Fixes for Windows and Macos

Author: juan-g-bonilla

conanfile.py

@@ -257,6 +257,11 @@ def layout(self):
         self.folders.build = str(self.options.get_safe("buildFolder"))
 
     def generate(self):
+        if self.settings.os == "Windows":
+            for dep in self.dependencies.values():
+                for libdir in dep.cpp_info.bindirs:
+                    copy(self, "*.dll", libdir, "../Basilisk")
+
         if self.options.get_safe("pathToExternalModules"):
             print(statusColor + "Including External Folder: " + endColor + str(self.options.pathToExternalModules))
 
@@ -386,7 +391,7 @@ def conan_create_mujoco(print_fn: Optional[Callable[[str], None]] = print):
         if print_fn is not None:
             print_fn(f"Package {ref} not found locally, creating it...")
         # Run 'conan create' in the external recipe directory
-        subprocess.run([sys.executable, "-m", "conans.conan", "create", "."], cwd="./libs/mujoco" )
+        subprocess.run([sys.executable, "-m", "conans.conan", "create", ".", "-s" ,"compiler.cppstd=17"], cwd="./libs/mujoco" )
     else:
         if print_fn is not None:
             print_fn(f"Package {ref} already available, skipping creation.")
@@ -444,12 +449,13 @@ def conan_create_mujoco(print_fn: Optional[Callable[[str], None]] = print):
 
     if args.mujocoReplay:
         print(f"{statusColor}Building 'replay' tool, since '--mujocoReplay true' was used")
-        subprocess.run([sys.executable, "-m", "conans.conan", "build", "."], cwd="./src/utilities/mujocoUtils" )
+        subprocess.run([sys.executable, "-m", "conans.conan", "build", ".", "-s" ,"compiler.cppstd=17"], cwd="./src/utilities/mujocoUtils" )
 
     # run conan install
     conanCmdString = list()
     conanCmdString.append(f'{sys.executable} -m conans.conan install . --build=missing')
     conanCmdString.append(' -s build_type=' + str(args.buildType))
+    conanCmdString.append(' -s compiler.cppstd=17')
     optionsString = list()
     if args.generator:
         optionsString.append(' -o "&:generator=' + str(args.generator) + '"')
@@ -477,7 +483,7 @@ def conan_create_mujoco(print_fn: Optional[Callable[[str], None]] = print):
     completedProcess = subprocess.run(conanCmdString, shell=True, check=True)
 
     # run conan build
-    buildCmdString = f'{sys.executable} -m conans.conan build . ' + ''.join(optionsString)
+    buildCmdString = f'{sys.executable} -m conans.conan build . -s compiler.cppstd=17 ' + ''.join(optionsString)
     print(statusColor + "Running:" + endColor)
     print(buildCmdString)
     completedProcess = subprocess.run(buildCmdString, shell=True, check=True)

libs/mujoco/conanfile.py

@@ -77,13 +77,13 @@ def _package_macos(self, url):
             if framework_dir is None:
                 self.output.error("Failed to find any mount that contains the folder 'mujoco.framework'")
 
-            package_include = os.path.join(self.package_folder, "include")
+            package_include_mujoco = os.path.join(self.package_folder, "include", "mujoco")
             package_lib = os.path.join(self.package_folder, "lib")
 
             headers_dir = os.path.join(framework_dir, "Versions", "A", "Headers")
             dylib_dir = os.path.join(framework_dir, "Versions", "A")
 
-            copy(self, "*.h", headers_dir, package_include)
+            copy(self, "*.h", headers_dir, package_include_mujoco)
             copy(self, "*.dylib", dylib_dir, package_lib)
 
             # The dylib might actually be versioned (i.e. libmujoco.3.2.6.dylib)