diff options
Diffstat (limited to 'mujoco.patch')
| -rw-r--r-- | mujoco.patch | 88 |
1 files changed, 68 insertions, 20 deletions
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( ) |