Move to Options files and update build.yml

Author: davidhozic

.github/workflows/build.yml

@@ -3,7 +3,7 @@
 # The "official" binaries are built with Clang 13 on all platforms, and are linked against libc++
 # on Linux.
 #
-# We set CMAKE_INTERPROCEDURAL_OPTIMIZATION=OFF here to reduce build time.
+# We set MUJOCO_ENABLE_IPO=OFF here to reduce build time.
 # It is highly recommended that this is set to ON for production builds.
 
 name: build
@@ -175,7 +175,7 @@ jobs:
         cd build &&
         cmake ..
         -DCMAKE_BUILD_TYPE:STRING=Release
-        -DCMAKE_INTERPROCEDURAL_OPTIMIZATION:BOOL=OFF
+        -DMUJOCO_ENABLE_IPO:BOOL=OFF
         -DCMAKE_INSTALL_PREFIX:STRING=${{ matrix.tmpdir }}/mujoco_install
         -DMUJOCO_BUILD_EXAMPLES:BOOL=OFF
         ${{ matrix.cmake_args }}
@@ -220,7 +220,7 @@ jobs:
         cd build &&
         cmake ..
         -DCMAKE_BUILD_TYPE:STRING=Release
-        -DCMAKE_INTERPROCEDURAL_OPTIMIZATION:BOOL=OFF
+        -DMUJOCO_ENABLE_IPO:BOOL=OFF
         -Dmujoco_ROOT:STRING=${{ matrix.tmpdir }}/mujoco_install
         ${{ matrix.cmake_args }}
     - name: Build samples
@@ -233,7 +233,7 @@ jobs:
         cd build &&
         cmake ..
         -DCMAKE_BUILD_TYPE:STRING=Release
-        -DCMAKE_INTERPROCEDURAL_OPTIMIZATION:BOOL=OFF
+        -DMUJOCO_ENABLE_IPO:BOOL=OFF
         -Dmujoco_ROOT:STRING=${{ matrix.tmpdir }}/mujoco_install
         ${{ matrix.cmake_args }}
     - name: Build simulate
@@ -253,7 +253,7 @@ jobs:
         source ${{ matrix.tmpdir }}/venv/bin/activate &&
         MUJOCO_PATH="${{ matrix.tmpdir }}/mujoco_install"
         MUJOCO_PLUGIN_PATH="${{ matrix.tmpdir }}/mujoco_install/mujoco_plugin"
-        MUJOCO_CMAKE_ARGS="-DCMAKE_INTERPROCEDURAL_OPTIMIZATION:BOOL=OFF ${{ matrix.cmake_args }}"
+        MUJOCO_CMAKE_ARGS="-DMUJOCO_ENABLE_IPO:BOOL=OFF ${{ matrix.cmake_args }}"
         pip wheel -v --no-deps mujoco-*.tar.gz
     - name: Install Python bindings
       if: ${{ runner.os != 'Windows' }}

CMakeLists.txt

@@ -45,20 +45,6 @@ option(MUJOCO_BUILD_TESTS "Build tests for MuJoCo" ON)
 option(MUJOCO_TEST_PYTHON_UTIL "Build and test utility libraries for Python bindings" ON)
 option(MUJOCO_WITH_USD "Build with OpenUSD" OFF)
 
-# Enable inter-procedural optimizations by default on release builds.
-if(CMAKE_BUILD_TYPE AND NOT CMAKE_BUILD_TYPE STREQUAL "Debug")
-    set(MUJOCO_ENABLE_IPO_DEFAULT ON)
-else()
-    set(MUJOCO_ENABLE_IPO_DEFAULT OFF)
-endif()
-option(MUJOCO_ENABLE_IPO, "Enable inter-procedural optimization (IPO)" ${MUJOCO_ENABLE_IPO_DEFAULT})
-
-# IPO is disabled by default. If it's enabled here, it was explicitly enabled. MUJOCO_ENABLE_IPO should be used instead.
-if (CMAKE_INTERPROCEDURAL_OPTIMIZATION)
-  message(WARNING "Setting CMAKE_INTERPROCEDURAL_OPTIMIZATION has no effect! Use MUJOCO_ENABLE_IPO.")
-endif()
-set(CMAKE_INTERPROCEDURAL_OPTIMIZATION, ${MUJOCO_ENABLE_IPO})
-
 # Option to provide a path to an existing USD build directory or to Houdini HFS directory.
 set(USD_DIR "" CACHE PATH "Path to an existing USD build directory.")
 set(HOUDINI_HFS_DIR "" CACHE PATH "Path to Houdini HFS directory to build USD plugins against.")

cmake/MujocoOptions.cmake

@@ -104,6 +104,20 @@ if(CMAKE_CXX_COMPILER_ID STREQUAL "GNU" OR (CMAKE_CXX_COMPILER_ID MATCHES "Clang
   endif()
 endif()
 
+# Enable inter-procedural optimizations by default on release builds.
+if(CMAKE_BUILD_TYPE AND NOT CMAKE_BUILD_TYPE STREQUAL "Debug")
+    set(MUJOCO_ENABLE_IPO_DEFAULT ON)
+else()
+    set(MUJOCO_ENABLE_IPO_DEFAULT OFF)
+endif()
+option(MUJOCO_ENABLE_IPO, "Enable inter-procedural optimization (IPO)" ${MUJOCO_ENABLE_IPO_DEFAULT})
+
+# IPO is disabled by default. If it's enabled here, it was explicitly enabled. MUJOCO_ENABLE_IPO should be used instead.
+if (CMAKE_INTERPROCEDURAL_OPTIMIZATION)
+  message(FATAL_ERROR "Setting CMAKE_INTERPROCEDURAL_OPTIMIZATION has no effect! Use MUJOCO_ENABLE_IPO.")
+endif()
+set(CMAKE_INTERPROCEDURAL_OPTIMIZATION, ${MUJOCO_ENABLE_IPO})
+
 include(MujocoHarden)
 set(EXTRA_COMPILE_OPTIONS ${EXTRA_COMPILE_OPTIONS} ${MUJOCO_HARDEN_COMPILE_OPTIONS})
 set(EXTRA_LINK_OPTIONS ${EXTRA_LINK_OPTIONS} ${MUJOCO_HARDEN_LINK_OPTIONS})

sample/cmake/SampleOptions.cmake

@@ -104,6 +104,20 @@ if(CMAKE_CXX_COMPILER_ID STREQUAL "GNU" OR (CMAKE_CXX_COMPILER_ID MATCHES "Clang
   endif()
 endif()
 
+# Enable inter-procedural optimizations by default on release builds.
+if(CMAKE_BUILD_TYPE AND NOT CMAKE_BUILD_TYPE STREQUAL "Debug")
+    set(MUJOCO_ENABLE_IPO_DEFAULT ON)
+else()
+    set(MUJOCO_ENABLE_IPO_DEFAULT OFF)
+endif()
+option(MUJOCO_ENABLE_IPO, "Enable inter-procedural optimization (IPO)" ${MUJOCO_ENABLE_IPO_DEFAULT})
+
+# IPO is disabled by default. If it's enabled here, it was explicitly enabled. MUJOCO_ENABLE_IPO should be used instead.
+if (CMAKE_INTERPROCEDURAL_OPTIMIZATION)
+  message(FATAL_ERROR "Setting CMAKE_INTERPROCEDURAL_OPTIMIZATION has no effect! Use MUJOCO_ENABLE_IPO.")
+endif()
+set(CMAKE_INTERPROCEDURAL_OPTIMIZATION, ${MUJOCO_ENABLE_IPO})
+
 include(MujocoHarden)
 set(EXTRA_COMPILE_OPTIONS ${EXTRA_COMPILE_OPTIONS} ${MUJOCO_HARDEN_COMPILE_OPTIONS})
 set(EXTRA_LINK_OPTIONS ${EXTRA_LINK_OPTIONS} ${MUJOCO_HARDEN_LINK_OPTIONS})

simulate/cmake/SimulateOptions.cmake

@@ -104,6 +104,20 @@ if(CMAKE_CXX_COMPILER_ID STREQUAL "GNU" OR (CMAKE_CXX_COMPILER_ID MATCHES "Clang
   endif()
 endif()
 
+# Enable inter-procedural optimizations by default on release builds.
+if(CMAKE_BUILD_TYPE AND NOT CMAKE_BUILD_TYPE STREQUAL "Debug")
+    set(MUJOCO_ENABLE_IPO_DEFAULT ON)
+else()
+    set(MUJOCO_ENABLE_IPO_DEFAULT OFF)
+endif()
+option(MUJOCO_ENABLE_IPO, "Enable inter-procedural optimization (IPO)" ${MUJOCO_ENABLE_IPO_DEFAULT})
+
+# IPO is disabled by default. If it's enabled here, it was explicitly enabled. MUJOCO_ENABLE_IPO should be used instead.
+if (CMAKE_INTERPROCEDURAL_OPTIMIZATION)
+  message(FATAL_ERROR "Setting CMAKE_INTERPROCEDURAL_OPTIMIZATION has no effect! Use MUJOCO_ENABLE_IPO.")
+endif()
+set(CMAKE_INTERPROCEDURAL_OPTIMIZATION, ${MUJOCO_ENABLE_IPO})
+
 include(MujocoHarden)
 set(EXTRA_COMPILE_OPTIONS ${EXTRA_COMPILE_OPTIONS} ${MUJOCO_HARDEN_COMPILE_OPTIONS})
 set(EXTRA_LINK_OPTIONS ${EXTRA_LINK_OPTIONS} ${MUJOCO_HARDEN_LINK_OPTIONS})