CMakeLists.txt

# Copyright 2022 DeepMind Technologies Limited
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
#     https://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.

cmake_minimum_required(VERSION 3.16)

# INTERPROCEDURAL_OPTIMIZATION is enforced when enabled.
set(CMAKE_POLICY_DEFAULT_CMP0069 NEW)
# Default to GLVND if available.
set(CMAKE_POLICY_DEFAULT_CMP0072 NEW)

# This line has to appear before 'PROJECT' in order to be able to disable incremental linking
set(MSVC_INCREMENTAL_DEFAULT ON)

project(
  mujoco_mpc
  VERSION 0.1.0
  DESCRIPTION "MuJoCo predictive control"
  HOMEPAGE_URL "https://github.com/google-deepmind/mujoco_mpc"
)

enable_language(C)
enable_language(CXX)
if(APPLE)
  enable_language(OBJC)
  enable_language(OBJCXX)
endif()

list(APPEND CMAKE_MODULE_PATH "${PROJECT_SOURCE_DIR}/cmake")
include(MpcOptions)
include(MujocoMacOS)

option(MJPC_BUILD_TESTS "Build tests for MJPC" ON)
option(MJPC_GRPC_BUILD_TESTS "Build tests for gRPC" ON)
option(MJPC_BUILD_GRPC_SERVICE "Build MJPC gRPC service." OFF)
option(PYMJPC_BUILD_TESTS "Build tests for Python bindings" ON)

include(FindOrFetch)

find_package(Python)
find_package(Threads REQUIRED)

set(MUJOCO_BUILD_EXAMPLES OFF)
set(MUJOCO_BUILD_SIMULATE ON)
set(MUJOCO_BUILD_TESTS OFF)
set(MUJOCO_TEST_PYTHON_UTIL OFF)

set(MUJOCO_MPC_MUJOCO_GIT_TAG
    a1b6026b8c29efd10fe0fb67bd5213541ccb1362
    CACHE STRING "Git revision for MuJoCo."
)

findorfetch(
  USE_SYSTEM_PACKAGE
  OFF
  PACKAGE_NAME
  mujoco
  LIBRARY_NAME
  mujoco
  GIT_REPO
  https://github.com/google-deepmind/mujoco.git
  GIT_TAG
  ${MUJOCO_MPC_MUJOCO_GIT_TAG}
  TARGETS
  mujoco::mujoco
  mujoco::platform_ui_adapter
  EXCLUDE_FROM_ALL
)

set(MUJOCO_DEP_VERSION_abseil
    c8a2f92586fe9b4e1aff049108f5db8064924d8e # LTS 20230125.1
    CACHE STRING "Version of `abseil` to be fetched."
)

set(MUJOCO_DEP_VERSION_glfw3
    7482de6071d21db77a7236155da44c172a7f6c9e # 3.3.8
    CACHE STRING "Version of `glfw` to be fetched."
)

set(MJPC_DEP_VERSION_lodepng
    b4ed2cd7ecf61d29076169b49199371456d4f90b
    CACHE STRING "Version of `lodepng` to be fetched."
)

set(BUILD_SHARED_LIBS_OLD ${BUILD_SHARED_LIBS})
set(BUILD_SHARED_LIBS
    OFF
    CACHE INTERNAL "Build SHARED libraries"
)

findorfetch(
  USE_SYSTEM_PACKAGE
  OFF
  PACKAGE_NAME
  GTest
  LIBRARY_NAME
  googletest
  GIT_REPO
  https://github.com/google/googletest.git
  GIT_TAG
  ${MUJOCO_DEP_VERSION_gtest}
  TARGETS
  gtest
  gmock
  gtest_main
  EXCLUDE_FROM_ALL
)

set(ABSL_PROPAGATE_CXX_STD ON)
set(ABSL_BUILD_TESTING OFF)
findorfetch(
  USE_SYSTEM_PACKAGE
  OFF
  PACKAGE_NAME
  absl
  LIBRARY_NAME
  abseil-cpp
  GIT_REPO
  https://github.com/abseil/abseil-cpp.git
  GIT_TAG
  ${MUJOCO_DEP_VERSION_abseil}
  TARGETS
  absl::core_headers
  EXCLUDE_FROM_ALL
)

set(GLFW_BUILD_EXAMPLES OFF)
set(GLFW_BUILD_TESTS OFF)
set(GLFW_BUILD_DOCS OFF)
set(GLFW_INSTALL OFF)

findorfetch(
  USE_SYSTEM_PACKAGE
  MJPC_USE_SYSTEM_GLFW
  PACKAGE_NAME
  glfw
  LIBRARY_NAME
  glfw
  GIT_REPO
  https://github.com/glfw/glfw.git
  GIT_TAG
  ${MUJOCO_DEP_VERSION_glfw3}
  TARGETS
  glfw
  EXCLUDE_FROM_ALL
)

set(BUILD_SHARED_LIBS
    ${BUILD_SHARED_LIBS_OLD}
    CACHE BOOL "Build SHARED libraries" FORCE
)
unset(BUILD_SHARED_LIBS_OLD)

FetchContent_Declare(
  menagerie
  GIT_REPOSITORY https://github.com/google-deepmind/mujoco_menagerie.git
  GIT_TAG main
)

FetchContent_GetProperties(menagerie)
if(NOT menagerie_POPULATED)
  FetchContent_Populate(menagerie)
endif()

if(NOT TARGET lodepng)
  FetchContent_Declare(
    lodepng
    GIT_REPOSITORY https://github.com/lvandeve/lodepng.git
    GIT_TAG ${MJPC_DEP_VERSION_lodepng}
  )

  FetchContent_GetProperties(lodepng)
  if(NOT lodepng_POPULATED)
    FetchContent_Populate(lodepng)
    # This is not a CMake project.
    set(LODEPNG_SRCS ${lodepng_SOURCE_DIR}/lodepng.cpp)
    set(LODEPNG_HEADERS ${lodepng_SOURCE_DIR}/lodepng.h)
    add_library(lodepng STATIC ${LODEPNG_HEADERS} ${LODEPNG_SRCS})
    target_compile_options(lodepng PRIVATE ${MUJOCO_MACOS_COMPILE_OPTIONS})
    target_link_options(lodepng PRIVATE ${MUJOCO_MACOS_LINK_OPTIONS})
    target_include_directories(lodepng PUBLIC ${lodepng_SOURCE_DIR})
  endif()
endif()

set(MJPC_COMPILE_OPTIONS "${AVX_COMPILE_OPTIONS}" "${EXTRA_COMPILE_OPTIONS}")
set(MJPC_LINK_OPTIONS "${EXTRA_LINK_OPTIONS}")

add_subdirectory(mjpc)
if(MJPC_BUILD_GRPC_SERVICE)
  add_subdirectory(grpc)
endif()