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mujoco: add package #8810

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Merged
star-hengxing merged 5 commits into from
Dec 10, 2025
Merged

mujoco: add package #8810

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2ae0a69
mujoco: add package
star-hengxing Dec 10, 2025
7be3aa4
fix qhull
star-hengxing Dec 10, 2025
a515e9c
fix bugs
star-hengxing Dec 10, 2025
9a757da
remove lto
star-hengxing Dec 10, 2025
8285b78
limit bsd
star-hengxing Dec 10, 2025
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fix bugs
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@star-hengxing
star-hengxing authored Dec 10, 2025
commit a515e9ca04e4c23f3d2e73a51903b0ff78a3e8e9
26 changes: 25 additions & 1 deletion packages/m/mujoco/xmake.lua
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Original file line number Diff line number Diff line change
Expand Up @@ -41,9 +41,21 @@ package("mujoco")
raise("package(mujoco) unsupported shared qhull library")
end

-- support static build
io.replace("CMakeLists.txt", "add_library(mujoco SHARED", "add_library(mujoco ", {plain = true})
-- remove fetch content
io.replace("CMakeLists.txt", "include(MujocoDependencies)", "", {plain = true})
-- remove hardcode ccd and dynamic library export macro
io.replace("CMakeLists.txt", "CCD_STATIC_DEFINE MUJOCO_DLL_EXPORTS", "", {plain = true})
-- remove unused install target
io.replace("CMakeLists.txt", "list(APPEND MUJOCO_TARGETS lodepng)", "", {plain = true})
if package:is_plat("mingw") then
-- mujoco.rc:23: syntax error
io.replace("CMakeLists.txt", "set(MUJOCO_RESOURCE_FILES ${CMAKE_CURRENT_SOURCE_DIR}/dist/mujoco.rc)", "", {plain = true})
-- remove /STACK:16777216
io.replace("cmake/MujocoLinkOptions.cmake", "if(WIN32)", "if(0)", {plain = true})
io.replace("simulate/cmake/MujocoLinkOptions.cmake", "if(WIN32)", "if(0)", {plain = true})
end

io.replace("cmake/MujocoOptions.cmake", "-Werror", "", {plain = true})
io.replace("simulate/cmake/SimulateOptions.cmake", "-Werror", "", {plain = true})
Expand Down Expand Up @@ -93,6 +105,7 @@ package("mujoco")
end

if package:config("simulate") then
-- remove fetch content
io.replace("simulate/CMakeLists.txt", "include(SimulateDependencies)", "", {plain = true})
io.replace("simulate/CMakeLists.txt", "if(NOT TARGET lodepng)", "if(0)", {plain = true})
io.replace("simulate/CMakeLists.txt",
Expand All @@ -115,10 +128,21 @@ package("mujoco")
}
table.insert(configs, "-DCMAKE_BUILD_TYPE=" .. (package:is_debug() and "Debug" or "Release"))
table.insert(configs, "-DBUILD_SHARED_LIBS=" .. (package:config("shared") and "ON" or "OFF"))
table.insert(configs, "-DCMAKE_INTERPROCEDURAL_OPTIMIZATION=" .. (package:config("lto") and "ON" or "OFF"))

table.insert(configs, "-DMUJOCO_BUILD_SIMULATE=" .. (package:config("simulate") and "ON" or "OFF"))
table.insert(configs, "-DMUJOCO_WITH_USD=" .. (package:config("usd") and "ON" or "OFF"))
import("package.tools.cmake").install(package, configs)

local opt = {}
opt.cxflags = {}
if package:has_tool("cc", "gcc") then
table.insert(opt.cxflags, "-Wno-error=incompatible-pointer-types")
end
if package:is_plat("android", "bsd", "mingw") then
-- src/engine/engine_util_errmem.c:107:6: error: #error "Thread-safe version of `localtime` is not present in the standard C library"
table.insert(opt.cxflags, "-D_POSIX_C_SOURCE=200112L")
end
import("package.tools.cmake").install(package, configs, opt)
end)

on_test(function (package)
Expand Down
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