From fe82ed3dd4be6ca3081e401fccc8725172b3179b Mon Sep 17 00:00:00 2001 From: toge Date: Sat, 30 May 2026 17:31:22 +0900 Subject: [PATCH] [mujoco] update to 3.9.0 (#52070) --- ports/mujoco/fix_dependencies.patch | 57 +++++++++++++++++++++++------ ports/mujoco/portfile.cmake | 2 +- ports/mujoco/vcpkg.json | 3 +- versions/baseline.json | 2 +- versions/m-/mujoco.json | 5 +++ 5 files changed, 54 insertions(+), 15 deletions(-) diff --git a/ports/mujoco/fix_dependencies.patch b/ports/mujoco/fix_dependencies.patch index 8297425127..c0e36306ad 100644 --- a/ports/mujoco/fix_dependencies.patch +++ b/ports/mujoco/fix_dependencies.patch @@ -1,8 +1,8 @@ diff --git a/CMakeLists.txt b/CMakeLists.txt -index 08e0bd0..3cbd89d 100644 +index e01c662..e3afbf8 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt -@@ -173,7 +173,7 @@ if(EMSCRIPTEN) +@@ -175,7 +175,7 @@ if(EMSCRIPTEN) endif() @@ -11,7 +11,7 @@ index 08e0bd0..3cbd89d 100644 if(MUJOCO_ENABLE_AVX_INTRINSICS) target_compile_definitions(mujoco PUBLIC mjUSEPLATFORMSIMD) endif() -@@ -196,9 +196,9 @@ target_link_libraries( +@@ -198,9 +198,9 @@ target_link_libraries( mujoco PRIVATE ccd lodepng @@ -25,10 +25,10 @@ index 08e0bd0..3cbd89d 100644 set_target_properties( diff --git a/cmake/MujocoDependencies.cmake b/cmake/MujocoDependencies.cmake -index 4381a75..502c73e 100644 +index 664fc31..07ad2eb 100644 --- a/cmake/MujocoDependencies.cmake +++ b/cmake/MujocoDependencies.cmake -@@ -84,7 +84,7 @@ set(BUILD_SHARED_LIBS +@@ -88,7 +88,7 @@ set(BUILD_SHARED_LIBS CACHE INTERNAL "Build SHARED libraries" ) @@ -37,7 +37,7 @@ index 4381a75..502c73e 100644 FetchContent_Declare( lodepng GIT_REPOSITORY https://github.com/lvandeve/lodepng.git -@@ -108,7 +108,7 @@ if(NOT TARGET lodepng) +@@ -112,7 +112,7 @@ if(NOT TARGET lodepng) endif() endif() @@ -46,7 +46,7 @@ index 4381a75..502c73e 100644 FetchContent_Declare( marchingcubecpp GIT_REPOSITORY https://github.com/aparis69/MarchingCubeCpp.git -@@ -122,6 +122,22 @@ if(NOT TARGET marchingcubecpp) +@@ -126,6 +126,22 @@ if(NOT TARGET marchingcubecpp) endif() endif() @@ -69,7 +69,7 @@ index 4381a75..502c73e 100644 set(QHULL_ENABLE_TESTING OFF) # Patch changes in https://github.com/qhull/qhull/pull/173.patch set(QHULL_PATCH_COMMAND -@@ -130,32 +146,39 @@ set(QHULL_PATCH_COMMAND +@@ -134,32 +150,39 @@ set(QHULL_PATCH_COMMAND findorfetch( USE_SYSTEM_PACKAGE @@ -114,7 +114,7 @@ index 4381a75..502c73e 100644 PACKAGE_NAME tinyxml2 LIBRARY_NAME -@@ -168,9 +191,10 @@ findorfetch( +@@ -172,9 +195,10 @@ findorfetch( tinyxml2 EXCLUDE_FROM_ALL ) @@ -126,7 +126,7 @@ index 4381a75..502c73e 100644 # update cmake_minimum_required version for compatibility with newer version of cmake if(NOT DEFINED CMAKE_POLICY_VERSION_MINIMUM) set(CMAKE_POLICY_VERSION_MINIMUM ${MUJOCO_CMAKE_MIN_REQ}) -@@ -178,7 +202,7 @@ if(NOT DEFINED CMAKE_POLICY_VERSION_MINIMUM) +@@ -182,7 +206,7 @@ if(NOT DEFINED CMAKE_POLICY_VERSION_MINIMUM) endif() findorfetch( USE_SYSTEM_PACKAGE @@ -135,7 +135,7 @@ index 4381a75..502c73e 100644 PACKAGE_NAME tinyobjloader LIBRARY_NAME -@@ -211,7 +235,7 @@ if(NOT DEFINED CMAKE_POLICY_VERSION_MINIMUM) +@@ -215,7 +239,7 @@ if(NOT DEFINED CMAKE_POLICY_VERSION_MINIMUM) endif() findorfetch( USE_SYSTEM_PACKAGE @@ -144,7 +144,7 @@ index 4381a75..502c73e 100644 PACKAGE_NAME ccd LIBRARY_NAME -@@ -229,12 +253,13 @@ if(CMAKE_POLICY_VERSION_MINIMUM_LOCALLY_DEFINED) +@@ -233,12 +257,13 @@ if(CMAKE_POLICY_VERSION_MINIMUM_LOCALLY_DEFINED) unset(CMAKE_POLICY_VERSION_MINIMUM) unset(CMAKE_POLICY_VERSION_MINIMUM_LOCALLY_DEFINED) endif() @@ -160,6 +160,29 @@ index 4381a75..502c73e 100644 if(MSVC) # C4005 is the MSVC equivalent of -Wmacro-redefined. target_compile_options(ccd PRIVATE /wd4005) +@@ -254,12 +279,7 @@ else() + set(_BUILD_TESTS_WAS_DEFINED FALSE) + endif() + set(BUILD_TESTS OFF) +-fetchpackage( +- PACKAGE_NAME miniz +- GIT_REPO https://github.com/richgel999/miniz.git +- GIT_TAG ${MUJOCO_DEP_VERSION_miniz} +- TARGETS miniz +-) ++find_package(miniz CONFIG REQUIRED) + if(_BUILD_TESTS_WAS_DEFINED) + set(BUILD_TESTS "${_OLD_BUILD_TESTS}") + else() +@@ -281,7 +301,7 @@ if(MUJOCO_BUILD_TESTS OR MUJOCO_BUILD_STUDIO OR MUJOCO_USE_FILAMENT) + set(ABSL_BUILD_TESTING OFF) + findorfetch( + USE_SYSTEM_PACKAGE +- OFF ++ ON + PACKAGE_NAME + absl + LIBRARY_NAME diff --git a/plugin/obj_decoder/CMakeLists.txt b/plugin/obj_decoder/CMakeLists.txt index 689dfc5..9f86232 100644 --- a/plugin/obj_decoder/CMakeLists.txt @@ -183,3 +206,13 @@ index 7885f5f..1da1be2 100644 target_compile_options(glfw PRIVATE ${MUJOCO_MACOS_COMPILE_OPTIONS}) target_link_options(glfw PRIVATE ${MUJOCO_MACOS_LINK_OPTIONS}) endif() +diff --git a/src/xml/mjz/CMakeLists.txt b/src/xml/mjz/CMakeLists.txt +index ab92623..4ec37e9 100644 +--- a/src/xml/mjz/CMakeLists.txt ++++ b/src/xml/mjz/CMakeLists.txt +@@ -18,4 +18,4 @@ set(MUJOCO_MJZ_SRCS + ) + + target_sources(mujoco PRIVATE ${MUJOCO_MJZ_SRCS}) +-target_link_libraries(mujoco PRIVATE miniz) ++target_link_libraries(mujoco PRIVATE miniz::miniz) diff --git a/ports/mujoco/portfile.cmake b/ports/mujoco/portfile.cmake index a50fb99b42..15dc65df33 100644 --- a/ports/mujoco/portfile.cmake +++ b/ports/mujoco/portfile.cmake @@ -2,7 +2,7 @@ vcpkg_from_github( OUT_SOURCE_PATH SOURCE_PATH REPO deepmind/mujoco REF ${VERSION} - SHA512 42931b3ab2c0058f7429dd70c1dd6f82d5a256b28ddd19beb9a74617231d9f735f496bff5e51c2bf2290de11435201e966ea834ff1cb22fa603835aac11f88e0 + SHA512 4479142e29919d326760983a55bd16fcfa351457af70190b560552d2aad19d79bfcf68f7f542278ba41ff08b1ec48da2b845cbf9e1565ca7381780167fa6cfdd PATCHES fix_dependencies.patch disable-werror.patch diff --git a/ports/mujoco/vcpkg.json b/ports/mujoco/vcpkg.json index 7dc4f371a4..da46acf28e 100644 --- a/ports/mujoco/vcpkg.json +++ b/ports/mujoco/vcpkg.json @@ -1,6 +1,6 @@ { "name": "mujoco", - "version": "3.8.1", + "version": "3.9.0", "description": "Multi-Joint dynamics with Contact.", "homepage": "https://mujoco.org", "license": "Apache-2.0", @@ -15,6 +15,7 @@ "glfw3", "lodepng", "marchingcubecpp", + "miniz", "qhull", "tinyobjloader", "tinyxml2", diff --git a/versions/baseline.json b/versions/baseline.json index 109b625655..c0af74d0f9 100644 --- a/versions/baseline.json +++ b/versions/baseline.json @@ -6793,7 +6793,7 @@ "port-version": 0 }, "mujoco": { - "baseline": "3.8.1", + "baseline": "3.9.0", "port-version": 0 }, "mujs": { diff --git a/versions/m-/mujoco.json b/versions/m-/mujoco.json index 605a07d6d8..63d1b51d90 100644 --- a/versions/m-/mujoco.json +++ b/versions/m-/mujoco.json @@ -1,5 +1,10 @@ { "versions": [ + { + "git-tree": "a631ce7edfc1c929dd145de4ada3937154d12e76", + "version": "3.9.0", + "port-version": 0 + }, { "git-tree": "33da2f693255eedda882ac8fbbb10904745a8ecf", "version": "3.8.1",