSTEM_PACKAGE
+-    OFF
++    ON
+     PACKAGE_NAME
+     GTest
+     LIBRARY_NAME
+@@ -278,7 +278,7 @@ if(MUJOCO_BUILD_TESTS)
+ 
+   findorfetch(
+     USE_SYSTEM_PACKAGE
+-    OFF
++    ON
+     PACKAGE_NAME
+     benchmark
+     LIBRARY_NAME
+diff --git a/sample/cmake/SampleDependencies.cmake b/sample/cmake/SampleDependencies.cmake
+index 14cc943..588e788 100644
+--- a/sample/cmake/SampleDependencies.cmake
++++ b/sample/cmake/SampleDependencies.cmake
+@@ -26,8 +26,8 @@ option(MUJOCO_SAMPLES_USE_SYSTEM_MUJOCO "Use installed MuJoCo version."
+ )
+ 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)
++option(MUJOCO_SAMPLES_USE_SYSTEM_MUJOCO "Use installed MuJoCo version." ON)
++option(MUJOCO_SAMPLES_USE_SYSTEM_GLFW "Use installed GLFW version." ON)
+ 
+ set(MUJOCO_DEP_VERSION_glfw
+     7d5a16ce714f0b5f4efa3262de22e4d948851525 # 3.3.6
+@@ -58,7 +58,7 @@ findorfetch(
+   EXCLUDE_FROM_ALL
+ )
+ 
+-option(MUJOCO_SAMPLES_STATIC_GLFW "Link MuJoCo sample apps against GLFW statically." ON)
++option(MUJOCO_SAMPLES_STATIC_GLFW "Link MuJoCo sample apps against GLFW statically." OFF)
+ if(MUJOCO_SAMPLES_STATIC_GLFW)
+   set(BUILD_SHARED_LIBS_OLD ${BUILD_SHARED_LIBS})
+   set(BUILD_SHARED_LIBS
+@@ -76,7 +76,7 @@ findorfetch(
+   USE_SYSTEM_PACKAGE
+   MUJOCO_SAMPLES_USE_SYSTEM_GLFW
+   PACKAGE_NAME
+-  glfw
++  glfw3
+   LIBRARY_NAME
+   glfw
+   GIT_REPO