push sheeet

pkgs/by-name/mu/mujoco/mujoco-system-deps-dont-fetch.patch

@@ -0,0 +1,228 @@
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index 1780f874..3ac02be6 100644
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -140,7 +140,7 @@ target_link_libraries(
+           lodepng
+           qhullstatic_r
+           tinyobjloader
+-          tinyxml2
++          tinyxml2::tinyxml2
+ )
+ 
+ set_target_properties(
+diff --git a/cmake/MujocoDependencies.cmake b/cmake/MujocoDependencies.cmake
+index 5cdc33cb..a4c9f61f 100644
+--- a/cmake/MujocoDependencies.cmake
++++ b/cmake/MujocoDependencies.cmake
+@@ -93,8 +93,6 @@ set(BUILD_SHARED_LIBS
+ if(NOT TARGET lodepng)
+   FetchContent_Declare(
+     lodepng
+-    GIT_REPOSITORY https://github.com/lvandeve/lodepng.git
+-    GIT_TAG ${MUJOCO_DEP_VERSION_lodepng}
+   )
+ 
+   FetchContent_GetProperties(lodepng)
+@@ -113,8 +111,6 @@ endif()
+ if(NOT TARGET marchingcubecpp)
+   FetchContent_Declare(
+     marchingcubecpp
+-    GIT_REPOSITORY https://github.com/aparis69/MarchingCubeCpp.git
+-    GIT_TAG ${MUJOCO_DEP_VERSION_MarchingCubeCpp}
+   )
+ 
+   FetchContent_GetProperties(marchingcubecpp)
+@@ -130,13 +126,9 @@ findorfetch(
+   USE_SYSTEM_PACKAGE
+   OFF
+   PACKAGE_NAME
+-  qhull
++  Qhull
+   LIBRARY_NAME
+   qhull
+-  GIT_REPO
+-  https://github.com/qhull/qhull.git
+-  GIT_TAG
+-  ${MUJOCO_DEP_VERSION_qhull}
+   TARGETS
+   qhull
+   EXCLUDE_FROM_ALL
+@@ -157,12 +149,8 @@ findorfetch(
+   tinyxml2
+   LIBRARY_NAME
+   tinyxml2
+-  GIT_REPO
+-  https://github.com/leethomason/tinyxml2.git
+-  GIT_TAG
+-  ${MUJOCO_DEP_VERSION_tinyxml2}
+   TARGETS
+-  tinyxml2
++  tinyxml2::tinyxml2
+   EXCLUDE_FROM_ALL
+ )
+ target_compile_options(tinyxml2 PRIVATE ${MUJOCO_MACOS_COMPILE_OPTIONS})
+@@ -175,10 +163,6 @@ findorfetch(
+   tinyobjloader
+   LIBRARY_NAME
+   tinyobjloader
+-  GIT_REPO
+-  https://github.com/tinyobjloader/tinyobjloader.git
+-  GIT_TAG
+-  ${MUJOCO_DEP_VERSION_tinyobjloader}
+   TARGETS
+   tinyobjloader
+   EXCLUDE_FROM_ALL
+@@ -187,8 +171,6 @@ findorfetch(
+ if(NOT TARGET trianglemeshdistance)
+   FetchContent_Declare(
+     trianglemeshdistance
+-    GIT_REPOSITORY https://github.com/InteractiveComputerGraphics/TriangleMeshDistance.git
+-    GIT_TAG ${MUJOCO_DEP_VERSION_TriangleMeshDistance}
+   )
+ 
+   FetchContent_GetProperties(trianglemeshdistance)
+@@ -207,10 +189,6 @@ findorfetch(
+   ccd
+   LIBRARY_NAME
+   ccd
+-  GIT_REPO
+-  https://github.com/danfis/libccd.git
+-  GIT_TAG
+-  ${MUJOCO_DEP_VERSION_ccd}
+   TARGETS
+   ccd
+   EXCLUDE_FROM_ALL
+@@ -247,10 +225,6 @@ if(MUJOCO_BUILD_TESTS)
+     absl
+     LIBRARY_NAME
+     abseil-cpp
+-    GIT_REPO
+-    https://github.com/abseil/abseil-cpp.git
+-    GIT_TAG
+-    ${MUJOCO_DEP_VERSION_abseil}
+     TARGETS
+     absl::core_headers
+     EXCLUDE_FROM_ALL
+@@ -274,14 +248,9 @@ if(MUJOCO_BUILD_TESTS)
+     GTest
+     LIBRARY_NAME
+     googletest
+-    GIT_REPO
+-    https://github.com/google/googletest.git
+-    GIT_TAG
+-    ${MUJOCO_DEP_VERSION_gtest}
+     TARGETS
+-    gtest
+-    gmock
+-    gtest_main
++    GTest::gmock
++    GTest::gtest_main
+     EXCLUDE_FROM_ALL
+   )
+ 
+@@ -308,10 +277,6 @@ if(MUJOCO_BUILD_TESTS)
+     benchmark
+     LIBRARY_NAME
+     benchmark
+-    GIT_REPO
+-    https://github.com/google/benchmark.git
+-    GIT_TAG
+-    ${MUJOCO_DEP_VERSION_benchmark}
+     TARGETS
+     benchmark::benchmark
+     benchmark::benchmark_main
+@@ -322,14 +287,12 @@ endif()
+ 
+ if(MUJOCO_TEST_PYTHON_UTIL)
+   add_compile_definitions(EIGEN_MPL2_ONLY)
+-  if(NOT TARGET eigen)
++  if(NOT TARGET Eigen3::Eigen)
+     # Support new IN_LIST if() operator.
+     set(CMAKE_POLICY_DEFAULT_CMP0057 NEW)
+ 
+     FetchContent_Declare(
+       Eigen3
+-      GIT_REPOSITORY https://gitlab.com/libeigen/eigen.git
+-      GIT_TAG ${MUJOCO_DEP_VERSION_Eigen3}
+     )
+ 
+     FetchContent_GetProperties(Eigen3)
+diff --git a/python/mujoco/util/CMakeLists.txt b/python/mujoco/util/CMakeLists.txt
+index 666a3725..d89bb499 100644
+--- a/python/mujoco/util/CMakeLists.txt
++++ b/python/mujoco/util/CMakeLists.txt
+@@ -63,8 +63,8 @@ if(BUILD_TESTING)
+   target_link_libraries(
+     array_traits_test
+     array_traits
+-    gmock
+-    gtest_main
++    GTest::gmock
++    GTest::gtest_main
+   )
+   gtest_add_tests(TARGET array_traits_test SOURCES array_traits_test.cc)
+ 
+@@ -72,8 +72,8 @@ if(BUILD_TESTING)
+   target_link_libraries(
+     func_traits_test
+     func_traits
+-    gmock
+-    gtest_main
++    GTest::gmock
++    GTest::gtest_main
+   )
+   gtest_add_tests(TARGET func_traits_test SOURCES func_traits_test.cc)
+ 
+@@ -81,8 +81,8 @@ if(BUILD_TESTING)
+   target_link_libraries(
+     func_wrap_test
+     func_wrap
+-    gmock
+-    gtest_main
++    GTest::gmock
++    GTest::gtest_main
+   )
+   gtest_add_tests(TARGET func_wrap_test SOURCES func_wrap_test.cc)
+ 
+@@ -90,8 +90,8 @@ if(BUILD_TESTING)
+   target_link_libraries(
+     tuple_tools_test
+     func_wrap
+-    gmock
+-    gtest_main
++    GTest::gmock
++    GTest::gtest_main
+   )
+   gtest_add_tests(TARGET tuple_tools_test SOURCES tuple_tools_test.cc)
+ endif()
+diff --git a/simulate/cmake/SimulateDependencies.cmake b/simulate/cmake/SimulateDependencies.cmake
+index 5141406c..75ff7884 100644
+--- a/simulate/cmake/SimulateDependencies.cmake
++++ b/simulate/cmake/SimulateDependencies.cmake
+@@ -81,10 +81,6 @@ findorfetch(
+   glfw3
+   LIBRARY_NAME
+   glfw3
+-  GIT_REPO
+-  https://github.com/glfw/glfw.git
+-  GIT_TAG
+-  ${MUJOCO_DEP_VERSION_glfw3}
+   TARGETS
+   glfw
+   EXCLUDE_FROM_ALL
+diff --git a/test/CMakeLists.txt b/test/CMakeLists.txt
+index a286a1c6..982f2e68 100644
+--- a/test/CMakeLists.txt
++++ b/test/CMakeLists.txt
+@@ -81,8 +81,8 @@ target_link_libraries(
+          absl::synchronization
+          absl::flat_hash_map
+          absl::flat_hash_set
+-         gtest
+-         gmock
++         GTest::gtest
++         GTest::gmock
+          mujoco::mujoco
+ )
+ target_include_directories(fixture PRIVATE ${mujoco_SOURCE_DIR}/include gmock)

pkgs/by-name/mu/mujoco/package.nix

@@ -0,0 +1,156 @@
+{
+  lib,
+  stdenv,
+  fetchFromGitHub,
+  cmake,
+  fetchFromGitLab,
+  glfw,
+  glm,
+  spdlog,
+  cereal,
+  python3Packages,
+}:
+
+let
+  pin = {
+    # TODO: Check the following file and ensure the dependencies are up-to-date
+    # See https://github.com/google-deepmind/mujoco/blob/<VERSION>/cmake/MujocoDependencies.cmake#L17-L64
+    abseil-cpp = fetchFromGitHub {
+      owner = "abseil";
+      repo = "abseil-cpp";
+      rev = "987c57f325f7fa8472fa84e1f885f7534d391b0d";
+      hash = "sha256-6Ro7miql9+wcArsOKTjlyDSyD91rmmPsIfO5auk9kiI=";
+    };
+    benchmark = fetchFromGitHub {
+      owner = "google";
+      repo = "benchmark";
+      rev = "049f6e79cc3e8636cec21bbd94ed185b4a5f2653";
+      hash = "sha256-VmSKKCsBvmvXSnFbw6GJRgiGjlne8rw22+RCLBV/kD4=";
+    };
+    ccd = fetchFromGitHub {
+      owner = "danfis";
+      repo = "libccd";
+      rev = "7931e764a19ef6b21b443376c699bbc9c6d4fba8";
+      hash = "sha256-TIZkmqQXa0+bSWpqffIgaBela0/INNsX9LPM026x1Wk=";
+    };
+    eigen3 = fetchFromGitLab {
+      owner = "libeigen";
+      repo = "eigen";
+      rev = "4be7e6b4e0a82853e853c0c7c4ef72f395e1f497";
+      hash = "sha256-SOTQ9j8YCsEuxNULsulQ0bmtxOZJKF7zc4GZOQlrmdo=";
+    };
+    googletest = fetchFromGitHub {
+      owner = "google";
+      repo = "googletest";
+      rev = "52eb8108c5bdec04579160ae17225d66034bd723";
+      hash = "sha256-HIHMxAUR4bjmFLoltJeIAVSulVQ6kVuIT2Ku+lwAx/4=";
+    };
+    lodepng = fetchFromGitHub {
+      owner = "lvandeve";
+      repo = "lodepng";
+      rev = "17d08dd26cac4d63f43af217ebd70318bfb8189c";
+      hash = "sha256-vnw52G0lY68471dzH7NXc++bTbLRsITSxGYXOTicA5w=";
+    };
+    qhull = fetchFromGitHub {
+      owner = "qhull";
+      repo = "qhull";
+      rev = "62ccc56af071eaa478bef6ed41fd7a55d3bb2d80";
+      hash = "sha256-kIxHtE0L/axV9WKnQzyFN0mxoIFAI33Z+MP0P/MtQPw=";
+    };
+    tinyobjloader = fetchFromGitHub {
+      owner = "tinyobjloader";
+      repo = "tinyobjloader";
+      rev = "1421a10d6ed9742f5b2c1766d22faa6cfbc56248";
+      hash = "sha256-9z2Ne/WPCiXkQpT8Cun/pSGUwgClYH+kQ6Dx1JvW6w0=";
+    };
+    tinyxml2 = fetchFromGitHub {
+      owner = "leethomason";
+      repo = "tinyxml2";
+      rev = "e6caeae85799003f4ca74ff26ee16a789bc2af48";
+      hash = "sha256-GpFFWl7/1XF1vTOxUrEo27T4Kc6oaUMvhGp9xLQfmWg=";
+    };
+    marchingcubecpp = fetchFromGitHub {
+      owner = "aparis69";
+      repo = "MarchingCubeCpp";
+      rev = "f03a1b3ec29b1d7d865691ca8aea4f1eb2c2873d";
+      hash = "sha256-90ei0lpJA8XuVGI0rGb3md0Qtq8/bdkU7dUCHpp88Bw=";
+    };
+    trianglemeshdistance = fetchFromGitHub {
+      owner = "InteractiveComputerGraphics";
+      repo = "TriangleMeshDistance";
+      rev = "2cb643de1436e1ba8e2be49b07ec5491ac604457";
+      hash = "sha256-qG/8QKpOnUpUQJ1nLj+DFoLnUr+9oYkJPqUhwEQD2pc=";
+    };
+  };
+
+in
+stdenv.mkDerivation (finalAttrs: {
+  pname = "mujoco";
+  version = "3.3.6";
+
+  # Bumping version? Make sure to look though the MuJoCo's commit
+  # history for bumped dependency pins!
+  src = fetchFromGitHub {
+    owner = "google-deepmind";
+    repo = "mujoco";
+    tag = finalAttrs.version;
+    hash = "sha256-6lZ36XFMsjzck/ouSSiX47+dxbEzXgrMhw1Mi3PEnq4=";
+  };
+
+  patches = [ ./mujoco-system-deps-dont-fetch.patch ];
+
+  nativeBuildInputs = [ cmake ];
+
+  buildInputs = [
+    glm
+
+    # non-numerical
+    spdlog
+    cereal
+    glfw
+  ];
+
+  cmakeFlags = [
+    (lib.cmakeBool "MUJOCO_SIMULATE_USE_SYSTEM_GLFW" true)
+    (lib.cmakeBool "MUJOCO_SAMPLES_USE_SYSTEM_GLFW" true)
+  ];
+
+  # Move things into place so that cmake doesn't try downloading dependencies.
+  preConfigure = ''
+    mkdir -p build/_deps
+    ln -s ${pin.abseil-cpp} build/_deps/abseil-cpp-src
+    ln -s ${pin.benchmark} build/_deps/benchmark-src
+    ln -s ${pin.ccd} build/_deps/ccd-src
+    ln -s ${pin.eigen3} build/_deps/eigen3-src
+    ln -s ${pin.googletest} build/_deps/googletest-src
+    ln -s ${pin.lodepng} build/_deps/lodepng-src
+    ln -s ${pin.qhull} build/_deps/qhull-src
+    ln -s ${pin.tinyobjloader} build/_deps/tinyobjloader-src
+    ln -s ${pin.tinyxml2} build/_deps/tinyxml2-src
+    ln -s ${pin.trianglemeshdistance} build/_deps/trianglemeshdistance-src
+    ln -s ${pin.marchingcubecpp} build/_deps/marchingcubecpp-src
+  '';
+
+  passthru = {
+    pin = {
+      inherit (pin) lodepng eigen3 abseil-cpp;
+    };
+    tests = {
+      pythonMujoco = python3Packages.mujoco;
+      pythonMujocoMjx = python3Packages.mujoco-mjx;
+    };
+  };
+
+  meta = {
+    description = "Multi-Joint dynamics with Contact. A general purpose physics simulator";
+    homepage = "https://mujoco.org/";
+    changelog = "https://mujoco.readthedocs.io/en/${finalAttrs.version}/changelog.html";
+    license = lib.licenses.asl20;
+    maintainers = with lib.maintainers; [
+      GaetanLepage
+      samuela
+      tmplt
+    ];
+    broken = stdenv.hostPlatform.isDarwin;
+  };
+})