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CMakeLists.txt
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cmake_minimum_required(VERSION 3.10)
project(_rg2)
set(CMAKE_CXX_STANDARD 17)
set(CMAKE_LIBRARY_OUTPUT_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}/rg2/bin)
SET(CMAKE_ARCHIVE_OUTPUT_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}/rg2/bin)
SET(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}/rg2/bin)
######################
### help functions ###
######################
MACRO(SUBDIRLIST result curdir)
FILE(GLOB children RELATIVE ${curdir} ${curdir}/*)
SET(dirlist "")
FOREACH(child ${children})
IF(IS_DIRECTORY ${curdir}/${child})
LIST(APPEND dirlist ${child})
ENDIF()
ENDFOREACH()
SET(${result} ${dirlist})
ENDMACRO()
####################
### dependencies ###
####################
set(Dependencies)
add_subdirectory(extern/pybind11 pybind11)
find_package(Eigen3 CONFIG REQUIRED)
if (APPLE)
set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} ${OpenMP_C_FLAGS}")
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${OpenMP_CXX_FLAGS}")
set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} ${OpenMP_EXE_LINKER_FLAGS}")
else ()
find_package(OpenMP REQUIRED)
set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -fopenmp")
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -fopenmp")
endif()
if (UNIX AND NOT APPLE AND NOT ANDROID AND NOT WEBGL AND NOT WIN32)
set(RAISIM_OS linux)
list(APPEND CMAKE_PREFIX_PATH rg2/${RAISIM_OS})
# elseif(APPLE)
# # on macOS "uname -m" returns the architecture (x86_64 or arm64)
# execute_process(
# COMMAND uname -m
# RESULT_VARIABLE result
# OUTPUT_VARIABLE OSX_NATIVE_ARCHITECTURE
# OUTPUT_STRIP_TRAILING_WHITESPACE
# )
# set(RAISIM_ARCH ${OSX_NATIVE_ARCHITECTURE} CACHE STRING "ARCH")
# if(${RAISIM_ARCH} STREQUAL "arm64")
# set(RAISIM_OS m1)
# else()
# set(RAISIM_OS mac)
# endif()
# list(APPEND CMAKE_PREFIX_PATH ../raisim/${RAISIM_OS})
# elseif(WIN32)
# set(RAISIM_OS win32)
# list(APPEND CMAKE_PREFIX_PATH ../raisim/${RAISIM_OS})
# list(APPEND CMAKE_PREFIX_PATH ../thirdParty)
# list(APPEND Dependencies Ws2_32)
# set(CMAKE_LIBRARY_OUTPUT_DIRECTORY_RELEASE ${CMAKE_CURRENT_SOURCE_DIR}/raisimGymTorch/env/bin)
# set(CMAKE_ARCHIVE_OUTPUT_DIRECTORY_RELEASE ${CMAKE_CURRENT_SOURCE_DIR}/raisimGymTorch/env/bin)
# set(CMAKE_RUNTIME_OUTPUT_DIRECTORY_RELEASE ${CMAKE_CURRENT_SOURCE_DIR}/raisimGymTorch/env/bin)
endif()
find_package(raisim CONFIG REQUIRED)
#######################
### src and linking ###
#######################
# collect all source files
file(GLOB SOURCE_FILES
rg2/csrc/src/*.cpp
)
pybind11_add_module(${PROJECT_NAME} ${SOURCE_FILES} rg2/csrc/binding.cpp)
set_target_properties(${PROJECT_NAME} PROPERTIES POSITION_INDEPENDENT_CODE TRUE)
target_link_libraries(${PROJECT_NAME} PRIVATE raisim::raisim ${Dependencies})
target_include_directories(${PROJECT_NAME} PUBLIC ${EIGEN3_INCLUDE_DIRS} ${RAISIMGYM_ENV_DIR}/include)
target_compile_options(${PROJECT_NAME} PRIVATE -fPIC -O3 -flto -mno-avx2)
target_compile_definitions(${PROJECT_NAME} PRIVATE "$<$<CONFIG:Release>:EIGEN_NO_DEBUG>")
target_compile_definitions(${PROJECT_NAME} PRIVATE EIGEN_DONT_PARALLELIZE)
message("raisim os ${RAISIM_OS}")
message("raisim arch ${RAISIM_ARCH}")
if(${RAISIM_OS} STREQUAL "m1")
if(${RAISIM_ARCH} STREQUAL "arm64")
message("building with correct lib")
target_compile_options(${subdir} PRIVATE -mcpu=apple-m1)
endif()
endif()
# if (CMAKE_BUILD_TYPE STREQUAL "DEBUG" OR CMAKE_BUILD_TYPE STREQUAL "Debug")
# message("[RAISIM_GYM] BUILDING THE DEBUG APP for ${subdir}")
# add_executable(${subdir}_debug_app raisimGymTorch/env/debug_app.cpp raisimGymTorch/env/Yaml.cpp)
# target_link_libraries(${subdir}_debug_app PRIVATE raisim::raisim)
# target_include_directories(${subdir}_debug_app PUBLIC raisimGymTorch/env/envs/${subdir} ${EIGEN3_INCLUDE_DIRS} ${CMAKE_CURRENT_SOURCE_DIR}/raisimGymTorch/env)
# if(WIN32)
# target_link_libraries(${subdir}_debug_app PRIVATE Ws2_32)
# else()
# target_compile_options(${subdir}_debug_app PRIVATE -fPIC -g -O0 -mno-avx2)
# endif()
# endif()