CMakeLists.txt

cmake_minimum_required(VERSION 3.16)

set(MSVC_INCREMENTAL_DEFAULT ON)

project(
  simulation
  VERSION 0.1.0
  DESCRIPTION "Robot simulation based on MuJoCo"
)

include(FetchContent)

FetchContent_Declare(
    mujoco
    GIT_REPOSITORY https://github.com/deepmind/mujoco.git
    GIT_TAG 2.2.2 #main
)

FetchContent_GetProperties(mujoco)
if(NOT mujoco_POPULATED)
    FetchContent_Populate(mujoco)
    set(MUJOCO_BUILD_EXAMPLES OFF)
    set(MUJOCO_BUILD_TESTS OFF)
    set(MUJOCO_TEST_PYTHON_UTIL OFF)
    set(MUJOCO_BUILD_SIMULATE OFF)
    # Prevent targets from being added to the ALL build. As a result only dependencies referenced
    # in other targets will be built. INSTALL target will not be built for example.
    add_subdirectory(${mujoco_SOURCE_DIR} ${mujoco_BINARY_DIR} ) # EXCLUDE_FROM_ALL)
endif()

add_subdirectory(simulate)

set_target_properties( simulate
    PROPERTIES
    RUNTIME_OUTPUT_DIRECTORY "${CMAKE_SOURCE_DIR}/bin"
    OUTPUT_NAME "simulation"
)

if (UNIX)
    set_target_properties( mujoco
        PROPERTIES
        ARCHIVE_OUTPUT_DIRECTORY "${CMAKE_SOURCE_DIR}/lib"
        LIBRARY_OUTPUT_DIRECTORY "${CMAKE_SOURCE_DIR}/lib"
        RUNTIME_OUTPUT_DIRECTORY "${CMAKE_SOURCE_DIR}/lib"
    )
else (WINDOWS)
    set_target_properties( mujoco
        PROPERTIES
        LIBRARY_OUTPUT_DIRECTORY "${CMAKE_SOURCE_DIR}/bin"
        RUNTIME_OUTPUT_DIRECTORY "${CMAKE_SOURCE_DIR}/bin"
    )
endif()

# add_subdirectory(logger)
add_subdirectory(controller)
add_subdirectory(differenciator)

target_link_libraries(Differenciator PUBLIC
    mujoco::mujoco
)

target_link_libraries(Controller PUBLIC 
    # Logger
    libsimulate
    mujoco::mujoco
    Differenciator
)

target_link_libraries( simulate
    Controller
)