Merge branch 'main' of

git@github.com:CommonWealthRobotics/mujoco-java.git into
kh/pointer-managment

Author: madhephaestus

.github/workflows/main.yml

@@ -2,9 +2,7 @@
 name: CI
 
 on:  
-   push:
-       branches:
-         - main
+   push
 
 jobs:
   linux:

.gitignore

@@ -14,5 +14,10 @@ build
 *jni*.cpp
 bin
 src/main/resources/linux*
+src/main/resources/windows*
+src/main/resources/macosx-x*
+src/main/java/mujoco/*.h
+
+*.DS_Store*
 cppbuild
 *hs_err_*.log

README.md

@@ -2,25 +2,44 @@
 
 Java JNI binding for [mujoco physics system](https://github.com/google-deepmind/mujoco)
 
+# Platforms
+
+This library supports
+
+* Windows x86_64
+* Linux x86_64
+* MacOS x86_64
+* MacOS arm64 (M1, M2, M3)
+
+# Examples
+
+An example of loading a MuJoCo model and display in JavaFX 3d:
+
+https://github.com/madhephaestus/MuJoCoTest/releases 
+
+Examples are designed to run in [Bowler Studio](http://commonwealthrobotics.com)
+
 # Maven
 
 MuJoCo-Java is published on Maven Central via Sonatype. 
 
-![](https://img.shields.io/nexus/r/https/oss.sonatype.org/com.neuronrobotics/mujoco-java.svg?style=flat)
-
 Hosting is in:
 
 ```
 https://oss.sonatype.org/content/repositories/staging/com/neuronrobotics/mujoco-java/
 ```
 
+![](https://img.shields.io/nexus/r/https/oss.sonatype.org/com.neuronrobotics/mujoco-java.svg?style=flat)
+
+
+
 Maven:
 
 ```
 <dependency>
   <groupId>com.neuronrobotics</groupId>
   <artifactId>mujoco-java</artifactId>
-  <version>VERSION_FROM_BADGE</version>
+  <version>3.1.1-pre.1</version>
   <type>module</type>
 </dependency>
 ```
@@ -32,7 +51,7 @@ repositories {
 }
 
 dependencies {
-	implementation group: 'com.neuronrobotics', name: 'mujoco-java', version: 'VERSION_FROM_BADGE'
+	implementation group: 'com.neuronrobotics', name: 'mujoco-java', version: '3.1.1-pre.1'
 }
 ```
 

build-linux.sh

@@ -42,11 +42,11 @@ ls $BUILDDIR/
 cd $JAVADIR
 
 echo "JavaCPP configs:"
-java -jar $SCRIPT_DIR/javacpp-platform-$JAVACPP_VER-bin/javacpp.jar -Dcompiler.includepath=$BUILDDIR/include/ -print properties.includepath
+$JAVA_HOME/bin/java -jar $SCRIPT_DIR/javacpp-platform-$JAVACPP_VER-bin/javacpp.jar -Dcompiler.includepath=$BUILDDIR/include/ -print properties.includepath
 
-java -jar $SCRIPT_DIR/javacpp-platform-$JAVACPP_VER-bin/javacpp.jar  org/mujoco/MuJoCoConfig.java
+$JAVA_HOME/bin/java -jar $SCRIPT_DIR/javacpp-platform-$JAVACPP_VER-bin/javacpp.jar  org/mujoco/MuJoCoConfig.java
 echo "Start compile \n\n"
-java -jar $SCRIPT_DIR/javacpp-platform-$JAVACPP_VER-bin/javacpp.jar  -copylibs -copyresources -Xcompiler "-no-pie"  -Xcompiler "-I$JAVADIR" -Xcompiler "-L$JAVADIR" org/mujoco/MuJoCoLib.java
+$JAVA_HOME/bin/java -jar $SCRIPT_DIR/javacpp-platform-$JAVACPP_VER-bin/javacpp.jar  -copylibs -copyresources -Xcompiler "-no-pie"  -Xcompiler "-I$JAVADIR" -Xcompiler "-L$JAVADIR" org/mujoco/MuJoCoLib.java
 LIBPATH=$PWD/../resources/$TYPE/
 mkdir -p $SCRIPT_DIR/src/main/resources/
 

build-mac-m1.sh

@@ -0,0 +1,83 @@
+#!/bin/bash
+bash --version
+g++ --version
+echo "Mac M1 Build"
+VER=$(cat mujocoRelease.txt)
+
+TYPE=macosx-arm64
+ARCHIVE=mujoco-$VER-macos-universal2.dmg
+URL=https://github.com/deepmind/mujoco/releases/download/$VER/$ARCHIVE
+echo "$URL"
+SCRIPT_DIR=$( pwd )
+BUILDDIR=/tmp/
+set -e
+
+mkdir -p $BUILDDIR
+if [ -f "$BUILDDIR$ARCHIVE" ]; then
+    echo "$BUILDDIR$ARCHIVE exists."
+else
+	rm -rf $BUILDDIR/mujoco*
+	curl -L  --location-trusted https://github.com/deepmind/mujoco/releases/download/$VER/$ARCHIVE -o $BUILDDIR/$ARCHIVE
+	cd $BUILDDIR
+	mkdir mujoco
+	cd mujoco
+	hdiutil attach  ../$ARCHIVE
+	find /Volumes/MuJoCo/ -name '*.dylib'
+	mkdir $BUILDDIR/mujoco/include
+	cp -R /Volumes/MuJoCo/mujoco.framework/Headers/ $BUILDDIR/mujoco/include/mujoco
+    mkdir $BUILDDIR/mujoco/lib/
+    cp /Volumes/MuJoCo/mujoco.framework/Versions/A/libmujoco.$VER.dylib $BUILDDIR/mujoco/lib/libmujoco.dylib
+	
+	echo $BUILDDIR/mujoco/
+	ls -al $BUILDDIR/mujoco/
+	cd /tmp
+	echo /tmp
+	ls -al
+	cd $SCRIPT_DIR/
+fi
+echo "Include"
+ls $BUILDDIR/mujoco/include/
+ls $BUILDDIR/mujoco/include/mujoco/
+echo "Lib"
+ls $BUILDDIR/mujoco/lib/
+
+
+JAVACPP_VER=1.5.7
+JAVACPPDIR=javacpp-platform-$JAVACPP_VER-bin
+JAVACPP=$JAVACPPDIR.zip
+if [ -f "$JAVACPP" ]; then
+    echo "$JAVACPP exists."
+else
+	curl -L  --location-trusted  https://github.com/bytedeco/javacpp/releases/download/$JAVACPP_VER/$JAVACPP -o $JAVACPP
+	unzip $JAVACPP
+	echo "JavaCPP:"
+	ls -al $JAVACPPDIR
+	cd $SCRIPT_DIR/
+	
+fi
+JAVADIR=$SCRIPT_DIR/src/main/java/
+cd $SCRIPT_DIR/src/main/java/
+cp $BUILDDIR/mujoco/lib/* $JAVADIR/
+echo "Moving headers "
+rm -rf $JAVADIR/mujoco/
+cp -r $BUILDDIR/mujoco/include/mujoco $JAVADIR/
+java -jar $SCRIPT_DIR/javacpp-platform-$JAVACPP_VER-bin/javacpp.jar  org/mujoco/MuJoCoConfig.java
+java -jar $SCRIPT_DIR/javacpp-platform-$JAVACPP_VER-bin/javacpp.jar -copylibs -copyresources -Xcompiler "-I$JAVADIR" -Xcompiler "-L$JAVADIR" org/mujoco/MuJoCoLib.java
+
+LIBPATH=$PWD/../resources/$TYPE/
+mkdir -p $SCRIPT_DIR/src/main/resources/
+rm -rf $JAVADIR../resources/$TYPE
+find $SCRIPT_DIR|grep $TYPE
+mv $JAVADIR/org/mujoco/$TYPE/ $JAVADIR../resources/
+cp $BUILDDIR/mujoco/lib/* $JAVADIR../resources/$TYPE/
+
+echo "ls -al $JAVADIR../resources/"
+ls -al $JAVADIR../resources/
+
+cd $SCRIPT_DIR/
+echo "Resource Files: "
+ls -al $JAVADIR../resources/*
+ls -al $JAVADIR../resources/$TYPE
+./gradlew jar  --stacktrace test
+
+

mujocoRelease.txt

@@ -1 +1 @@
-2.2.0
+3.1.1

src/main/java/libmujoco.dylib

@@ -12,14 +12,21 @@
 	        includepath = {"/tmp/mujoco/include/"},
 	        linkpath = {"/tmp/mujoco/lib/"},
 	        include = {
+	        		"mujoco/mjtnum.h",
+
 	        		"mujoco/mjexport.h",
+	        		"mujoco/mujoco.h"   ,   		
+	        		"mujoco/mjmacro.h",
+	        		"mujoco/mjthread.h",
 	        		"mujoco/mjdata.h",
 	        		"mujoco/mjmodel.h",
 	        		"mujoco/mjrender.h",
-	        		"mujoco/mjtnum.h",
 	        		"mujoco/mjui.h",
 	        		"mujoco/mjvisualize.h",
-	        		"mujoco/mujoco.h"      		
+
+
+	        		//"mujoco/mjxmacro.h",
+	        		"mujoco/mjplugin.h"
 	        		},  
 	        link = {"mujoco"}
 	    ),
@@ -36,6 +43,7 @@ public class MuJoCoConfig implements InfoMapper {
 	public void map(InfoMap infoMap) {
 		infoMap.put(new Info("MJ_STATIC").define(true));
 		infoMap.put(new Info("mjtNum").cast().valueTypes("double").pointerTypes("DoublePointer"));
+		
 		infoMap.put(new Info("MJOPTION_VECTORS").skip());
 		infoMap.put(new Info("MJMODEL_POINTERS").skip());
 		infoMap.put(new Info("MJDATA_VECTOR").skip());
@@ -60,5 +68,23 @@ public void map(InfoMap infoMap) {
 		infoMap.put(new Info("MUJOCO_HELPER_DLL_EXPORT").skip());
 		infoMap.put(new Info("MUJOCO_HELPER_DLL_LOCAL").skip());
 		infoMap.put(new Info("mjCOLLISIONFUNC").skip());
+		infoMap.put(new Info("mjEXTERNC").skip());
+		infoMap.put(new Info("mjDLLMAIN").skip());
+		infoMap.put(new Info("XMJV").skip());
+		//infoMap.put(new Info("X").skip());
+		//infoMap.put(new Info("MJOPTION_FLOATS").skip());
+		//infoMap.put(new Info("MJOPTION_INTS").skip());
+		//infoMap.put(new Info("MJOPTION_SCALARS").skip());
+		infoMap.put(new Info("mjPLUGIN_LIB_INIT").skip());
+		infoMap.put(new Info("mjfPluginLibraryLoadCallback").skip());
+		infoMap.put(new Info("mjfGeneric").skip());
+		infoMap.put(new Info("mjfConFilt").skip());
+		infoMap.put(new Info("mjfSensor").skip());
+		infoMap.put(new Info("mjfTime").skip());
+		infoMap.put(new Info("mjfAct").skip());
+		infoMap.put(new Info("mjfCollision").skip());
+//		infoMap.put(new Info("").skip());
+//		infoMap.put(new Info("").skip());
+		
     }
 }