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Improve Filament Studio source builds #3252

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50 changes: 27 additions & 23 deletions cmake/third_party_deps/dear_imgui/CMakeLists.txt
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Expand Up @@ -13,61 +13,65 @@
# limitations under the License.

add_library(dear_imgui STATIC)
set(MUJOCO_DEAR_IMGUI_SOURCE_DIR "${dear_imgui_SOURCE_DIR}" CACHE INTERNAL "")
target_include_directories(dear_imgui
PUBLIC
${dear_imgui_SOURCE_DIR}
${MUJOCO_DEAR_IMGUI_SOURCE_DIR}
)
target_sources(dear_imgui
PUBLIC
${dear_imgui_SOURCE_DIR}/imgui.h
${dear_imgui_SOURCE_DIR}/imgui.cpp
${dear_imgui_SOURCE_DIR}/imgui_internal.h
${dear_imgui_SOURCE_DIR}/imgui_draw.cpp
${dear_imgui_SOURCE_DIR}/imgui_tables.cpp
${dear_imgui_SOURCE_DIR}/imgui_widgets.cpp
${dear_imgui_SOURCE_DIR}/imgui_demo.cpp
${MUJOCO_DEAR_IMGUI_SOURCE_DIR}/imgui.h
${MUJOCO_DEAR_IMGUI_SOURCE_DIR}/imgui.cpp
${MUJOCO_DEAR_IMGUI_SOURCE_DIR}/imgui_internal.h
${MUJOCO_DEAR_IMGUI_SOURCE_DIR}/imgui_draw.cpp
${MUJOCO_DEAR_IMGUI_SOURCE_DIR}/imgui_tables.cpp
${MUJOCO_DEAR_IMGUI_SOURCE_DIR}/imgui_widgets.cpp
${MUJOCO_DEAR_IMGUI_SOURCE_DIR}/imgui_demo.cpp
)

# SDL2 backend
# TODO: I don't know how to correctly check for dependencies in cmake. This
# assumes that SDL2 is pulled in _before_ dear_imgui, but that seems fragile.
# For now, we'll just assume SDL2 is available as dear_imgui is only being used
# in contexts which depend on SDL2.
#if(TARGET SDL2)
function(mujoco_add_dear_imgui_sdl2_backend)
if(TARGET dear_imgui_SDL2 OR NOT TARGET SDL2::SDL2-static)
return()
endif()

add_library(dear_imgui_SDL2 STATIC)
target_include_directories(dear_imgui_SDL2
PUBLIC
${dear_imgui_SOURCE_DIR}
${MUJOCO_DEAR_IMGUI_SOURCE_DIR}
)
target_sources(dear_imgui_SDL2
PUBLIC
${dear_imgui_SOURCE_DIR}/backends/imgui_impl_sdl2.cpp
${MUJOCO_DEAR_IMGUI_SOURCE_DIR}/backends/imgui_impl_sdl2.cpp
)
target_link_libraries(dear_imgui_SDL2
SDL2::SDL2-static
)
#endif()
endfunction()

# SDL2 backend. Filament uses base dear_imgui without SDL2; platform calls this
# helper again after SDL2 is pulled in.
mujoco_add_dear_imgui_sdl2_backend()

# OpenGL3 backend
add_library(dear_imgui_OpenGL3 STATIC)
target_include_directories(dear_imgui_OpenGL3
PUBLIC
${dear_imgui_SOURCE_DIR}
${MUJOCO_DEAR_IMGUI_SOURCE_DIR}
)
target_sources(dear_imgui_OpenGL3
PUBLIC
${dear_imgui_SOURCE_DIR}/backends/imgui_impl_opengl3.h
${dear_imgui_SOURCE_DIR}/backends/imgui_impl_opengl3.cpp
${MUJOCO_DEAR_IMGUI_SOURCE_DIR}/backends/imgui_impl_opengl3.h
${MUJOCO_DEAR_IMGUI_SOURCE_DIR}/backends/imgui_impl_opengl3.cpp
)

# stdlib
add_library(dear_imgui_stdlib STATIC)
target_include_directories(dear_imgui_stdlib
PUBLIC
${dear_imgui_SOURCE_DIR}
${MUJOCO_DEAR_IMGUI_SOURCE_DIR}
)
target_sources(dear_imgui_stdlib
PUBLIC
${dear_imgui_SOURCE_DIR}/misc/cpp/imgui_stdlib.h
${dear_imgui_SOURCE_DIR}/misc/cpp/imgui_stdlib.cpp
${MUJOCO_DEAR_IMGUI_SOURCE_DIR}/misc/cpp/imgui_stdlib.h
${MUJOCO_DEAR_IMGUI_SOURCE_DIR}/misc/cpp/imgui_stdlib.cpp
)
20 changes: 20 additions & 0 deletions cmake/third_party_deps/filament.cmake
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Expand Up @@ -51,12 +51,32 @@ set(FILAMENT_PATCH_COMMAND
git apply --reject --whitespace=fix ${mujoco_SOURCE_DIR}/cmake/filament-allow-clang-windows.patch
)

# MuJoCo fetches Abseil before Filament is configured. Filament's
# FILAMENT_USE_EXTERNAL_ABSL path calls find_package(absl), which can otherwise
# discover an unrelated package-manager Abseil config and collide with the
# targets already created by MuJoCo's fetched Abseil.
if(DEFINED CMAKE_DISABLE_FIND_PACKAGE_absl)
set(MUJOCO_CMAKE_DISABLE_FIND_PACKAGE_ABSL_WAS_DEFINED TRUE)
set(MUJOCO_CMAKE_DISABLE_FIND_PACKAGE_ABSL_OLD "${CMAKE_DISABLE_FIND_PACKAGE_absl}")
else()
set(MUJOCO_CMAKE_DISABLE_FIND_PACKAGE_ABSL_WAS_DEFINED FALSE)
endif()
set(CMAKE_DISABLE_FIND_PACKAGE_absl TRUE)

fetchpackage(
PACKAGE_NAME filament
GIT_REPO https://github.com/google/filament.git
GIT_TAG ${MUJOCO_DEP_VERSION_filament}
PATCH_COMMAND ${FILAMENT_PATCH_COMMAND}
)

if(MUJOCO_CMAKE_DISABLE_FIND_PACKAGE_ABSL_WAS_DEFINED)
set(CMAKE_DISABLE_FIND_PACKAGE_absl "${MUJOCO_CMAKE_DISABLE_FIND_PACKAGE_ABSL_OLD}")
else()
unset(CMAKE_DISABLE_FIND_PACKAGE_absl)
endif()
unset(MUJOCO_CMAKE_DISABLE_FIND_PACKAGE_ABSL_WAS_DEFINED)
unset(MUJOCO_CMAKE_DISABLE_FIND_PACKAGE_ABSL_OLD)

set(BUILD_SHARED_LIBS ${BUILD_SHARED_LIBS_OLD})
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS_OLD}")
3 changes: 2 additions & 1 deletion src/experimental/platform/CMakeLists.txt
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Expand Up @@ -94,9 +94,10 @@ target_include_directories(${MUJOCO_PLATFORM_TARGET_NAME}
${PROJECT_SOURCE_DIR}/src
)

include(third_party_deps/sdl2)
include(third_party_deps/dear_imgui)
mujoco_add_dear_imgui_sdl2_backend()
include(third_party_deps/implot)
include(third_party_deps/sdl2)
include(third_party_deps/libwebp)

target_link_libraries(${MUJOCO_PLATFORM_TARGET_NAME}
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41 changes: 41 additions & 0 deletions src/experimental/studio/README.md
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Expand Up @@ -17,6 +17,47 @@ bash build.sh
> [!NOTE]
> For now [`build.sh`](build.sh) script works on windows in a git bash shell.

To keep Studio build artifacts separate from other MuJoCo builds, you can also
configure an isolated build directory manually:

```
cmake -B build-studio \
-DCMAKE_BUILD_TYPE=Release \
-DUSE_STATIC_LIBCXX=OFF \
-DBUILD_SHARED_LIB=OFF \
-DMUJOCO_USE_FILAMENT=ON \
-DMUJOCO_BUILD_EXAMPLES=OFF \
-DMUJOCO_BUILD_SIMULATE=OFF \
-DMUJOCO_BUILD_TESTS=OFF \
-DMUJOCO_TEST_PYTHON_UTIL=OFF \
-DMUJOCO_WITH_USD=OFF \
-DMUJOCO_BUILD_STUDIO=ON \
-DFILAMENT_SKIP_SAMPLES=ON \
-DCMAKE_CXX_FLAGS=-Wno-error=deprecated-declarations \
-DFILAMENT_SHORTEN_MSVC_COMPILATION=OFF
cmake --build build-studio --config Release --target mujoco_studio --parallel
```

Run `mujoco_studio` from the build output directory so it can find the copied
font and Filament assets:

```
cd build-studio/bin
./mujoco_studio --gfx=opengl
```

On macOS, Studio defaults to Filament OpenGL. The OpenGL implementation may be
provided by Apple's Metal-backed OpenGL layer, so runtime logs can mention both
OpenGL and Metal/Apple GPU details.

### Troubleshooting

If configure fails while resolving Filament dependencies, check whether CMake is
finding package-manager CMake configs from environments such as Anaconda. In
particular, an unrelated `abslConfig.cmake` can conflict with MuJoCo's fetched
Abseil targets. Remove that prefix from `CMAKE_PREFIX_PATH`, or configure with
`CMAKE_IGNORE_PREFIX_PATH` pointing at the conflicting environment prefix.

## Development

The [`build.sh`](build.sh) script is intended to get you up and running quickly.
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