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diff --git a/CMakeLists.txt b/CMakeLists.txt
index aaac4e38..58bafedb 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -95,7 +95,7 @@ add_subdirectory(src/render)
add_subdirectory(src/thread)
add_subdirectory(src/ui)
-target_compile_definitions(mujoco PRIVATE _GNU_SOURCE CCD_STATIC_DEFINE MUJOCO_DLL_EXPORTS -DMC_IMPLEM_ENABLE)
+target_compile_definitions(mujoco PRIVATE _GNU_SOURCE MUJOCO_DLL_EXPORTS -DMC_IMPLEM_ENABLE)
if(MUJOCO_ENABLE_AVX_INTRINSICS)
target_compile_definitions(mujoco PUBLIC mjUSEPLATFORMSIMD)
endif()
@@ -118,9 +118,9 @@ target_link_libraries(
mujoco
PRIVATE ccd
lodepng
- qhullstatic_r
- tinyobjloader
- tinyxml2
+ Qhull::qhull_r
+ tinyobjloader::tinyobjloader
+ tinyxml2::tinyxml2
)
set_target_properties(
diff --git a/cmake/MujocoDependencies.cmake b/cmake/MujocoDependencies.cmake
index 23e4e71e..e4cfad28 100644
--- a/cmake/MujocoDependencies.cmake
+++ b/cmake/MujocoDependencies.cmake
@@ -90,7 +90,7 @@ set(BUILD_SHARED_LIBS
CACHE INTERNAL "Build SHARED libraries"
)
-if(NOT TARGET lodepng)
+if(0)
FetchContent_Declare(
lodepng
GIT_REPOSITORY https://github.com/lvandeve/lodepng.git
@@ -110,6 +110,7 @@ if(NOT TARGET lodepng)
endif()
endif()
+if(0)
if(NOT TARGET marchingcubecpp)
FetchContent_Declare(
marchingcubecpp
@@ -123,36 +124,60 @@ if(NOT TARGET marchingcubecpp)
include_directories(${marchingcubecpp_SOURCE_DIR})
endif()
endif()
+endif()
+
+findorfetch(
+ USE_SYSTEM_PACKAGE
+ ON
+ PACKAGE_NAME
+ lodepng
+ LIBRARY_NAME
+ lodepng
+ GIT_REPO
+ https://github.com/lvandeve/lodepng.git
+ GIT_TAG
+ ${MUJOCO_DEP_VERSION_lodepng}
+ TARGETS
+ lodepng
+ EXCLUDE_FROM_ALL
+)
set(QHULL_ENABLE_TESTING OFF)
findorfetch(
USE_SYSTEM_PACKAGE
- OFF
+ ON
PACKAGE_NAME
- qhull
+ Qhull
LIBRARY_NAME
- qhull
+ Qhull
GIT_REPO
https://github.com/qhull/qhull.git
GIT_TAG
${MUJOCO_DEP_VERSION_qhull}
TARGETS
- qhull
+ 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.
+if(0)
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})
+endif()
+
+include_directories(
+ ${Qhull_DIR}/../../include/libqhull_r
+ ${Qhull_DIR}/../../include/marchingcubecpp
+)
set(tinyxml2_BUILD_TESTING OFF)
findorfetch(
USE_SYSTEM_PACKAGE
- OFF
+ ON
PACKAGE_NAME
tinyxml2
LIBRARY_NAME
@@ -165,12 +190,14 @@ findorfetch(
tinyxml2
EXCLUDE_FROM_ALL
)
+if(0)
target_compile_options(tinyxml2 PRIVATE ${MUJOCO_MACOS_COMPILE_OPTIONS})
target_link_options(tinyxml2 PRIVATE ${MUJOCO_MACOS_LINK_OPTIONS})
+endif()
findorfetch(
USE_SYSTEM_PACKAGE
- OFF
+ ON
PACKAGE_NAME
tinyobjloader
LIBRARY_NAME
@@ -189,9 +216,9 @@ option(SDFLIB_USE_OPENMP OFF)
option(SDFLIB_USE_ENOKI OFF)
findorfetch(
USE_SYSTEM_PACKAGE
- OFF
+ ON
PACKAGE_NAME
- sdflib
+ SdfLib
LIBRARY_NAME
sdflib
GIT_REPO
@@ -202,14 +229,19 @@ findorfetch(
SdfLib
EXCLUDE_FROM_ALL
)
+
+add_library(SdfLib ALIAS SdfLib::SdfLib)
+
+if(0)
target_compile_options(SdfLib PRIVATE ${MUJOCO_MACOS_COMPILE_OPTIONS})
target_link_options(SdfLib PRIVATE ${MUJOCO_MACOS_LINK_OPTIONS})
+endif()
set(ENABLE_DOUBLE_PRECISION ON)
set(CCD_HIDE_ALL_SYMBOLS ON)
findorfetch(
USE_SYSTEM_PACKAGE
- OFF
+ ON
PACKAGE_NAME
ccd
LIBRARY_NAME
@@ -222,11 +254,14 @@ findorfetch(
ccd
EXCLUDE_FROM_ALL
)
+if(0)
target_compile_options(ccd PRIVATE ${MUJOCO_MACOS_COMPILE_OPTIONS})
target_link_options(ccd PRIVATE ${MUJOCO_MACOS_LINK_OPTIONS})
+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.
+if(0)
if(WIN32)
if(MSVC)
# C4005 is the MSVC equivalent of -Wmacro-redefined.
@@ -235,6 +270,7 @@ if(WIN32)
target_compile_options(ccd PRIVATE -Wno-macro-redefined)
endif()
endif()
+endif()
if(MUJOCO_BUILD_TESTS)
set(ABSL_PROPAGATE_CXX_STD ON)
diff --git a/simulate/cmake/SimulateDependencies.cmake b/simulate/cmake/SimulateDependencies.cmake
index 5141406c..41f399b7 100644
--- a/simulate/cmake/SimulateDependencies.cmake
+++ b/simulate/cmake/SimulateDependencies.cmake
@@ -86,7 +86,7 @@ findorfetch(
GIT_TAG
${MUJOCO_DEP_VERSION_glfw3}
TARGETS
- glfw
+ glfw3
EXCLUDE_FROM_ALL
)
@@ -98,7 +98,7 @@ if(MUJOCO_EXTRAS_STATIC_GLFW)
unset(BUILD_SHARED_LIBS_OLD)
endif()
-if(NOT SIMULATE_STANDALONE)
+if(0)
target_compile_options(glfw PRIVATE ${MUJOCO_MACOS_COMPILE_OPTIONS})
target_link_options(glfw PRIVATE ${MUJOCO_MACOS_LINK_OPTIONS})
endif()
|
