blob: 3013ce74a334be979909a03dc11cb6b05fee04b2 (
plain) (
blame)
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
|
{ cereal_1_3_2
, cmake
, fetchFromGitHub
, fetchFromGitLab
, glfw
, glm
, lib
, spdlog
, stdenv
}:
let
pin = {
# See https://github.com/google-deepmind/mujoco/blob/3.0.0/cmake/MujocoDependencies.cmake#L17-L64
abseil-cpp = fetchFromGitHub {
owner = "abseil";
repo = "abseil-cpp";
rev = "2f9e432cce407ce0ae50676696666f33a77d42ac";
hash = "sha256-D4E11bICKr3Z5RRah7QkfXVsXtuUg32FMmKpiOGjZDM=";
};
benchmark = fetchFromGitHub {
owner = "google";
repo = "benchmark";
rev = "e45585a4b8e75c28479fa4107182c28172799640";
hash = "sha256-pgHvmRpPd99ePUVRsi7WXLVSZngZ5q6r1vWW4mdGvxY=";
};
ccd = fetchFromGitHub {
owner = "danfis";
repo = "libccd";
rev = "7931e764a19ef6b21b443376c699bbc9c6d4fba8";
hash = "sha256-TIZkmqQXa0+bSWpqffIgaBela0/INNsX9LPM026x1Wk=";
};
eigen3 = fetchFromGitLab {
owner = "libeigen";
repo = "eigen";
rev = "2a9055b50ed22101da7d77e999b90ed50956fe0b";
hash = "sha256-tx/XR7xJ7IMh5RMvL8wRo/g+dfD3xcjZkLPSY4D9HaY=";
};
googletest = fetchFromGitHub {
owner = "google";
repo = "googletest";
rev = "f8d7d77c06936315286eb55f8de22cd23c188571";
hash = "sha256-t0RchAHTJbuI5YW4uyBPykTvcjy90JW9AOPNjIhwh6U=";
};
lodepng = fetchFromGitHub {
owner = "lvandeve";
repo = "lodepng";
rev = "b4ed2cd7ecf61d29076169b49199371456d4f90b";
hash = "sha256-5cCkdj/izP4e99BKfs/Mnwu9aatYXjlyxzzYiMD/y1M=";
};
qhull = fetchFromGitHub {
owner = "qhull";
repo = "qhull";
rev = "0c8fc90d2037588024d9964515c1e684f6007ecc";
hash = "sha256-Ptzxad3ewmKJbbcmrBT+os4b4SR976zlCG9F0nq0x94=";
};
tinyobjloader = fetchFromGitHub {
owner = "tinyobjloader";
repo = "tinyobjloader";
rev = "1421a10d6ed9742f5b2c1766d22faa6cfbc56248";
hash = "sha256-9z2Ne/WPCiXkQpT8Cun/pSGUwgClYH+kQ6Dx1JvW6w0=";
};
tinyxml2 = fetchFromGitHub {
owner = "leethomason";
repo = "tinyxml2";
rev = "9a89766acc42ddfa9e7133c7d81a5bda108a0ade";
hash = "sha256-YGAe4+Ttv/xeou+9FoJjmQCKgzupTYdDhd+gzvtz/88=";
};
marchingcubecpp = fetchFromGitHub {
owner = "aparis69";
repo = "MarchingCubeCpp";
rev = "5b79e5d6bded086a0abe276a4b5a69fc17ae9bf1";
hash = "sha256-L0DH1GJZ/3vatQAU/KZj/2xTKE6Fwcw9eQYzLdqX2N4=";
};
tmd = stdenv.mkDerivation rec {
name = "TriangleMeshDistance";
src = fetchFromGitHub {
owner = "InteractiveComputerGraphics";
repo = name;
rev = "e55a15c20551f36242fd6368df099a99de71d43a";
hash = "sha256-vj6TMMT8mp7ciLa5nzVAhMWPcAHXq+ZwHlWsRA3uCmg=";
};
installPhase = ''
mkdir -p $out/include/tmd
cp ${name}/include/tmd/${name}.h $out/include/tmd/
'';
};
sdflib = stdenv.mkDerivation rec {
name = "SdfLib";
src = fetchFromGitHub {
owner = "UPC-ViRVIG";
repo = name;
rev = "1927bee6bb8225258a39c8cbf14e18a4d50409ae";
hash = "sha256-+SFUOdZ6pGZvnQa0mT+yfbTMHWe2CTOlroXcuVBHdOE=";
};
patches = [ ./sdflib-system-deps.patch ];
cmakeFlags = [
"-DSDFLIB_USE_ASSIMP=OFF"
"-DSDFLIB_USE_OPENMP=OFF"
"-DSDFLIB_USE_ENOKI=OFF"
"-DSDFLIB_USE_SYSTEM_GLM=ON"
"-DSDFLIB_USE_SYSTEM_SPDLOG=ON"
"-DSDFLIB_USE_SYSTEM_CEREAL=ON"
"-DSDFLIB_USE_SYSTEM_TRIANGLEMESHDISTANCE=ON"
];
nativeBuildInputs = [ cmake ];
buildInputs = [
pin.tmd
# Mainline. The otherwise pinned glm realease from 2018 does
# not build due to test failures and missing files.
glm
spdlog
cereal_1_3_2
];
};
};
in stdenv.mkDerivation rec {
pname = "mujoco";
version = "3.1.4";
# Bumping version? Make sure to look though the MuJoCo's commit
# history for bumped dependency pins!
src = fetchFromGitHub {
owner = "google-deepmind";
repo = "mujoco";
rev = "refs/tags/${version}";
hash = "sha256-VgD6ditMDpHki7l23Gjip2roA8Oi4MGpxl+4gSLTEFs=";
};
patches = [ ./mujoco-system-deps-dont-fetch.patch ];
nativeBuildInputs = [ cmake ];
buildInputs = [
pin.sdflib
glm
# non-numerical
spdlog
cereal_1_3_2
glfw
];
cmakeFlags = [
"-DMUJOCO_USE_SYSTEM_sdflib=ON"
"-DMUJOCO_SIMULATE_USE_SYSTEM_GLFW=ON"
"-DMUJOCO_SAMPLES_USE_SYSTEM_GLFW=ON"
];
# 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 ${pin.marchingcubecpp} build/_deps/marchingcubecpp-src
'';
passthru.pin = { inherit (pin) lodepng eigen3 abseil-cpp; };
meta = with lib; {
description = "Multi-Joint dynamics with Contact. A general purpose physics simulator.";
homepage = "https://mujoco.org/";
changelog = "https://github.com/google-deepmind/mujoco/releases/tag/${version}";
license = licenses.asl20;
maintainers = with maintainers; [ samuela tmplt ];
broken = stdenv.isDarwin;
};
}
|
