update

3 files changed, 77 insertions, 28 deletions

diff --git a/.SRCINFO b/.SRCINFO
index 9924eb056859..88ca2c126f43 100644
--- a/.SRCINFO
+++ b/.SRCINFO
@@ -1,6 +1,6 @@
 pkgbase = mujoco
 	pkgdesc = Multi-Joint dynamics with Contact. A general purpose physics simulator.
-	pkgver = 2.3.2
+	pkgver = 2.3.5
 	pkgrel = 1
 	url = https://www.mujoco.org
 	arch = x86_64
@@ -10,15 +10,16 @@ pkgbase = mujoco
 	makedepends = benchmark
 	makedepends = cmake
 	makedepends = git
+	makedepends = eigen
 	depends = libccd
 	depends = libgl
 	depends = glfw
 	depends = tinyxml2
 	depends = tinyobjloader
 	depends = qhull
-	source = https://github.com/deepmind/mujoco/archive/refs/tags/2.3.2.tar.gz
+	source = https://github.com/deepmind/mujoco/archive/refs/tags/2.3.5.tar.gz
 	source = mujoco.patch
-	sha256sums = 85f0dd00ce6a167ae92049957f8d849ad07cd4d44b71b5e49cc66bd44552436c
-	sha256sums = a129bf2a163cd4aa3be9cfde834955a93d9e271ca1b46d336ce0fe0a7626d40a
+	sha256sums = 882d855d833375ad27adfa2d9cf4ec2381a1069ebe8fbc4578d876deb4e0b33f
+	sha256sums = 3ceb20c5b0dc37cf9be4da68f728b11f3085fdcbd895eb2885910228c4d3805f
 
 pkgname = mujoco
diff --git a/PKGBUILD b/PKGBUILD
index f7d85fe45995..3602e78c93be 100644
--- a/PKGBUILD
+++ b/PKGBUILD
@@ -1,16 +1,16 @@
 pkgname=mujoco
-pkgver=2.3.2
+pkgver=2.3.5
 pkgrel=1
 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' 'qhull')
-makedepends=('abseil-cpp' 'gtest' 'benchmark' 'cmake' 'git')
+makedepends=('abseil-cpp' 'gtest' 'benchmark' 'cmake' 'git' 'eigen')
 source=("https://github.com/deepmind/mujoco/archive/refs/tags/$pkgver.tar.gz"
     "${pkgname}.patch")
-sha256sums=('85f0dd00ce6a167ae92049957f8d849ad07cd4d44b71b5e49cc66bd44552436c'
-            'a129bf2a163cd4aa3be9cfde834955a93d9e271ca1b46d336ce0fe0a7626d40a')
+sha256sums=('882d855d833375ad27adfa2d9cf4ec2381a1069ebe8fbc4578d876deb4e0b33f'
+            '3ceb20c5b0dc37cf9be4da68f728b11f3085fdcbd895eb2885910228c4d3805f')
 
 prepare() {
 	cd "${pkgname}-${pkgver}"
diff --git a/mujoco.patch b/mujoco.patch
index 5e3e3d2a51f8..0fa34eabe449 100644
--- a/mujoco.patch
+++ b/mujoco.patch
@@ -1,8 +1,16 @@
 diff --git a/cmake/MujocoDependencies.cmake b/cmake/MujocoDependencies.cmake
-index d919b6e..68485aa 100644
+index 4c15a91..b5e5925 100644
 --- a/cmake/MujocoDependencies.cmake
 +++ b/cmake/MujocoDependencies.cmake
-@@ -106,9 +106,9 @@ find_package(Git REQUIRED)
+@@ -79,6 +79,7 @@ set(BUILD_SHARED_LIBS
+     CACHE INTERNAL "Build SHARED libraries"
+ )
+ 
++find_package(lodepng REQUIRED)
+ if(NOT TARGET lodepng)
+   FetchContent_Declare(
+     lodepng
+@@ -103,9 +104,9 @@ set(QHULL_ENABLE_TESTING OFF)
  
  findorfetch(
    USE_SYSTEM_PACKAGE
@@ -14,8 +22,8 @@ index d919b6e..68485aa 100644
    LIBRARY_NAME
    qhull
    GIT_REPO
-@@ -130,18 +130,22 @@ findorfetch(
-   "true"
+@@ -116,18 +117,22 @@ findorfetch(
+   qhull
    EXCLUDE_FROM_ALL
  )
 -# MuJoCo includes a file from libqhull_r which is not exported by the qhull include directories.
@@ -45,7 +53,7 @@ index d919b6e..68485aa 100644
    PACKAGE_NAME
    tinyxml2
    LIBRARY_NAME
-@@ -154,12 +158,10 @@ findorfetch(
+@@ -140,12 +145,10 @@ findorfetch(
    tinyxml2
    EXCLUDE_FROM_ALL
  )
@@ -59,7 +67,7 @@ index d919b6e..68485aa 100644
    PACKAGE_NAME
    tinyobjloader
    LIBRARY_NAME
-@@ -177,7 +179,7 @@ set(ENABLE_DOUBLE_PRECISION ON)
+@@ -163,7 +166,7 @@ set(ENABLE_DOUBLE_PRECISION ON)
  set(CCD_HIDE_ALL_SYMBOLS ON)
  findorfetch(
    USE_SYSTEM_PACKAGE
@@ -68,16 +76,27 @@ index d919b6e..68485aa 100644
    PACKAGE_NAME
    ccd
    LIBRARY_NAME
-@@ -190,8 +192,6 @@ findorfetch(
+@@ -176,19 +179,6 @@ 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.
+-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()
  
- # 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)
+ if(MUJOCO_BUILD_TESTS)
+   set(ABSL_PROPAGATE_CXX_STD ON)
+@@ -203,7 +193,7 @@ if(MUJOCO_BUILD_TESTS)
    set(ABSL_BUILD_TESTING OFF)
    findorfetch(
      USE_SYSTEM_PACKAGE
@@ -86,7 +105,7 @@ index d919b6e..68485aa 100644
      PACKAGE_NAME
      absl
      LIBRARY_NAME
-@@ -244,7 +244,7 @@ if(MUJOCO_BUILD_TESTS)
+@@ -230,7 +220,7 @@ if(MUJOCO_BUILD_TESTS)
  
    findorfetch(
      USE_SYSTEM_PACKAGE
@@ -95,7 +114,7 @@ index d919b6e..68485aa 100644
      PACKAGE_NAME
      GTest
      LIBRARY_NAME
-@@ -278,7 +278,7 @@ if(MUJOCO_BUILD_TESTS)
+@@ -264,7 +254,7 @@ if(MUJOCO_BUILD_TESTS)
  
    findorfetch(
      USE_SYSTEM_PACKAGE
@@ -104,7 +123,7 @@ index d919b6e..68485aa 100644
      PACKAGE_NAME
      benchmark
      LIBRARY_NAME
-@@ -297,6 +297,9 @@ endif()
+@@ -283,6 +273,9 @@ endif()
  
  if(MUJOCO_TEST_PYTHON_UTIL)
    add_compile_definitions(EIGEN_MPL2_ONLY)
@@ -114,8 +133,20 @@ index d919b6e..68485aa 100644
    if(NOT TARGET eigen)
      # Support new IN_LIST if() operator.
      set(CMAKE_POLICY_DEFAULT_CMP0057 NEW)
+diff --git a/cmake/MujocoOptions.cmake b/cmake/MujocoOptions.cmake
+index 998b966..213f422 100644
+--- a/cmake/MujocoOptions.cmake
++++ b/cmake/MujocoOptions.cmake
+@@ -86,7 +86,6 @@ get_mujoco_extra_link_options(EXTRA_LINK_OPTIONS)
+ 
+ if(CMAKE_CXX_COMPILER_ID STREQUAL "GNU" OR (CMAKE_CXX_COMPILER_ID MATCHES "Clang" AND NOT MSVC))
+   set(EXTRA_COMPILE_OPTIONS
+-      -Werror
+       -Wall
+       -Wimplicit-fallthrough
+       -Wunused
 diff --git a/sample/cmake/SampleDependencies.cmake b/sample/cmake/SampleDependencies.cmake
-index 3534929..6732055 100644
+index 5e98243..88a7838 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."
@@ -127,8 +158,8 @@ index 3534929..6732055 100644
 +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
+ set(MUJOCO_DEP_VERSION_glfw3
+     7482de6071d21db77a7236155da44c172a7f6c9e # 3.3.8
 @@ -59,7 +59,7 @@ findorfetch(
  )
  
@@ -138,11 +169,28 @@ index 3534929..6732055 100644
  )
  if(MUJOCO_EXTRAS_STATIC_GLFW)
    set(BUILD_SHARED_LIBS_OLD ${BUILD_SHARED_LIBS})
+diff --git a/simulate/CMakeLists.txt b/simulate/CMakeLists.txt
+index 2358ef7..25e50e3 100644
+--- a/simulate/CMakeLists.txt
++++ b/simulate/CMakeLists.txt
+@@ -80,6 +80,7 @@ if(MUJOCO_HARDEN)
+ endif()
+ 
+ # Fetch lodepng dependency.
++find_package(lodepng REQUIRED)
+ if(NOT TARGET lodepng)
+   FetchContent_Declare(
+     lodepng
 diff --git a/simulate/cmake/SimulateDependencies.cmake b/simulate/cmake/SimulateDependencies.cmake
-index 9fba6a2..6404d29 100644
+index fa539c2..eb0b95a 100644
 --- a/simulate/cmake/SimulateDependencies.cmake
 +++ b/simulate/cmake/SimulateDependencies.cmake
-@@ -26,8 +26,8 @@ option(MUJOCO_SIMULATE_USE_SYSTEM_MUJOCO "Use installed MuJoCo version."
+@@ -22,12 +22,12 @@ else()
+ endif()
+ 
+ option(MUJOCO_SIMULATE_USE_SYSTEM_MUJOCO "Use installed MuJoCo version."
+-       ${DEFAULT_USE_SYSTEM_MUJOCO}
++       ON
  )
  unset(DEFAULT_USE_SYSTEM_MUJOCO)
  
@@ -151,8 +199,8 @@ index 9fba6a2..6404d29 100644
 +option(MUJOCO_SIMULATE_USE_SYSTEM_MUJOCO "Use installed MuJoCo version." ON)
 +option(MUJOCO_SIMULATE_USE_SYSTEM_GLFW "Use installed GLFW version." ON)
  
- set(MUJOCO_DEP_VERSION_glfw
-     7d5a16ce714f0b5f4efa3262de22e4d948851525 # 3.3.6
+ set(MUJOCO_DEP_VERSION_glfw3
+     7482de6071d21db77a7236155da44c172a7f6c9e # 3.3.8
 @@ -59,7 +59,7 @@ findorfetch(
  )