nixpkgs/pkgs/applications/science/robotics/mujoco/default.nix

189 lines
5.4 KiB
Nix

{ cereal_1_3_2
, cmake
, fetchFromGitHub
, fetchFromGitLab
, glfw
, glm
, lib
, spdlog
, stdenv
}:
let
pin = {
# See https://github.com/google-deepmind/mujoco/blob/<VERSION>/cmake/MujocoDependencies.cmake#L17-L64
abseil-cpp = fetchFromGitHub {
owner = "abseil";
repo = "abseil-cpp";
rev = "d7aaad83b488fd62bd51c81ecf16cd938532cc0a";
hash = "sha256-eA2/dZpNOlex1O5PNa3XSZhpMB3AmaIoHzVDI9TD/cg=";
};
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 = "f03a1b3ec29b1d7d865691ca8aea4f1eb2c2873d";
hash = "sha256-90ei0lpJA8XuVGI0rGb3md0Qtq8/bdkU7dUCHpp88Bw=";
};
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 $out/include/tmd/
'';
};
sdflib = stdenv.mkDerivation rec {
name = "SdfLib";
src = fetchFromGitHub {
owner = "UPC-ViRVIG";
repo = name;
rev = "1927bee6bb8225258a39c8cbf14e18a4d50409ae";
hash = "sha256-+SFUOdZ6pGZvnQa0mT+yfbTMHWe2CTOlroXcuVBHdOE=";
};
patches = [ ./sdflib-system-deps.patch ];
cmakeFlags = [
"-DSDFLIB_USE_ASSIMP=OFF"
"-DSDFLIB_USE_OPENMP=OFF"
"-DSDFLIB_USE_ENOKI=OFF"
"-DSDFLIB_USE_SYSTEM_GLM=ON"
"-DSDFLIB_USE_SYSTEM_SPDLOG=ON"
"-DSDFLIB_USE_SYSTEM_CEREAL=ON"
"-DSDFLIB_USE_SYSTEM_TRIANGLEMESHDISTANCE=ON"
];
nativeBuildInputs = [ cmake ];
buildInputs = [
pin.tmd
# Mainline. The otherwise pinned glm realease from 2018 does
# not build due to test failures and missing files.
glm
spdlog
cereal_1_3_2
];
};
};
in stdenv.mkDerivation rec {
pname = "mujoco";
version = "3.1.5";
# Bumping version? Make sure to look though the MuJoCo's commit
# history for bumped dependency pins!
src = fetchFromGitHub {
owner = "google-deepmind";
repo = "mujoco";
rev = "refs/tags/${version}";
hash = "sha256-XKN489oexHf2/Gv0MVxXUzqyeJJTJXV99+fNi8shdsg=";
};
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;
};
}