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diff --git a/cmake/MujocoDependencies.cmake b/cmake/MujocoDependencies.cmake
index d919b6e..68485aa 100644
--- a/cmake/MujocoDependencies.cmake
+++ b/cmake/MujocoDependencies.cmake
@@ -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
- OFF
+ ON
PACKAGE_NAME
tinyxml2
LIBRARY_NAME
@@ -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})
findorfetch(
USE_SYSTEM_PACKAGE
- OFF
+ ON
PACKAGE_NAME
tinyobjloader
LIBRARY_NAME
@@ -177,7 +179,7 @@ set(ENABLE_DOUBLE_PRECISION ON)
set(CCD_HIDE_ALL_SYMBOLS ON)
findorfetch(
USE_SYSTEM_PACKAGE
- OFF
+ ON
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(
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
@@ -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 3534929..6732055 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
@@ -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})
@@ -78,7 +78,7 @@ findorfetch(
USE_SYSTEM_PACKAGE
MUJOCO_SAMPLES_USE_SYSTEM_GLFW
PACKAGE_NAME
- glfw
+ glfw3
LIBRARY_NAME
glfw
GIT_REPO
diff --git a/simulate/cmake/SimulateDependencies.cmake b/simulate/cmake/SimulateDependencies.cmake
index 9fba6a2..6404d29 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."
)
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_glfw
7d5a16ce714f0b5f4efa3262de22e4d948851525 # 3.3.6
@@ -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})
@@ -78,7 +78,7 @@ findorfetch(
USE_SYSTEM_PACKAGE
MUJOCO_SIMULATE_USE_SYSTEM_GLFW
PACKAGE_NAME
- glfw
+ glfw3
LIBRARY_NAME
glfw
GIT_REPO
|