mujoco: 3.3.4 -> 3.3.5

Diff: https://github.com/google-deepmind/mujoco/compare/3.3.4...3.3.5

Changelog: https://mujoco.readthedocs.io/en/3.3.5/changelog.html

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

···
 diff --git a/CMakeLists.txt b/CMakeLists.txt
-index a4794196..66525432 100644
+index 1780f874..3ac02be6 100644
 --- a/CMakeLists.txt
 +++ b/CMakeLists.txt
 @@ -140,7 +140,7 @@ target_link_libraries(
···
  
  set_target_properties(
 diff --git a/cmake/MujocoDependencies.cmake b/cmake/MujocoDependencies.cmake
-index cb17621a..e1bd0e9d 100644
+index 5cdc33cb..a4c9f61f 100644
 --- a/cmake/MujocoDependencies.cmake
 +++ b/cmake/MujocoDependencies.cmake
 @@ -93,8 +93,6 @@ set(BUILD_SHARED_LIBS
···
    EXCLUDE_FROM_ALL
  )
  target_compile_options(tinyxml2 PRIVATE ${MUJOCO_MACOS_COMPILE_OPTIONS})
-@@ -175,35 +163,32 @@ findorfetch(
+@@ -175,10 +163,6 @@ findorfetch(
    tinyobjloader
    LIBRARY_NAME
    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}
+   )
  
-+option(MUJOCO_USE_SYSTEM_sdflib "Use installed sdflib version." OFF)
-+mark_as_advanced(MUJOCO_USE_SYSTEM_sdflib)
-+
- option(SDFLIB_USE_ASSIMP OFF)
- option(SDFLIB_USE_OPENMP OFF)
- option(SDFLIB_USE_ENOKI OFF)
- findorfetch(
-   USE_SYSTEM_PACKAGE
--  OFF
-+  ${MUJOCO_USE_SYSTEM_sdflib}
-   PACKAGE_NAME
--  sdflib
-+  SdfLib
-   LIBRARY_NAME
-   sdflib
--  GIT_REPO
--  https://github.com/UPC-ViRVIG/SdfLib.git
--  GIT_TAG
--  ${MUJOCO_DEP_VERSION_sdflib}
-   TARGETS
--  SdfLib
-+  SdfLib::SdfLib
-   EXCLUDE_FROM_ALL
- )
--target_compile_options(SdfLib PRIVATE ${MUJOCO_MACOS_COMPILE_OPTIONS})
--target_link_options(SdfLib PRIVATE ${MUJOCO_MACOS_LINK_OPTIONS})
-+if(NOT MUJOCO_USE_SYSTEM_sdflib)
-+  target_compile_options(SdfLib PRIVATE ${MUJOCO_MACOS_COMPILE_OPTIONS})
-+  target_link_options(SdfLib PRIVATE ${MUJOCO_MACOS_LINK_OPTIONS})
-+endif()
- 
- set(ENABLE_DOUBLE_PRECISION ON)
- set(CCD_HIDE_ALL_SYMBOLS ON)
-@@ -214,10 +199,6 @@ findorfetch(
+   FetchContent_GetProperties(trianglemeshdistance)
+@@ -207,10 +189,6 @@ findorfetch(
    ccd
    LIBRARY_NAME
    ccd
···
    TARGETS
    ccd
    EXCLUDE_FROM_ALL
-@@ -254,10 +235,6 @@ if(MUJOCO_BUILD_TESTS)
+@@ -247,10 +225,6 @@ if(MUJOCO_BUILD_TESTS)
      absl
      LIBRARY_NAME
      abseil-cpp
···
      TARGETS
      absl::core_headers
      EXCLUDE_FROM_ALL
-@@ -281,14 +258,9 @@ if(MUJOCO_BUILD_TESTS)
+@@ -274,14 +248,9 @@ if(MUJOCO_BUILD_TESTS)
      GTest
      LIBRARY_NAME
      googletest
···
      EXCLUDE_FROM_ALL
    )
  
-@@ -315,10 +287,6 @@ if(MUJOCO_BUILD_TESTS)
+@@ -308,10 +277,6 @@ if(MUJOCO_BUILD_TESTS)
      benchmark
      LIBRARY_NAME
      benchmark
···
      TARGETS
      benchmark::benchmark
      benchmark::benchmark_main
-@@ -329,14 +297,12 @@ endif()
+@@ -322,14 +287,12 @@ endif()
  
  if(MUJOCO_TEST_PYTHON_UTIL)
    add_compile_definitions(EIGEN_MPL2_ONLY)
···
      )
  
      FetchContent_GetProperties(Eigen3)
-diff --git a/plugin/sdf/CMakeLists.txt b/plugin/sdf/CMakeLists.txt
-index 8b834971..25021fa1 100644
---- a/plugin/sdf/CMakeLists.txt
-+++ b/plugin/sdf/CMakeLists.txt
-@@ -37,7 +37,7 @@ set(MUJOCO_SDF_SRCS
- add_library(sdf_plugin SHARED)
- target_sources(sdf_plugin PRIVATE ${MUJOCO_SDF_SRCS})
- target_include_directories(sdf_plugin PRIVATE ${MUJOCO_SDF_INCLUDE})
--target_link_libraries(sdf_plugin PRIVATE mujoco SdfLib)
-+target_link_libraries(sdf_plugin PRIVATE mujoco SdfLib::SdfLib)
- target_compile_options(
-   sdf_plugin
-   PRIVATE ${AVX_COMPILE_OPTIONS}
 diff --git a/python/mujoco/util/CMakeLists.txt b/python/mujoco/util/CMakeLists.txt
 index 666a3725..d89bb499 100644
 --- a/python/mujoco/util/CMakeLists.txt

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

···
     eigen3 = fetchFromGitLab {
       owner = "libeigen";
       repo = "eigen";
-      rev = "81044ec13df7608d0d9d86aff2ef9805fc69bed1";
-      hash = "sha256-W0uonGzjDaN2RbY2U+Kl1a5/nrEZ9T9W426f+a7NUzY=";
+      rev = "4be7e6b4e0a82853e853c0c7c4ef72f395e1f497";
+      hash = "sha256-SOTQ9j8YCsEuxNULsulQ0bmtxOZJKF7zc4GZOQlrmdo=";
     };
     googletest = fetchFromGitHub {
       owner = "google";
···
     qhull = fetchFromGitHub {
       owner = "qhull";
       repo = "qhull";
-      rev = "c7bee59d068a69f427b1273e71cdc5bc455a5bdd";
-      hash = "sha256-RnuaRrWMQ1rFfb/nxE0ukIoBf2AMG5pRyFmKmvsJ/U8=";
+      rev = "62ccc56af071eaa478bef6ed41fd7a55d3bb2d80";
+      hash = "sha256-kIxHtE0L/axV9WKnQzyFN0mxoIFAI33Z+MP0P/MtQPw=";
     };
     tinyobjloader = fetchFromGitHub {
       owner = "tinyobjloader";
···
       rev = "f03a1b3ec29b1d7d865691ca8aea4f1eb2c2873d";
       hash = "sha256-90ei0lpJA8XuVGI0rGb3md0Qtq8/bdkU7dUCHpp88Bw=";
     };
-
-    tmd = stdenv.mkDerivation {
-      name = "TriangleMeshDistance";
-
-      src = fetchFromGitHub {
-        owner = "InteractiveComputerGraphics";
-        repo = "TriangleMeshDistance";
-        rev = "e55a15c20551f36242fd6368df099a99de71d43a";
-        hash = "sha256-vj6TMMT8mp7ciLa5nzVAhMWPcAHXq+ZwHlWsRA3uCmg=";
-      };
-
-      installPhase = ''
-        mkdir -p $out/include/tmd
-        cp TriangleMeshDistance/include/tmd/TriangleMeshDistance.h $out/include/tmd/
-      '';
+    trianglemeshdistance = fetchFromGitHub {
+      owner = "InteractiveComputerGraphics";
+      repo = "TriangleMeshDistance";
+      rev = "2cb643de1436e1ba8e2be49b07ec5491ac604457";
+      hash = "sha256-qG/8QKpOnUpUQJ1nLj+DFoLnUr+9oYkJPqUhwEQD2pc=";
     };
-
-    sdflib = stdenv.mkDerivation {
-      name = "SdfLib";
-
-      src = fetchFromGitHub {
-        owner = "UPC-ViRVIG";
-        repo = "SdfLib";
-        rev = "1927bee6bb8225258a39c8cbf14e18a4d50409ae";
-        hash = "sha256-+SFUOdZ6pGZvnQa0mT+yfbTMHWe2CTOlroXcuVBHdOE=";
-      };
-
-      patches = [ ./sdflib-system-deps.patch ];
-
-      cmakeFlags = [
-        (lib.cmakeBool "SDFLIB_USE_ASSIMP" false)
-        (lib.cmakeBool "SDFLIB_USE_OPENMP" false)
-        (lib.cmakeBool "SDFLIB_USE_ENOKI" false)
-        (lib.cmakeBool "SDFLIB_USE_SYSTEM_GLM" true)
-        (lib.cmakeBool "SDFLIB_USE_SYSTEM_SPDLOG" true)
-        (lib.cmakeBool "SDFLIB_USE_SYSTEM_CEREAL" true)
-        (lib.cmakeBool "SDFLIB_USE_SYSTEM_TRIANGLEMESHDISTANCE" true)
-      ];
-
-      nativeBuildInputs = [ cmake ];
-      buildInputs = [
-        pin.tmd
-
-        # Mainline. The otherwise pinned glm release from 2018 does
-        # not build due to test failures and missing files.
-        glm
-
-        spdlog
-        cereal_1_3_2
-      ];
-    };
-
   };
 
 in
 stdenv.mkDerivation (finalAttrs: {
   pname = "mujoco";
-  version = "3.3.4";
+  version = "3.3.5";
 
   # Bumping version? Make sure to look though the MuJoCo's commit
   # history for bumped dependency pins!
···
     owner = "google-deepmind";
     repo = "mujoco";
     tag = finalAttrs.version;
-    hash = "sha256-nssmGJRrk1BECmeU4OEs/jLK3MdA6ytIJ9Yqaiuf0Aw=";
+    hash = "sha256-HykExdosK5XpAOQeic/jsc6yYxjdoiaP8rRkA/yAfuU=";
   };
 
   patches = [ ./mujoco-system-deps-dont-fetch.patch ];
···
   nativeBuildInputs = [ cmake ];
 
   buildInputs = [
-    pin.sdflib
     glm
 
     # non-numerical
···
   ];
 
   cmakeFlags = [
-    (lib.cmakeBool "MUJOCO_USE_SYSTEM_sdflib" true)
     (lib.cmakeBool "MUJOCO_SIMULATE_USE_SYSTEM_GLFW" true)
     (lib.cmakeBool "MUJOCO_SAMPLES_USE_SYSTEM_GLFW" true)
   ];
···
     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
   '';
 

pkgs/by-name/mu/mujoco/sdflib-system-deps.patch

···
-diff --git a/CMakeLists.txt b/CMakeLists.txt
-index 251c456..3d30231 100644
---- a/CMakeLists.txt
-+++ b/CMakeLists.txt
-@@ -27,7 +27,7 @@ option(SDFLIB_USE_SYSTEM_GLM "Use glm library via find_package instead of downlo
- option(SDFLIB_USE_SYSTEM_SPDLOG "Use spdlog library via find_package instead of downloading it" OFF)
- option(SDFLIB_USE_SYSTEM_CEREAL "Use cereal library via find_package instead of downloading it" OFF)
- option(SDFLIB_USE_SYSTEM_ASSIMP "Use assimp library via find_package instead of downloading it" OFF)
--
-+option(SDFLIB_USE_SYSTEM_TRIANGLEMESHDISTANCE "Use TriangleMeshDistance library via system includes instead of downloading it" OFF)
- 
- if(SDFLIB_DEBUG_INFO)
-     add_compile_definitions(SDFLIB_PRINT_STATISTICS)
-@@ -55,13 +55,52 @@ file(GLOB UTILS_SOURCE_FILES src/utils/*.cpp)
- file(GLOB UTILS_HEADER_FILES src/utils/*.h)
- 
- # Add libraries
--add_library(${PROJECT_NAME} STATIC  ${SOURCE_FILES} ${HEADER_FILES} ${PUBLIC_HEADER_FILES}
--                                    ${SDF_SOURCE_FILES} ${SDF_HEADER_FILES}
--                                    ${UTILS_SOURCE_FILES} ${UTILS_HEADER_FILES})
--
--target_include_directories(${PROJECT_NAME} PUBLIC include/)
-+add_library(${PROJECT_NAME} ${SOURCE_FILES} ${HEADER_FILES} ${PUBLIC_HEADER_FILES}
-+                            ${SDF_SOURCE_FILES} ${SDF_HEADER_FILES}
-+                            ${UTILS_SOURCE_FILES} ${UTILS_HEADER_FILES})
-+add_library(${PROJECT_NAME}::${PROJECT_NAME} ALIAS ${PROJECT_NAME})
-+if(BUILD_SHARED_LIBS AND WIN32)
-+    set_target_properties(${PROJECT_NAME} PROPERTIES WINDOWS_EXPORT_ALL_SYMBOLS ON)
-+endif()
-+include(GNUInstallDirs)
-+target_include_directories(${PROJECT_NAME} PUBLIC $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
-+                                                  $<INSTALL_INTERFACE:${CMAKE_INSTALL_INCLUDEDIR}>)
- target_include_directories(${PROJECT_NAME} PRIVATE src/)
- 
-+# Install library and CMake config files
-+install(TARGETS ${PROJECT_NAME} EXPORT ${PROJECT_NAME})
-+install(DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}/include/SdfLib
-+        DESTINATION ${CMAKE_INSTALL_INCLUDEDIR})
-+
-+install(EXPORT ${PROJECT_NAME}
-+        FILE ${PROJECT_NAME}Targets.cmake
-+        DESTINATION lib/cmake/${PROJECT_NAME}
-+        NAMESPACE ${PROJECT_NAME}::
-+)
-+
-+include(CMakePackageConfigHelpers)
-+set(PACKAGE_DEPENDENCIES "")
-+if(SDFLIB_USE_SYSTEM_GLM)
-+    string(APPEND PACKAGE_DEPENDENCIES "find_dependency(glm)\n")
-+endif()
-+if(SDFLIB_USE_SYSTEM_SPDLOG)
-+    string(APPEND PACKAGE_DEPENDENCIES "find_dependency(spdlog)\n")
-+endif()
-+if(SDFLIB_USE_SYSTEM_CEREAL)
-+    string(APPEND PACKAGE_DEPENDENCIES "find_dependency(cereal)\n")
-+endif()
-+if(SDFLIB_USE_ASSIMP AND SDFLIB_USE_SYSTEM_ASSIMP)
-+    string(APPEND PACKAGE_DEPENDENCIES "find_dependency(assimp)\n")
-+endif()
-+
-+configure_package_config_file(${CMAKE_CURRENT_SOURCE_DIR}/${PROJECT_NAME}Config.cmake.in
-+                              "${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}Config.cmake"
-+                              INSTALL_DESTINATION "lib/cmake/${PROJECT_NAME}"
-+                              NO_SET_AND_CHECK_MACRO
-+                              NO_CHECK_REQUIRED_COMPONENTS_MACRO)
-+install(FILES ${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}Config.cmake
-+        DESTINATION lib/cmake/${PROJECT_NAME})
-+
- # Add shaders
- file(GLOB SHADER_FILES RELATIVE ${CMAKE_CURRENT_SOURCE_DIR}/src/render_engine/shaders 
-                        src/render_engine/shaders/*.frag 
-@@ -69,7 +108,7 @@ file(GLOB SHADER_FILES RELATIVE ${CMAKE_CURRENT_SOURCE_DIR}/src/render_engine/sh
-                        src/render_engine/shaders/*.comp)
- 
- foreach(SHADER IN LISTS SHADER_FILES)
--    add_custom_command(OUTPUT ${SHADER}
-+add_custom_command(OUTPUT ${SHADER}
-             COMMAND cmake -E copy_if_different ${CMAKE_CURRENT_SOURCE_DIR}/src/render_engine/shaders/${SHADER} $<TARGET_FILE_DIR:${PROJECT_NAME}>/shaders/${SHADER}
-             DEPENDS src/render_engine/shaders/${SHADER}
-         )
-@@ -112,7 +151,10 @@ endif()
- target_link_libraries(${PROJECT_NAME} PUBLIC ${SDFLIB_GLM_TARGET})
- target_link_libraries(${PROJECT_NAME} PUBLIC spdlog::spdlog)
- target_link_libraries(${PROJECT_NAME} PUBLIC cereal::cereal)
--target_link_libraries(${PROJECT_NAME} PUBLIC icg)
-+
-+if(NOT SDFLIB_USE_SYSTEM_TRIANGLEMESHDISTANCE)
-+    target_link_libraries(${PROJECT_NAME} PUBLIC TriangleMeshDistance)
-+endif()
- 
- if(CMAKE_CXX_COMPILER_ID MATCHES GNU)
-     target_link_libraries(${PROJECT_NAME} PUBLIC -lstdc++fs)
-diff --git a/SdfLibConfig.cmake.in b/SdfLibConfig.cmake.in
-new file mode 100644
-index 0000000..9b8265c
---- /dev/null
-+++ b/SdfLibConfig.cmake.in
-@@ -0,0 +1,7 @@
-+@PACKAGE_INIT@
-+
-+include(CMakeFindDependencyMacro)
-+
-+@PACKAGE_DEPENDENCIES@
-+
-+include("${CMAKE_CURRENT_LIST_DIR}/SdfLibTargets.cmake")
-diff --git a/include/SdfLib/TrianglesInfluence.h b/include/SdfLib/TrianglesInfluence.h
-index fc2ca52..b276f23 100644
---- a/include/SdfLib/TrianglesInfluence.h
-+++ b/include/SdfLib/TrianglesInfluence.h
-@@ -11,7 +11,7 @@
- #include "InterpolationMethods.h"
- #include "utils/Timer.h"
- #include "utils/GJK.h"
--#include <InteractiveComputerGraphics/TriangleMeshDistance.h>
-+#include <tmd/TriangleMeshDistance.h>
- 
- #include <vector>
- #include <array>
-diff --git a/libs/CMakeLists.txt b/libs/CMakeLists.txt
-index 79f70c1..e2a4f10 100644
---- a/libs/CMakeLists.txt
-+++ b/libs/CMakeLists.txt
-@@ -137,9 +137,10 @@ if(SDFLIB_BUILD_APPS OR SDFLIB_BUILD_DEBUG_APPS)
- 	target_include_directories(stb_image INTERFACE stb)
-  endif()
- 
--# icg
--add_library(icg INTERFACE)
--target_include_directories(icg INTERFACE InteractiveComputerGraphics)
-+if (NOT SDFLIB_USE_SYSTEM_TRIANGLEMESHDISTANCE)
-+	add_library(TriangleMeshDistance INTERFACE)
-+	target_include_directories(TriangleMeshDistance INTERFACE InteractiveComputerGraphics)
-+endif()
- 
- if(SDFLIB_BUILD_APPS OR SDFLIB_BUILD_DEBUG_APPS)
- 	# glfw
-diff --git a/libs/InteractiveComputerGraphics/InteractiveComputerGraphics/TriangleMeshDistance.h b/libs/InteractiveComputerGraphics/tmd/TriangleMeshDistance.h
-similarity index 100%
-rename from libs/InteractiveComputerGraphics/InteractiveComputerGraphics/TriangleMeshDistance.h
-rename to libs/InteractiveComputerGraphics/tmd/TriangleMeshDistance.h
-diff --git a/src/tools/ImageQueryTime/main.cpp b/src/tools/ImageQueryTime/main.cpp
-index 357a78b..f4fd9e7 100644
---- a/src/tools/ImageQueryTime/main.cpp
-+++ b/src/tools/ImageQueryTime/main.cpp
-@@ -17,7 +17,7 @@
- 
- #define TEST_METHODS 
- #ifdef TEST_METHODS
--#include <InteractiveComputerGraphics/TriangleMeshDistance.h>
-+#include <tmd/TriangleMeshDistance.h>
- // #include <CGAL/Simple_cartesian.h>
- // #include <CGAL/AABB_tree.h>
- // #include <CGAL/AABB_traits.h>
-diff --git a/src/tools/SdfErrorCompare/main.cpp b/src/tools/SdfErrorCompare/main.cpp
-index deef25f..9e402c4 100644
---- a/src/tools/SdfErrorCompare/main.cpp
-+++ b/src/tools/SdfErrorCompare/main.cpp
-@@ -23,7 +23,7 @@ using namespace sdflib;
- // #define TEST_OPENVDB
- 
- #ifdef TEST_ICG
--#include <InteractiveComputerGraphics/TriangleMeshDistance.h>
-+#include <tmd/TriangleMeshDistance.h>
- #endif
- #ifdef TEST_CGAL
- #include <CGAL/Simple_cartesian.h>
-diff --git a/src/tools/SdfLibUnity/SdfExportFunc.cpp b/src/tools/SdfLibUnity/SdfExportFunc.cpp
-index ff4e017..7e06ada 100644
---- a/src/tools/SdfLibUnity/SdfExportFunc.cpp
-+++ b/src/tools/SdfLibUnity/SdfExportFunc.cpp
-@@ -1,7 +1,7 @@
- #include "SdfExportFunc.h"
- #include "spdlog/sinks/rotating_file_sink.h"
- 
--#include <InteractiveComputerGraphics/TriangleMeshDistance.h>
-+#include <tmd/TriangleMeshDistance.h>
- 
- using namespace sdflib;
- 
-diff --git a/src/tools/SdfOffsets/main.cpp b/src/tools/SdfOffsets/main.cpp
-index b6769d7..07f137b 100644
---- a/src/tools/SdfOffsets/main.cpp
-+++ b/src/tools/SdfOffsets/main.cpp
-@@ -9,7 +9,7 @@
- #include <glm/gtc/type_ptr.hpp>
- #include <glm/gtc/matrix_transform.hpp>
- 
--#include <InteractiveComputerGraphics/TriangleMeshDistance.h>
-+#include <tmd/TriangleMeshDistance.h>
- #include <CGAL/Surface_mesh_default_triangulation_3.h>
- #include <CGAL/Complex_2_in_triangulation_3.h>
- #include <CGAL/make_surface_mesh.h>

pkgs/development/python-modules/mujoco/default.nix

···
   # in the project's CI.
   src = fetchPypi {
     inherit pname version;
-    hash = "sha256-c9dk/pji3tnSx15k71axDUTHiDOVFmAwmVpKw++5o20=";
+    hash = "sha256-+fxlUPye2XaCI9stezzDK1oC656IcoK0DkUcJmrxakY=";
   };
 
   nativeBuildInputs = [ cmake ];