mujoco

# 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.

set(MUJOCO_SDF_INCLUDE ${CMAKE_CURRENT_SOURCE_DIR}/../..
                       ${CMAKE_CURRENT_SOURCE_DIR}/../../src
)

set(MUJOCO_SDF_SRCS
    sdf.cc
    sdf.h
    bolt.cc
    bolt.h
    bowl.cc
    bowl.h
    gear.cc
    gear.h
    register.cc
    nut.cc
    nut.h
    torus.cc
    torus.h
)

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)
target_compile_options(
  sdf_plugin
  PRIVATE ${AVX_COMPILE_OPTIONS}
          ${MUJOCO_MACOS_COMPILE_OPTIONS}
          ${EXTRA_COMPILE_OPTIONS}
          ${MUJOCO_CXX_FLAGS}
)
target_link_options(
  sdf_plugin
  PRIVATE
  ${MUJOCO_MACOS_LINK_OPTIONS}
  ${EXTRA_LINK_OPTIONS}
)