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diff --git a/cmake/MujocoDependencies.cmake b/cmake/MujocoDependencies.cmake
index 4c15a91..b5e5925 100644
--- a/cmake/MujocoDependencies.cmake
+++ b/cmake/MujocoDependencies.cmake
@@ -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
- OFF
+ ON
PACKAGE_NAME
- qhull
+ Qhull
LIBRARY_NAME
qhull
GIT_REPO
@@ -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.
-# 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
- OFF
+ ON
PACKAGE_NAME
tinyxml2
LIBRARY_NAME
@@ -140,12 +145,10 @@ findorfetch(
tinyxml2
EXCLUDE_FROM_ALL
)
-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
@@ -163,7 +166,7 @@ set(ENABLE_DOUBLE_PRECISION ON)
set(CCD_HIDE_ALL_SYMBOLS ON)
findorfetch(
USE_SYSTEM_PACKAGE
- OFF
+ ON
PACKAGE_NAME
ccd
LIBRARY_NAME
@@ -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()
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
- OFF
+ ON
PACKAGE_NAME
absl
LIBRARY_NAME
@@ -230,7 +220,7 @@ if(MUJOCO_BUILD_TESTS)
findorfetch(
USE_SYSTEM_PACKAGE
- OFF
+ ON
PACKAGE_NAME
GTest
LIBRARY_NAME
@@ -264,7 +254,7 @@ if(MUJOCO_BUILD_TESTS)
findorfetch(
USE_SYSTEM_PACKAGE
- OFF
+ ON
PACKAGE_NAME
benchmark
LIBRARY_NAME
@@ -283,6 +273,9 @@ 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/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 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."
)
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_glfw3
7482de6071d21db77a7236155da44c172a7f6c9e # 3.3.8
@@ -59,7 +59,7 @@ findorfetch(
)
option(MUJOCO_EXTRAS_STATIC_GLFW
- "Link MuJoCo sample apps and simulate libraries against GLFW statically." ON
+ "Link MuJoCo sample apps and simulate libraries against GLFW statically." OFF
)
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 fa539c2..eb0b95a 100644
--- a/simulate/cmake/SimulateDependencies.cmake
+++ b/simulate/cmake/SimulateDependencies.cmake
@@ -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)
-option(MUJOCO_SIMULATE_USE_SYSTEM_MUJOCO "Use installed MuJoCo version." OFF)
-option(MUJOCO_SIMULATE_USE_SYSTEM_GLFW "Use installed GLFW version." OFF)
+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_glfw3
7482de6071d21db77a7236155da44c172a7f6c9e # 3.3.8
@@ -59,7 +59,7 @@ findorfetch(
)
option(MUJOCO_EXTRAS_STATIC_GLFW
- "Link MuJoCo sample apps and simulate libraries against GLFW statically." ON
+ "Link MuJoCo sample apps and simulate libraries against GLFW statically." OFF
)
if(MUJOCO_EXTRAS_STATIC_GLFW)
set(BUILD_SHARED_LIBS_OLD ${BUILD_SHARED_LIBS})
|