Unverified Commit 8f29d980 authored by Gaétan Lepage's avatar Gaétan Lepage Committed by GitHub
Browse files

mujoco: 3.3.4 -> 3.3.5 (#433484)

parents 8766d9c4 f3811f2f

pkgs/by-name/mu/mujoco/mujoco-system-deps-dont-fetch.patch

+16 −55
Original line number Diff line number Diff line 
diff --git a/CMakeLists.txt b/CMakeLists.txt

index a4794196..66525432 100644

index 1780f874..3ac02be6 100644

--- a/CMakeLists.txt

+++ b/CMakeLists.txt

@@ -140,7 +140,7 @@ target_link_libraries(
@@ -12,7 +12,7 @@ index a4794196..66525432 100644 
 

 set_target_properties(

diff --git a/cmake/MujocoDependencies.cmake b/cmake/MujocoDependencies.cmake

index cb17621a..e1bd0e9d 100644

index 5cdc33cb..a4c9f61f 100644

--- a/cmake/MujocoDependencies.cmake

+++ b/cmake/MujocoDependencies.cmake

@@ -93,8 +93,6 @@ set(BUILD_SHARED_LIBS
@@ -62,7 +62,7 @@ index cb17621a..e1bd0e9d 100644 
   EXCLUDE_FROM_ALL

 )

 target_compile_options(tinyxml2 PRIVATE ${MUJOCO_MACOS_COMPILE_OPTIONS})

@@ -175,35 +163,32 @@ findorfetch(

@@ -175,10 +163,6 @@ findorfetch(

   tinyobjloader

   LIBRARY_NAME

   tinyobjloader
@@ -73,42 +73,16 @@ index cb17621a..e1bd0e9d 100644 
   TARGETS

   tinyobjloader

   EXCLUDE_FROM_ALL

@@ -187,8 +171,6 @@ findorfetch(

 if(NOT TARGET trianglemeshdistance)

   FetchContent_Declare(

     trianglemeshdistance

-    GIT_REPOSITORY https://github.com/InteractiveComputerGraphics/TriangleMeshDistance.git

-    GIT_TAG ${MUJOCO_DEP_VERSION_TriangleMeshDistance}

   )

 

+option(MUJOCO_USE_SYSTEM_sdflib "Use installed sdflib version." OFF)

+mark_as_advanced(MUJOCO_USE_SYSTEM_sdflib)

+

 option(SDFLIB_USE_ASSIMP OFF)

 option(SDFLIB_USE_OPENMP OFF)

 option(SDFLIB_USE_ENOKI OFF)

 findorfetch(

   USE_SYSTEM_PACKAGE

-  OFF

+  ${MUJOCO_USE_SYSTEM_sdflib}

   PACKAGE_NAME

-  sdflib

+  SdfLib

   LIBRARY_NAME

   sdflib

-  GIT_REPO

-  https://github.com/UPC-ViRVIG/SdfLib.git

-  GIT_TAG

-  ${MUJOCO_DEP_VERSION_sdflib}

   TARGETS

-  SdfLib

+  SdfLib::SdfLib

   EXCLUDE_FROM_ALL

 )

-target_compile_options(SdfLib PRIVATE ${MUJOCO_MACOS_COMPILE_OPTIONS})

-target_link_options(SdfLib PRIVATE ${MUJOCO_MACOS_LINK_OPTIONS})

+if(NOT MUJOCO_USE_SYSTEM_sdflib)

+  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)

@@ -214,10 +199,6 @@ findorfetch(

   FetchContent_GetProperties(trianglemeshdistance)

@@ -207,10 +189,6 @@ findorfetch(

   ccd

   LIBRARY_NAME

   ccd
@@ -119,7 +93,7 @@ index cb17621a..e1bd0e9d 100644 
   TARGETS

   ccd

   EXCLUDE_FROM_ALL

@@ -254,10 +235,6 @@ if(MUJOCO_BUILD_TESTS)

@@ -247,10 +225,6 @@ if(MUJOCO_BUILD_TESTS)

     absl

     LIBRARY_NAME

     abseil-cpp
@@ -130,7 +104,7 @@ index cb17621a..e1bd0e9d 100644 
     TARGETS

     absl::core_headers

     EXCLUDE_FROM_ALL

@@ -281,14 +258,9 @@ if(MUJOCO_BUILD_TESTS)

@@ -274,14 +248,9 @@ if(MUJOCO_BUILD_TESTS)

     GTest

     LIBRARY_NAME

     googletest
@@ -147,7 +121,7 @@ index cb17621a..e1bd0e9d 100644 
     EXCLUDE_FROM_ALL

   )

 

@@ -315,10 +287,6 @@ if(MUJOCO_BUILD_TESTS)

@@ -308,10 +277,6 @@ if(MUJOCO_BUILD_TESTS)

     benchmark

     LIBRARY_NAME

     benchmark
@@ -158,7 +132,7 @@ index cb17621a..e1bd0e9d 100644 
     TARGETS

     benchmark::benchmark

     benchmark::benchmark_main

@@ -329,14 +297,12 @@ endif()

@@ -322,14 +287,12 @@ endif()

 

 if(MUJOCO_TEST_PYTHON_UTIL)

   add_compile_definitions(EIGEN_MPL2_ONLY)
@@ -174,19 +148,6 @@ index cb17621a..e1bd0e9d 100644 
     )

 

     FetchContent_GetProperties(Eigen3)

diff --git a/plugin/sdf/CMakeLists.txt b/plugin/sdf/CMakeLists.txt

index 8b834971..25021fa1 100644

--- a/plugin/sdf/CMakeLists.txt

+++ b/plugin/sdf/CMakeLists.txt

@@ -37,7 +37,7 @@ set(MUJOCO_SDF_SRCS

 add_library(sdf_plugin SHARED)

 target_sources(sdf_plugin PRIVATE ${MUJOCO_SDF_SRCS})

 target_include_directories(sdf_plugin PRIVATE ${MUJOCO_SDF_INCLUDE})

-target_link_libraries(sdf_plugin PRIVATE mujoco SdfLib)

+target_link_libraries(sdf_plugin PRIVATE mujoco SdfLib::SdfLib)

 target_compile_options(

   sdf_plugin

   PRIVATE ${AVX_COMPILE_OPTIONS}

diff --git a/python/mujoco/util/CMakeLists.txt b/python/mujoco/util/CMakeLists.txt

index 666a3725..d89bb499 100644

--- a/python/mujoco/util/CMakeLists.txt

pkgs/by-name/mu/mujoco/package.nix

+12 −59
Original line number Diff line number Diff line
@@ -36,8 +36,8 @@ let 
    eigen3 = fetchFromGitLab {

      owner = "libeigen";

      repo = "eigen";

      rev = "81044ec13df7608d0d9d86aff2ef9805fc69bed1";

      hash = "sha256-W0uonGzjDaN2RbY2U+Kl1a5/nrEZ9T9W426f+a7NUzY=";

      rev = "4be7e6b4e0a82853e853c0c7c4ef72f395e1f497";

      hash = "sha256-SOTQ9j8YCsEuxNULsulQ0bmtxOZJKF7zc4GZOQlrmdo=";

    };

    googletest = fetchFromGitHub {

      owner = "google";
@@ -54,8 +54,8 @@ let 
    qhull = fetchFromGitHub {

      owner = "qhull";

      repo = "qhull";

      rev = "c7bee59d068a69f427b1273e71cdc5bc455a5bdd";

      hash = "sha256-RnuaRrWMQ1rFfb/nxE0ukIoBf2AMG5pRyFmKmvsJ/U8=";

      rev = "62ccc56af071eaa478bef6ed41fd7a55d3bb2d80";

      hash = "sha256-kIxHtE0L/axV9WKnQzyFN0mxoIFAI33Z+MP0P/MtQPw=";

    };

    tinyobjloader = fetchFromGitHub {

      owner = "tinyobjloader";
@@ -75,64 +75,18 @@ let 
      rev = "f03a1b3ec29b1d7d865691ca8aea4f1eb2c2873d";

      hash = "sha256-90ei0lpJA8XuVGI0rGb3md0Qtq8/bdkU7dUCHpp88Bw=";

    };



    tmd = stdenv.mkDerivation {

      name = "TriangleMeshDistance";



      src = fetchFromGitHub {

    trianglemeshdistance = fetchFromGitHub {

      owner = "InteractiveComputerGraphics";

      repo = "TriangleMeshDistance";

        rev = "e55a15c20551f36242fd6368df099a99de71d43a";

        hash = "sha256-vj6TMMT8mp7ciLa5nzVAhMWPcAHXq+ZwHlWsRA3uCmg=";

      rev = "2cb643de1436e1ba8e2be49b07ec5491ac604457";

      hash = "sha256-qG/8QKpOnUpUQJ1nLj+DFoLnUr+9oYkJPqUhwEQD2pc=";

    };



      installPhase = ''

        mkdir -p $out/include/tmd

        cp TriangleMeshDistance/include/tmd/TriangleMeshDistance.h $out/include/tmd/

      '';

    };



    sdflib = stdenv.mkDerivation {

      name = "SdfLib";



      src = fetchFromGitHub {

        owner = "UPC-ViRVIG";

        repo = "SdfLib";

        rev = "1927bee6bb8225258a39c8cbf14e18a4d50409ae";

        hash = "sha256-+SFUOdZ6pGZvnQa0mT+yfbTMHWe2CTOlroXcuVBHdOE=";

      };



      patches = [ ./sdflib-system-deps.patch ];



      cmakeFlags = [

        (lib.cmakeBool "SDFLIB_USE_ASSIMP" false)

        (lib.cmakeBool "SDFLIB_USE_OPENMP" false)

        (lib.cmakeBool "SDFLIB_USE_ENOKI" false)

        (lib.cmakeBool "SDFLIB_USE_SYSTEM_GLM" true)

        (lib.cmakeBool "SDFLIB_USE_SYSTEM_SPDLOG" true)

        (lib.cmakeBool "SDFLIB_USE_SYSTEM_CEREAL" true)

        (lib.cmakeBool "SDFLIB_USE_SYSTEM_TRIANGLEMESHDISTANCE" true)

      ];



      nativeBuildInputs = [ cmake ];

      buildInputs = [

        pin.tmd



        # Mainline. The otherwise pinned glm release from 2018 does

        # not build due to test failures and missing files.

        glm



        spdlog

        cereal_1_3_2

      ];

    };



  };



in

stdenv.mkDerivation (finalAttrs: {

  pname = "mujoco";

  version = "3.3.4";

  version = "3.3.5";



  # Bumping version? Make sure to look though the MuJoCo's commit

  # history for bumped dependency pins!
@@ -140,7 +94,7 @@ stdenv.mkDerivation (finalAttrs: { 
    owner = "google-deepmind";

    repo = "mujoco";

    tag = finalAttrs.version;

    hash = "sha256-nssmGJRrk1BECmeU4OEs/jLK3MdA6ytIJ9Yqaiuf0Aw=";

    hash = "sha256-HykExdosK5XpAOQeic/jsc6yYxjdoiaP8rRkA/yAfuU=";

  };



  patches = [ ./mujoco-system-deps-dont-fetch.patch ];
@@ -148,7 +102,6 @@ stdenv.mkDerivation (finalAttrs: { 
  nativeBuildInputs = [ cmake ];



  buildInputs = [

    pin.sdflib

    glm



    # non-numerical
@@ -158,7 +111,6 @@ stdenv.mkDerivation (finalAttrs: { 
  ];



  cmakeFlags = [

    (lib.cmakeBool "MUJOCO_USE_SYSTEM_sdflib" true)

    (lib.cmakeBool "MUJOCO_SIMULATE_USE_SYSTEM_GLFW" true)

    (lib.cmakeBool "MUJOCO_SAMPLES_USE_SYSTEM_GLFW" true)

  ];
@@ -175,6 +127,7 @@ stdenv.mkDerivation (finalAttrs: { 
    ln -s ${pin.qhull} build/_deps/qhull-src

    ln -s ${pin.tinyobjloader} build/_deps/tinyobjloader-src

    ln -s ${pin.tinyxml2} build/_deps/tinyxml2-src

    ln -s ${pin.trianglemeshdistance} build/_deps/trianglemeshdistance-src

    ln -s ${pin.marchingcubecpp} build/_deps/marchingcubecpp-src

  '';

pkgs/by-name/mu/mujoco/sdflib-system-deps.patch

deleted100644 → 0
+0 −192
Original line number Diff line number Diff line 
diff --git a/CMakeLists.txt b/CMakeLists.txt

index 251c456..3d30231 100644

--- a/CMakeLists.txt

+++ b/CMakeLists.txt

@@ -27,7 +27,7 @@ option(SDFLIB_USE_SYSTEM_GLM "Use glm library via find_package instead of downlo

 option(SDFLIB_USE_SYSTEM_SPDLOG "Use spdlog library via find_package instead of downloading it" OFF)

 option(SDFLIB_USE_SYSTEM_CEREAL "Use cereal library via find_package instead of downloading it" OFF)

 option(SDFLIB_USE_SYSTEM_ASSIMP "Use assimp library via find_package instead of downloading it" OFF)

-

+option(SDFLIB_USE_SYSTEM_TRIANGLEMESHDISTANCE "Use TriangleMeshDistance library via system includes instead of downloading it" OFF)

 

 if(SDFLIB_DEBUG_INFO)

     add_compile_definitions(SDFLIB_PRINT_STATISTICS)

@@ -55,13 +55,52 @@ file(GLOB UTILS_SOURCE_FILES src/utils/*.cpp)

 file(GLOB UTILS_HEADER_FILES src/utils/*.h)

 

 # Add libraries

-add_library(${PROJECT_NAME} STATIC  ${SOURCE_FILES} ${HEADER_FILES} ${PUBLIC_HEADER_FILES}

-                                    ${SDF_SOURCE_FILES} ${SDF_HEADER_FILES}

-                                    ${UTILS_SOURCE_FILES} ${UTILS_HEADER_FILES})

-

-target_include_directories(${PROJECT_NAME} PUBLIC include/)

+add_library(${PROJECT_NAME} ${SOURCE_FILES} ${HEADER_FILES} ${PUBLIC_HEADER_FILES}

+                            ${SDF_SOURCE_FILES} ${SDF_HEADER_FILES}

+                            ${UTILS_SOURCE_FILES} ${UTILS_HEADER_FILES})

+add_library(${PROJECT_NAME}::${PROJECT_NAME} ALIAS ${PROJECT_NAME})

+if(BUILD_SHARED_LIBS AND WIN32)

+    set_target_properties(${PROJECT_NAME} PROPERTIES WINDOWS_EXPORT_ALL_SYMBOLS ON)

+endif()

+include(GNUInstallDirs)

+target_include_directories(${PROJECT_NAME} PUBLIC $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>

+                                                  $<INSTALL_INTERFACE:${CMAKE_INSTALL_INCLUDEDIR}>)

 target_include_directories(${PROJECT_NAME} PRIVATE src/)

 

+# Install library and CMake config files

+install(TARGETS ${PROJECT_NAME} EXPORT ${PROJECT_NAME})

+install(DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}/include/SdfLib

+        DESTINATION ${CMAKE_INSTALL_INCLUDEDIR})

+

+install(EXPORT ${PROJECT_NAME}

+        FILE ${PROJECT_NAME}Targets.cmake

+        DESTINATION lib/cmake/${PROJECT_NAME}

+        NAMESPACE ${PROJECT_NAME}::

+)

+

+include(CMakePackageConfigHelpers)

+set(PACKAGE_DEPENDENCIES "")

+if(SDFLIB_USE_SYSTEM_GLM)

+    string(APPEND PACKAGE_DEPENDENCIES "find_dependency(glm)\n")

+endif()

+if(SDFLIB_USE_SYSTEM_SPDLOG)

+    string(APPEND PACKAGE_DEPENDENCIES "find_dependency(spdlog)\n")

+endif()

+if(SDFLIB_USE_SYSTEM_CEREAL)

+    string(APPEND PACKAGE_DEPENDENCIES "find_dependency(cereal)\n")

+endif()

+if(SDFLIB_USE_ASSIMP AND SDFLIB_USE_SYSTEM_ASSIMP)

+    string(APPEND PACKAGE_DEPENDENCIES "find_dependency(assimp)\n")

+endif()

+

+configure_package_config_file(${CMAKE_CURRENT_SOURCE_DIR}/${PROJECT_NAME}Config.cmake.in

+                              "${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}Config.cmake"

+                              INSTALL_DESTINATION "lib/cmake/${PROJECT_NAME}"

+                              NO_SET_AND_CHECK_MACRO

+                              NO_CHECK_REQUIRED_COMPONENTS_MACRO)

+install(FILES ${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}Config.cmake

+        DESTINATION lib/cmake/${PROJECT_NAME})

+

 # Add shaders

 file(GLOB SHADER_FILES RELATIVE ${CMAKE_CURRENT_SOURCE_DIR}/src/render_engine/shaders 

                        src/render_engine/shaders/*.frag 

@@ -69,7 +108,7 @@ file(GLOB SHADER_FILES RELATIVE ${CMAKE_CURRENT_SOURCE_DIR}/src/render_engine/sh

                        src/render_engine/shaders/*.comp)

 

 foreach(SHADER IN LISTS SHADER_FILES)

-    add_custom_command(OUTPUT ${SHADER}

+add_custom_command(OUTPUT ${SHADER}

             COMMAND cmake -E copy_if_different ${CMAKE_CURRENT_SOURCE_DIR}/src/render_engine/shaders/${SHADER} $<TARGET_FILE_DIR:${PROJECT_NAME}>/shaders/${SHADER}

             DEPENDS src/render_engine/shaders/${SHADER}

         )

@@ -112,7 +151,10 @@ endif()

 target_link_libraries(${PROJECT_NAME} PUBLIC ${SDFLIB_GLM_TARGET})

 target_link_libraries(${PROJECT_NAME} PUBLIC spdlog::spdlog)

 target_link_libraries(${PROJECT_NAME} PUBLIC cereal::cereal)

-target_link_libraries(${PROJECT_NAME} PUBLIC icg)

+

+if(NOT SDFLIB_USE_SYSTEM_TRIANGLEMESHDISTANCE)

+    target_link_libraries(${PROJECT_NAME} PUBLIC TriangleMeshDistance)

+endif()

 

 if(CMAKE_CXX_COMPILER_ID MATCHES GNU)

     target_link_libraries(${PROJECT_NAME} PUBLIC -lstdc++fs)

diff --git a/SdfLibConfig.cmake.in b/SdfLibConfig.cmake.in

new file mode 100644

index 0000000..9b8265c

--- /dev/null

+++ b/SdfLibConfig.cmake.in

@@ -0,0 +1,7 @@

+@PACKAGE_INIT@

+

+include(CMakeFindDependencyMacro)

+

+@PACKAGE_DEPENDENCIES@

+

+include("${CMAKE_CURRENT_LIST_DIR}/SdfLibTargets.cmake")

diff --git a/include/SdfLib/TrianglesInfluence.h b/include/SdfLib/TrianglesInfluence.h

index fc2ca52..b276f23 100644

--- a/include/SdfLib/TrianglesInfluence.h

+++ b/include/SdfLib/TrianglesInfluence.h

@@ -11,7 +11,7 @@

 #include "InterpolationMethods.h"

 #include "utils/Timer.h"

 #include "utils/GJK.h"

-#include <InteractiveComputerGraphics/TriangleMeshDistance.h>

+#include <tmd/TriangleMeshDistance.h>

 

 #include <vector>

 #include <array>

diff --git a/libs/CMakeLists.txt b/libs/CMakeLists.txt

index 79f70c1..e2a4f10 100644

--- a/libs/CMakeLists.txt

+++ b/libs/CMakeLists.txt

@@ -137,9 +137,10 @@ if(SDFLIB_BUILD_APPS OR SDFLIB_BUILD_DEBUG_APPS)

 	target_include_directories(stb_image INTERFACE stb)

  endif()

 

-# icg

-add_library(icg INTERFACE)

-target_include_directories(icg INTERFACE InteractiveComputerGraphics)

+if (NOT SDFLIB_USE_SYSTEM_TRIANGLEMESHDISTANCE)

+	add_library(TriangleMeshDistance INTERFACE)

+	target_include_directories(TriangleMeshDistance INTERFACE InteractiveComputerGraphics)

+endif()

 

 if(SDFLIB_BUILD_APPS OR SDFLIB_BUILD_DEBUG_APPS)

 	# glfw

diff --git a/libs/InteractiveComputerGraphics/InteractiveComputerGraphics/TriangleMeshDistance.h b/libs/InteractiveComputerGraphics/tmd/TriangleMeshDistance.h

similarity index 100%

rename from libs/InteractiveComputerGraphics/InteractiveComputerGraphics/TriangleMeshDistance.h

rename to libs/InteractiveComputerGraphics/tmd/TriangleMeshDistance.h

diff --git a/src/tools/ImageQueryTime/main.cpp b/src/tools/ImageQueryTime/main.cpp

index 357a78b..f4fd9e7 100644

--- a/src/tools/ImageQueryTime/main.cpp

+++ b/src/tools/ImageQueryTime/main.cpp

@@ -17,7 +17,7 @@

 

 #define TEST_METHODS 

 #ifdef TEST_METHODS

-#include <InteractiveComputerGraphics/TriangleMeshDistance.h>

+#include <tmd/TriangleMeshDistance.h>

 // #include <CGAL/Simple_cartesian.h>

 // #include <CGAL/AABB_tree.h>

 // #include <CGAL/AABB_traits.h>

diff --git a/src/tools/SdfErrorCompare/main.cpp b/src/tools/SdfErrorCompare/main.cpp

index deef25f..9e402c4 100644

--- a/src/tools/SdfErrorCompare/main.cpp

+++ b/src/tools/SdfErrorCompare/main.cpp

@@ -23,7 +23,7 @@ using namespace sdflib;

 // #define TEST_OPENVDB

 

 #ifdef TEST_ICG

-#include <InteractiveComputerGraphics/TriangleMeshDistance.h>

+#include <tmd/TriangleMeshDistance.h>

 #endif

 #ifdef TEST_CGAL

 #include <CGAL/Simple_cartesian.h>

diff --git a/src/tools/SdfLibUnity/SdfExportFunc.cpp b/src/tools/SdfLibUnity/SdfExportFunc.cpp

index ff4e017..7e06ada 100644

--- a/src/tools/SdfLibUnity/SdfExportFunc.cpp

+++ b/src/tools/SdfLibUnity/SdfExportFunc.cpp

@@ -1,7 +1,7 @@

 #include "SdfExportFunc.h"

 #include "spdlog/sinks/rotating_file_sink.h"

 

-#include <InteractiveComputerGraphics/TriangleMeshDistance.h>

+#include <tmd/TriangleMeshDistance.h>

 

 using namespace sdflib;

 

diff --git a/src/tools/SdfOffsets/main.cpp b/src/tools/SdfOffsets/main.cpp

index b6769d7..07f137b 100644

--- a/src/tools/SdfOffsets/main.cpp

+++ b/src/tools/SdfOffsets/main.cpp

@@ -9,7 +9,7 @@

 #include <glm/gtc/type_ptr.hpp>

 #include <glm/gtc/matrix_transform.hpp>

 

-#include <InteractiveComputerGraphics/TriangleMeshDistance.h>

+#include <tmd/TriangleMeshDistance.h>

 #include <CGAL/Surface_mesh_default_triangulation_3.h>

 #include <CGAL/Complex_2_in_triangulation_3.h>

 #include <CGAL/make_surface_mesh.h>

pkgs/development/python-modules/mujoco/default.nix

+1 −1
Original line number Diff line number Diff line
@@ -38,7 +38,7 @@ buildPythonPackage rec { 
  # in the project's CI.

  src = fetchPypi {

    inherit pname version;

    hash = "sha256-c9dk/pji3tnSx15k71axDUTHiDOVFmAwmVpKw++5o20=";

    hash = "sha256-+fxlUPye2XaCI9stezzDK1oC656IcoK0DkUcJmrxakY=";

  };



  nativeBuildInputs = [ cmake ];