Bazel build

.bazelrc

@@ -0,0 +1,58 @@
+# don't use bzlmod yet.
+common --enable_workspace=true
+common --enable_bzlmod=false
+
+# use c++20 by default
+build --cxxopt=-std=c++20
+
+# remove this when https://github.com/abseil/abseil-cpp/issues/740 is resolved
+build --copt=-Iexternal/abseil-cpp
+
+# Due to the repetitive directory names (e.g., `mujoco/mjx/mujoco/mjx`), `__init__.py` should not
+# be automatically created. Otherwise, importing with `import mujoco.mjx` will reference
+# `mujoco/mjx` instead of `mujoco/mjx/mujoco/mjx`.
+build --incompatible_default_to_explicit_init_py
+
+# Compiler configuration.
+# Note that the current configuration relies on system-installed toolchains, which may cause
+# non-hermetic behavior in builds. This could be improved by defining a `cc_toolchain` with
+# self-contained toolchains.
+# See https://docs.bazel.build/versions/1.2.0/tutorial/cc-toolchain-config.html#configuring-the-c-toolchain
+
+# clang by default
+build --platforms=@mujoco//tools:linux_clang_x86_64
+build --action_env=CC=clang
+
+# gcc
+build:linux_gcc_x86_64 --platforms=@mujoco//tools:linux_gcc_x86_64
+build:linux_gcc_x86_64 --action_env=CC=gcc
+
+# ASan Build
+build:asan --build_tests_only
+build:asan --features=asan
+# This flag effectively tells Bazel to avoid using certain hardware-dependent features that may
+# cause ASan or TSan to fail unexpectedly or produce inaccurate results.
+build:asan --incompatible_use_host_features
+
+# LSan is run with ASan by default
+build:asan --test_tag_filters=-no_asan,-no_lsan
+build:asan --test_lang_filters=-sh
+# Typical slowdown introduced by AddressSanitizer is 2x.
+# See https://clang.llvm.org/docs/AddressSanitizer.html
+build:asan --test_timeout=150,750,2250,9000
+
+# TSan Build
+build:tsan --build_tests_only
+build:tsan --features=tsan
+# This flag effectively tells Bazel to avoid using certain hardware-dependent features that may
+# cause ASan or TSan to fail unexpectedly or produce inaccurate results.
+build:tsan --incompatible_use_host_features
+
+# We assume anything that didn't want asan doesn't want tsan
+build:tsan --test_tag_filters=-no_asan,-no_tsan
+build:tsan --test_lang_filters=-sh
+# Typical slowdown introduced by ThreadSanitizer is about 5x-15x
+# See https://clang.llvm.org/docs/ThreadSanitizer.html
+build:tsan --test_timeout=150,750,2250,9000
+
+try-import %workspace%/user.bazelrc

.bazelversion

@@ -0,0 +1 @@
+7.4.1

.gitignore

@@ -37,3 +37,6 @@ MUJOCO_LOG.TXT
 
 # Clang cache
 .cache/
+
+# Bazel build artifacts (symlinks)
+/bazel-*

BUILD.bazel

@@ -0,0 +1,173 @@
+load("@mujoco//tools:symlink_files.bzl", "symlink_files")
+load("@com_github_bazelbuild_buildtools//buildifier:def.bzl", "buildifier")
+load("@mujoco//tools:def.bzl", "mj_cc_library")
+
+package(default_visibility = ["@mujoco//:__subpackages__"])
+
+filegroup(
+    name = "license_filegroup",
+    srcs = [
+        "LICENSE",
+    ],
+    tags = ["license_filegroup"],
+)
+
+mj_cc_library(
+    name = "mujoco_hdrs",
+    hdrs = [":mujoco_headers"],
+    includes = [
+        "include",
+    ],
+    target_compatible_with = ["@platforms//os:linux"],
+    visibility = ["//visibility:public"],
+)
+
+mj_cc_library(
+    name = "_core",
+    target_compatible_with = ["@platforms//os:linux"],
+    deps = [
+        "//src/engine",
+        "//src/thread:thread_pool",
+        "//src/xml:xml_api",
+    ],
+)
+
+mj_cc_library(
+    name = "_graphics_native",
+    target_compatible_with = ["@platforms//os:linux"],
+    deps = [
+        "//src/render",
+        "//src/ui:ui_main",
+    ],
+)
+
+# The headers are needed to generate ctypes Python bindings.
+filegroup(
+    name = "mujoco_headers",
+    srcs = [
+        "include/mujoco/mjdata.h",
+        "include/mujoco/mjexport.h",
+        "include/mujoco/mjmacro.h",
+        "include/mujoco/mjmodel.h",
+        "include/mujoco/mjplugin.h",
+        "include/mujoco/mjrender.h",
+        "include/mujoco/mjsan.h",
+        "include/mujoco/mjspec.h",
+        "include/mujoco/mjthread.h",
+        "include/mujoco/mjtnum.h",
+        "include/mujoco/mjui.h",
+        "include/mujoco/mjvisualize.h",
+        "include/mujoco/mjxmacro.h",
+        "include/mujoco/mujoco.h",
+    ],
+)
+
+mj_cc_library(
+    name = "mujoco",
+    hdrs = [":mujoco_headers"],
+    data = [
+        ":license_filegroup",
+    ],
+    includes = [
+        "include",
+    ],
+    target_compatible_with = ["@platforms//os:linux"],
+    deps = [
+        ":_core",
+        ":_graphics_native",
+    ],
+)
+
+cc_shared_library(
+    name = "mujoco_shared",
+    shared_lib_name = "libmujoco.so",
+    target_compatible_with = ["@platforms//os:linux"],
+    visibility = ["//visibility:public"],
+    deps = [
+        ":mujoco",
+    ],
+)
+
+alias(
+    name = "simulate",
+    actual = "//simulate:main",
+    visibility = ["//visibility:public"],
+)
+
+alias(
+    name = "mujoco-py",
+    actual = "//python/mujoco:mujoco-py",
+    target_compatible_with = ["@platforms//os:linux"],
+    visibility = ["//visibility:public"],
+)
+
+alias(
+    name = "mujoco-mjx",
+    actual = "//mjx/mujoco/mjx:mjx",
+    target_compatible_with = ["@platforms//os:linux"],
+    visibility = ["//visibility:public"],
+)
+
+# Symlink data for the test. Note that Bazel tests look for data in the `TEST.runfiles/mujoco`
+# directory, so we create proper symlinks for the files instead of altering paths within the test.
+symlink_files(
+    name = "model_data",
+    srcs = ["//model"],
+)
+
+# The reason we have `test_data` and `test_data_stripped` is that some tests (e.g., `spec_test.py`)
+# reads `test/testdata/model.xml` while `pipeline_test.cc` reads `testdata/model.xml`.
+symlink_files(
+    name = "test_data",
+    srcs = ["//test/testdata:model"],
+)
+
+symlink_files(
+    name = "test_data_stripped",
+    srcs = ["//test/testdata:model"],
+    strip_prefix = "test/",
+)
+
+symlink_files(
+    name = "test_engine_data",
+    srcs = ["//test/engine/testdata:model"],
+)
+
+symlink_files(
+    name = "test_engine_data_stripped",
+    srcs = ["//test/engine/testdata:model"],
+    strip_prefix = "test/",
+)
+
+symlink_files(
+    name = "test_plugin_data",
+    srcs = ["//test/plugin/sensor/testdata:model"],
+    strip_prefix = "test/",
+)
+
+symlink_files(
+    name = "test_user_data",
+    srcs = ["//test/user/testdata:model"],
+    strip_prefix = "test/",
+)
+
+symlink_files(
+    name = "test_xml_data",
+    srcs = ["//test/xml/testdata:model"],
+    strip_prefix = "test/",
+)
+
+symlink_files(
+    name = "test_benchmark_data",
+    srcs = ["//test/benchmark/testdata:model"],
+)
+
+symlink_files(
+    name = "test_benchmark_data_stripped",
+    srcs = ["//test/benchmark/testdata:model"],
+    strip_prefix = "test/",
+)
+
+buildifier(
+    name = "buildifier",
+)

WORKSPACE

@@ -0,0 +1,94 @@
+workspace(name = "mujoco")
+
+"""
+Download dependencies. Note that the functions below could potentially be called from a larger
+Bazel project that fetches MuJoCo.
+"""
+
+load("@mujoco//tools/workspace:default_repositories.bzl", "add_default_repositories")
+
+add_default_repositories()
+
+load("@mujoco//tools/workspace:default_dependencies.bzl", "add_default_dependencies")
+
+add_default_dependencies()
+
+"""
+Configure a Python toolchain and Buildifier (a formatting tool for BUILD.bazel files). Note that the functions below are in a local scope and won’t be called from a larger Bazel project that fetches MuJoCo.
+"""
+
+# Python
+load("@rules_python//python:repositories.bzl", "python_register_toolchains")
+
+python_register_toolchains(
+    name = "python_3_11",
+    python_version = "3.11",
+)
+
+load("@rules_python//python:pip.bzl", "pip_parse")
+load("@python_3_11//:defs.bzl", "interpreter")
+
+pip_parse(
+    name = "pip_deps",
+    python_interpreter_target = interpreter,
+    requirements_lock = "@mujoco//python:pip_requirements.txt",
+)
+
+load("@pip_deps//:requirements.bzl", install_pip_deps = "install_deps")
+
+install_pip_deps()
+
+# Buildifier to format BUILD.bazel files
+load("@bazel_tools//tools/build_defs/repo:http.bzl", "http_archive")
+
+http_archive(
+    name = "io_bazel_rules_go",
+    sha256 = "6dc2da7ab4cf5d7bfc7c949776b1b7c733f05e56edc4bcd9022bb249d2e2a996",
+    urls = [
+        "https://mirror.bazel.build/github.com/bazelbuild/rules_go/releases/download/v0.39.1/rules_go-v0.39.1.zip",
+        "https://github.com/bazelbuild/rules_go/releases/download/v0.39.1/rules_go-v0.39.1.zip",
+    ],
+)
+
+load("@io_bazel_rules_go//go:deps.bzl", "go_rules_dependencies")
+
+go_rules_dependencies()
+
+load("@io_bazel_rules_go//go:deps.bzl", "go_register_toolchains")
+
+go_register_toolchains(version = "1.20.3")
+
+http_archive(
+    name = "bazel_gazelle",
+    sha256 = "727f3e4edd96ea20c29e8c2ca9e8d2af724d8c7778e7923a854b2c80952bc405",
+    urls = [
+        "https://mirror.bazel.build/github.com/bazelbuild/bazel-gazelle/releases/download/v0.30.0/bazel-gazelle-v0.30.0.tar.gz",
+        "https://github.com/bazelbuild/bazel-gazelle/releases/download/v0.30.0/bazel-gazelle-v0.30.0.tar.gz",
+    ],
+)
+
+load("@bazel_gazelle//:deps.bzl", "gazelle_dependencies")
+
+gazelle_dependencies()
+
+http_archive(
+    name = "com_google_protobuf",
+    sha256 = "3bd7828aa5af4b13b99c191e8b1e884ebfa9ad371b0ce264605d347f135d2568",
+    strip_prefix = "protobuf-3.19.4",
+    urls = [
+        "https://github.com/protocolbuffers/protobuf/archive/v3.19.4.tar.gz",
+    ],
+)
+
+load("@com_google_protobuf//:protobuf_deps.bzl", "protobuf_deps")
+
+protobuf_deps()
+
+http_archive(
+    name = "com_github_bazelbuild_buildtools",
+    sha256 = "ae34c344514e08c23e90da0e2d6cb700fcd28e80c02e23e4d5715dddcb42f7b3",
+    strip_prefix = "buildtools-4.2.2",
+    urls = [
+        "https://github.com/bazelbuild/buildtools/archive/refs/tags/4.2.2.tar.gz",
+    ],
+)

devtools/bbcp/builddefs/build_defs.bzl

@@ -0,0 +1,18 @@
+#Copied from https://github.com/taylor-bsg/xls/blob/7afd772753d95078cdd513566de438d8fcc2cfbd/xls/build_rules/xls_oss_config_rules.bzl#L25
+
+def generated_file(
+        name = None,
+        wrapped_target = None,
+        tags = None,
+        testonly = None):
+    """The function is a placeholder for generated_file.
+
+    The function is intended to be empty.
+
+    Args:
+      name: Optional name of the marker rule created by this macro.
+      wrapped_target: The target to wrap.
+      tags: A list of tags to set on the artifacts.
+      testonly: Optional standard testonly attribute.
+    """
+    pass