CMakeLists.txt

cmake_minimum_required(VERSION 3.1)

# These variables have to be defined before running setup_project
set(PROJECT_NAME mc_mujoco)
set(PROJECT_DESCRIPTION "Mujoco interface for mc-rtc")

set(CMAKE_CXX_STANDARD 11)

project(${PROJECT_NAME} LANGUAGES CXX VERSION 1.0.0)

if(NOT DEFINED MUJOCO_ROOT_DIR)
  message(FATAL_ERROR "Provide MUJOCO_ROOT_DIR")
endif()

find_package(mc_rtc REQUIRED)

option(USE_GL "Use Mujoco with OpenGL" ON)
set(MUJOCO_SRC_DIR "${MUJOCO_ROOT_DIR}/bin")
set(MUJOCO_INCLUDE_DIR "${MUJOCO_ROOT_DIR}/include")
message("${MUJOCO_INCLUDE_DIR}")
message(STATUS "MuJoCo path: " ${MUJOCO_SRC_DIR})

# find glfw library
find_library(GLFW
  NAMES libglfw.so.3
  PATHS ${MUJOCO_SRC_DIR}
  NO_DEFAULT_PATH)
message(STATUS "GLFW lib found at: " ${GLFW})

find_package(GLEW REQUIRED)

# find mujoco library
if(USE_GL)
  file(GLOB LIB_MUJOCO ${MUJOCO_SRC_DIR}/libmujoco[0-9][0-9][0-9].so)
else()
  file(GLOB LIB_MUJOCO ${MUJOCO_SRC_DIR}/libmujoco[0-9][0-9][0-9]nogl.so)
endif()
message(STATUS "MuJoCo lib found at: " ${LIB_MUJOCO})

add_subdirectory(src)

enable_testing()