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google-deepmind / mujoco

Multi-Joint dynamics with Contact. A general purpose physics simulator.
https://mujoco.org
Apache License 2.0
8.26k stars 827 forks source link

Bazel build #2225

Open bd-jahn opened 1 week ago

bd-jahn commented 1 week ago

Summary

This PR introduces a Bazel build system that compiles the C library, Python bindings, and mjx library. While the original CMake build system supports multiple architectures and configurations, this Bazel build is currently configured only for Ubuntu 22.04 on x86_64.

This setup is not yet fully comprehensive. Some functionalities are still lacking, such as a hermetic toolchain, support for multiple OS and architecture builds, and compatibility with various rendering backends. However, this PR aims to initiate a discussion on the best direction for further improvements.

Testing

Build and test using the default Clang compiler:

Run bazel build //... and bazel test //....

Build and test using the GCC compiler:

Run bazel build --config=linux_gcc_x86_64 //... and bazel test --config=linux_gcc_x86_64 //....

Security

This build process fetches third-party dependencies through Bazel's http_archive rule, ensuring each dependency includes its license file.

google-cla[bot] commented 1 week ago

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View this failed invocation of the CLA check for more information.

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bd-jahn commented 1 week ago

I see that some of my changes to the include paths broke the CMake build system. I'll fix this issue.