pkgs/applications/science/robotics/mujoco/mujoco-system-deps-dont-fetch.patch

   1 diff --git a/CMakeLists.txt b/CMakeLists.txt
   2 index eea180c0..efb39178 100644
   3 --- a/CMakeLists.txt
   4 +++ b/CMakeLists.txt
   5 @@ -93,7 +93,7 @@ add_subdirectory(src/render)
   6  add_subdirectory(src/thread)
   7  add_subdirectory(src/ui)
   8
   9 -target_compile_definitions(mujoco PRIVATE _GNU_SOURCE CCD_STATIC_DEFINE MUJOCO_DLL_EXPORTS -DMC_IMPLEM_ENABLE)
  10 +target_compile_definitions(mujoco PRIVATE _GNU_SOURCE MUJOCO_DLL_EXPORTS -DMC_IMPLEM_ENABLE)
  11  if(MUJOCO_ENABLE_AVX_INTRINSICS)
  12    target_compile_definitions(mujoco PUBLIC mjUSEPLATFORMSIMD)
  13  endif()
  14 @@ -118,7 +118,7 @@ target_link_libraries(
  15            lodepng
  16            qhullstatic_r
  17            tinyobjloader
  18 -          tinyxml2
  19 +          tinyxml2::tinyxml2
  20  )
  21
  22  set_target_properties(
  23 diff --git a/cmake/MujocoDependencies.cmake b/cmake/MujocoDependencies.cmake
  24 index 44962272..656beeb8 100644
  25 --- a/cmake/MujocoDependencies.cmake
  26 +++ b/cmake/MujocoDependencies.cmake
  27 @@ -93,28 +93,36 @@ set(BUILD_SHARED_LIBS
  28  if(NOT TARGET lodepng)
  29    FetchContent_Declare(
  30      lodepng
  31 -    GIT_REPOSITORY https://github.com/lvandeve/lodepng.git
  32 -    GIT_TAG ${MUJOCO_DEP_VERSION_lodepng}
  33    )
  34 +endif()
  35
  36 -  FetchContent_GetProperties(lodepng)
  37 -  if(NOT lodepng_POPULATED)
  38 -    FetchContent_Populate(lodepng)
  39 -    # This is not a CMake project.
  40 -    set(LODEPNG_SRCS ${lodepng_SOURCE_DIR}/lodepng.cpp)
  41 -    set(LODEPNG_HEADERS ${lodepng_SOURCE_DIR}/lodepng.h)
  42 -    add_library(lodepng STATIC ${LODEPNG_HEADERS} ${LODEPNG_SRCS})
  43 -    target_compile_options(lodepng PRIVATE ${MUJOCO_MACOS_COMPILE_OPTIONS})
  44 -    target_link_options(lodepng PRIVATE ${MUJOCO_MACOS_LINK_OPTIONS})
  45 -    target_include_directories(lodepng PUBLIC ${lodepng_SOURCE_DIR})
  46 +if(NOT TARGET lodepng)
  47 +  if(NOT MUJOCO_USE_SYSTEM_lodepng)
  48 +    fetchcontent_declare(
  49 +      lodepng
  50 +      GIT_REPOSITORY https://github.com/lvandeve/lodepng.git
  51 +      GIT_TAG ${MUJOCO_DEP_VERSION_lodepng}
  52 +    )
  53 +
  54 +    FetchContent_GetProperties(lodepng)
  55 +    if(NOT lodepng_POPULATED)
  56 +      FetchContent_Populate(lodepng)
  57 +      # This is not a CMake project.
  58 +      set(LODEPNG_SRCS ${lodepng_SOURCE_DIR}/lodepng.cpp)
  59 +      set(LODEPNG_HEADERS ${lodepng_SOURCE_DIR}/lodepng.h)
  60 +      add_library(lodepng STATIC ${LODEPNG_HEADERS} ${LODEPNG_SRCS})
  61 +      target_compile_options(lodepng PRIVATE ${MUJOCO_MACOS_COMPILE_OPTIONS})
  62 +      target_link_options(lodepng PRIVATE ${MUJOCO_MACOS_LINK_OPTIONS})
  63 +      target_include_directories(lodepng PUBLIC ${lodepng_SOURCE_DIR})
  64 +    endif()
  65 +  else()
  66 +    find_package(lodepng REQUIRED)
  67    endif()
  68  endif()
  69
  70  if(NOT TARGET marchingcubecpp)
  71    FetchContent_Declare(
  72      marchingcubecpp
  73 -    GIT_REPOSITORY https://github.com/aparis69/MarchingCubeCpp.git
  74 -    GIT_TAG ${MUJOCO_DEP_VERSION_MarchingCubeCpp}
  75    )
  76
  77    FetchContent_GetProperties(marchingcubecpp)
  78 @@ -124,119 +132,158 @@ if(NOT TARGET marchingcubecpp)
  79    endif()
  80  endif()
  81
  82 +option(MUJOCO_USE_SYSTEM_qhull "Use installed qhull version." OFF)
  83 +mark_as_advanced(MUJOCO_USE_SYSTEM_qhull)
  84 +
  85  set(QHULL_ENABLE_TESTING OFF)
  86
  87  findorfetch(
  88    USE_SYSTEM_PACKAGE
  89 -  OFF
  90 +  ${MUJOCO_USE_SYSTEM_qhull}
  91    PACKAGE_NAME
  92 -  qhull
  93 +  Qhull
  94    LIBRARY_NAME
  95    qhull
  96 -  GIT_REPO
  97 -  https://github.com/qhull/qhull.git
  98 -  GIT_TAG
  99 -  ${MUJOCO_DEP_VERSION_qhull}
 100    TARGETS
 101    qhull
 102    EXCLUDE_FROM_ALL
 103  )
 104 -# MuJoCo includes a file from libqhull_r which is not exported by the qhull include directories.
 105 -# Add it to the target.
 106 -target_include_directories(
 107 -  qhullstatic_r INTERFACE $<BUILD_INTERFACE:${qhull_SOURCE_DIR}/src/libqhull_r>
 108 -)
 109 -target_compile_options(qhullstatic_r PRIVATE ${MUJOCO_MACOS_COMPILE_OPTIONS})
 110 -target_link_options(qhullstatic_r PRIVATE ${MUJOCO_MACOS_LINK_OPTIONS})
 111 +if(NOT MUJOCO_USE_SYSTEM_qhull)
 112 +  # MuJoCo includes a file from libqhull_r which is not exported by the qhull include directories.
 113 +  # Add it to the target.
 114 +  target_include_directories(
 115 +    qhullstatic_r INTERFACE $<BUILD_INTERFACE:${qhull_SOURCE_DIR}/src/libqhull_r>
 116 +  )
 117 +  target_compile_options(qhullstatic_r PRIVATE ${MUJOCO_MACOS_COMPILE_OPTIONS})
 118 +  target_link_options(qhullstatic_r PRIVATE ${MUJOCO_MACOS_LINK_OPTIONS})
 119 +else()
 120 +  if(NOT TARGET qhullstatic_r)
 121 +    add_library(qhullstatic_r INTERFACE)
 122 +    set_target_properties(qhullstatic_r PROPERTIES INTERFACE_LINK_LIBRARIES Qhull::qhull_r)
 123 +
 124 +    # Workaround as headers are installed in <prefix>/include/libqhull_r/something.h
 125 +    # but mujoco include them as #include <something.h>
 126 +    get_property(qhull_include_dirs TARGET Qhull::qhull_r PROPERTY INTERFACE_INCLUDE_DIRECTORIES)
 127 +    foreach(qhull_include_dir IN LISTS qhull_include_dirs)
 128 +      target_include_directories(qhullstatic_r INTERFACE ${qhull_include_dirs}/libqhull_r)
 129 +    endforeach()
 130 +    target_include_directories(qhullstatic_r INTERFACE )
 131 +  endif()
 132 +endif()
 133 +
 134 +option(MUJOCO_USE_SYSTEM_tinyxml2 "Use installed tinyxml2 version." OFF)
 135 +mark_as_advanced(MUJOCO_USE_SYSTEM_tinyxml2)
 136
 137  set(tinyxml2_BUILD_TESTING OFF)
 138  findorfetch(
 139    USE_SYSTEM_PACKAGE
 140 -  OFF
 141 +  ${MUJOCO_USE_SYSTEM_tinyxml2}
 142    PACKAGE_NAME
 143    tinyxml2
 144    LIBRARY_NAME
 145    tinyxml2
 146 -  GIT_REPO
 147 -  https://github.com/leethomason/tinyxml2.git
 148 -  GIT_TAG
 149 -  ${MUJOCO_DEP_VERSION_tinyxml2}
 150    TARGETS
 151 -  tinyxml2
 152 +  tinyxml2::tinyxml2
 153    EXCLUDE_FROM_ALL
 154  )
 155 -target_compile_options(tinyxml2 PRIVATE ${MUJOCO_MACOS_COMPILE_OPTIONS})
 156 -target_link_options(tinyxml2 PRIVATE ${MUJOCO_MACOS_LINK_OPTIONS})
 157 +if(NOT MUJOCO_USE_SYSTEM_tinyxml2)
 158 +  target_compile_options(tinyxml2 PRIVATE ${MUJOCO_MACOS_COMPILE_OPTIONS})
 159 +  target_link_options(tinyxml2 PRIVATE ${MUJOCO_MACOS_LINK_OPTIONS})
 160 +endif()
 161 +
 162 +option(MUJOCO_USE_SYSTEM_tinyobjloader "Use installed tinyobjloader version." OFF)
 163 +mark_as_advanced(MUJOCO_USE_SYSTEM_tinyobjloader)
 164
 165  findorfetch(
 166    USE_SYSTEM_PACKAGE
 167 -  OFF
 168 +  ${MUJOCO_USE_SYSTEM_tinyobjloader}
 169    PACKAGE_NAME
 170    tinyobjloader
 171    LIBRARY_NAME
 172    tinyobjloader
 173 -  GIT_REPO
 174 -  https://github.com/tinyobjloader/tinyobjloader.git
 175 -  GIT_TAG
 176 -  ${MUJOCO_DEP_VERSION_tinyobjloader}
 177    TARGETS
 178    tinyobjloader
 179    EXCLUDE_FROM_ALL
 180  )
 181
 182 +if(MUJOCO_USE_SYSTEM_tinyobjloader)
 183 +  # As of tinyobjloader v2.0.0rc10, the tinyobjloader target is named tinyobjloader in the build,
 184 +  # but tinyobjloader::tinyobjloader when it is installed. To deal with this, if tinyobjloader is
 185 +  # found in the system, we create an ALIAS
 186 +  # The following is equivalent to add_library(tinyobjloader ALIAS tinyobjloader::tinyobjloader),
 187 +  # but compatible with CMake 3.16 . Once the minimum CMake is bumped to CMake 3.18, we can use
 188 +  # the simpler version
 189 +  add_library(tinyobjloader INTERFACE IMPORTED)
 190 +  set_target_properties(tinyobjloader PROPERTIES INTERFACE_LINK_LIBRARIES tinyobjloader::tinyobjloader)
 191 +endif()
 192 +
 193 +option(MUJOCO_USE_SYSTEM_sdflib "Use installed sdflib version." OFF)
 194 +mark_as_advanced(MUJOCO_USE_SYSTEM_sdflib)
 195 +
 196  option(SDFLIB_USE_ASSIMP OFF)
 197  option(SDFLIB_USE_OPENMP OFF)
 198  option(SDFLIB_USE_ENOKI OFF)
 199 +
 200  findorfetch(
 201    USE_SYSTEM_PACKAGE
 202 -  OFF
 203 +  ${MUJOCO_USE_SYSTEM_sdflib}
 204    PACKAGE_NAME
 205 -  sdflib
 206 +  SdfLib
 207    LIBRARY_NAME
 208    sdflib
 209 -  GIT_REPO
 210 -  https://github.com/UPC-ViRVIG/SdfLib.git
 211 -  GIT_TAG
 212 -  ${MUJOCO_DEP_VERSION_sdflib}
 213    TARGETS
 214 -  SdfLib
 215 +  SdfLib::SdfLib
 216    EXCLUDE_FROM_ALL
 217  )
 218 -target_compile_options(SdfLib PRIVATE ${MUJOCO_MACOS_COMPILE_OPTIONS})
 219 -target_link_options(SdfLib PRIVATE ${MUJOCO_MACOS_LINK_OPTIONS})
 220 +
 221 +if(NOT MUJOCO_USE_SYSTEM_sdflib)
 222 +  target_compile_options(SdfLib PRIVATE ${MUJOCO_MACOS_COMPILE_OPTIONS})
 223 +  target_link_options(SdfLib PRIVATE ${MUJOCO_MACOS_LINK_OPTIONS})
 224 +endif()
 225 +
 226 +option(MUJOCO_USE_SYSTEM_ccd "Use installed ccd version." OFF)
 227 +mark_as_advanced(MUJOCO_USE_SYSTEM_ccd)
 228
 229  set(ENABLE_DOUBLE_PRECISION ON)
 230  set(CCD_HIDE_ALL_SYMBOLS ON)
 231  findorfetch(
 232    USE_SYSTEM_PACKAGE
 233 -  OFF
 234 +  ${MUJOCO_USE_SYSTEM_ccd}
 235    PACKAGE_NAME
 236    ccd
 237    LIBRARY_NAME
 238    ccd
 239 -  GIT_REPO
 240 -  https://github.com/danfis/libccd.git
 241 -  GIT_TAG
 242 -  ${MUJOCO_DEP_VERSION_ccd}
 243    TARGETS
 244    ccd
 245    EXCLUDE_FROM_ALL
 246  )
 247 -target_compile_options(ccd PRIVATE ${MUJOCO_MACOS_COMPILE_OPTIONS})
 248 -target_link_options(ccd PRIVATE ${MUJOCO_MACOS_LINK_OPTIONS})
 249 -
 250 -# libCCD has an unconditional `#define _CRT_SECURE_NO_WARNINGS` on Windows.
 251 -# TODO(stunya): Remove this after https://github.com/danfis/libccd/pull/77 is merged.
 252 -if(WIN32)
 253 -  if(MSVC)
 254 -    # C4005 is the MSVC equivalent of -Wmacro-redefined.
 255 -    target_compile_options(ccd PRIVATE /wd4005)
 256 -  else()
 257 -    target_compile_options(ccd PRIVATE -Wno-macro-redefined)
 258 +
 259 +if(NOT MUJOCO_USE_SYSTEM_ccd)
 260 +  target_compile_options(ccd PRIVATE ${MUJOCO_MACOS_COMPILE_OPTIONS})
 261 +  target_link_options(ccd PRIVATE ${MUJOCO_MACOS_LINK_OPTIONS})
 262 +  # This is necessary to ensure that the any library that consumes the ccd
 263 +  # compiled internally by MuJoCo (as static library) has CCD_EXPORT correctly
 264 +  # defined as an empty string. For ccd itself, this is ensured by the variable
 265 +  # CCD_HIDE_ALL_SYMBOLS set to ON before the call to findorfetch
 266 +  # See https://github.com/danfis/libccd/pull/79
 267 +  target_compile_definitions(ccd INTERFACE CCD_STATIC_DEFINE)
 268 +
 269 +  # libCCD has an unconditional `#define _CRT_SECURE_NO_WARNINGS` on Windows.
 270 +  # TODO(stunya): Remove this after https://github.com/danfis/libccd/pull/77 is merged.
 271 +  if(WIN32)
 272 +    if(MSVC)
 273 +      # C4005 is the MSVC equivalent of -Wmacro-redefined.
 274 +      target_compile_options(ccd PRIVATE /wd4005)
 275 +    else()
 276 +      target_compile_options(ccd PRIVATE -Wno-macro-redefined)
 277 +    endif()
 278    endif()
 279  endif()
 280
 281  if(MUJOCO_BUILD_TESTS)
 282 +  option(MUJOCO_USE_SYSTEM_abseil "Use installed abseil version." OFF)
 283 +  mark_as_advanced(MUJOCO_USE_SYSTEM_abseil)
 284 +
 285    set(ABSL_PROPAGATE_CXX_STD ON)
 286
 287    # This specific version of Abseil does not have the following variable. We need to work with BUILD_TESTING
 288 @@ -249,15 +296,11 @@ if(MUJOCO_BUILD_TESTS)
 289    set(ABSL_BUILD_TESTING OFF)
 290    findorfetch(
 291      USE_SYSTEM_PACKAGE
 292 -    OFF
 293 +    ${MUJOCO_USE_SYSTEM_abseil}
 294      PACKAGE_NAME
 295      absl
 296      LIBRARY_NAME
 297      abseil-cpp
 298 -    GIT_REPO
 299 -    https://github.com/abseil/abseil-cpp.git
 300 -    GIT_TAG
 301 -    ${MUJOCO_DEP_VERSION_abseil}
 302      TARGETS
 303      absl::core_headers
 304      EXCLUDE_FROM_ALL
 305 @@ -268,6 +311,9 @@ if(MUJOCO_BUILD_TESTS)
 306        CACHE BOOL "Build tests." FORCE
 307    )
 308
 309 +  option(MUJOCO_USE_SYSTEM_gtest "Use installed gtest version." OFF)
 310 +  mark_as_advanced(MUJOCO_USE_SYSTEM_gtest)
 311 +
 312    # Avoid linking errors on Windows by dynamically linking to the C runtime.
 313    set(gtest_force_shared_crt
 314        ON
 315 @@ -276,22 +322,20 @@ if(MUJOCO_BUILD_TESTS)
 316
 317    findorfetch(
 318      USE_SYSTEM_PACKAGE
 319 -    OFF
 320 +    ${MUJOCO_USE_SYSTEM_gtest}
 321      PACKAGE_NAME
 322      GTest
 323      LIBRARY_NAME
 324      googletest
 325 -    GIT_REPO
 326 -    https://github.com/google/googletest.git
 327 -    GIT_TAG
 328 -    ${MUJOCO_DEP_VERSION_gtest}
 329      TARGETS
 330 -    gtest
 331 -    gmock
 332 -    gtest_main
 333 +    GTest::gmock
 334 +    GTest::gtest_main
 335      EXCLUDE_FROM_ALL
 336    )
 337
 338 +  option(MUJOCO_USE_SYSTEM_benchmark "Use installed benchmark version." OFF)
 339 +  mark_as_advanced(MUJOCO_USE_SYSTEM_benchmark)
 340 +
 341    set(BENCHMARK_EXTRA_FETCH_ARGS "")
 342    if(WIN32 AND NOT MSVC)
 343      set(BENCHMARK_EXTRA_FETCH_ARGS
 344 @@ -310,15 +354,11 @@ if(MUJOCO_BUILD_TESTS)
 345
 346    findorfetch(
 347      USE_SYSTEM_PACKAGE
 348 -    OFF
 349 +    ${MUJOCO_USE_SYSTEM_benchmark}
 350      PACKAGE_NAME
 351      benchmark
 352      LIBRARY_NAME
 353      benchmark
 354 -    GIT_REPO
 355 -    https://github.com/google/benchmark.git
 356 -    GIT_TAG
 357 -    ${MUJOCO_DEP_VERSION_benchmark}
 358      TARGETS
 359      benchmark::benchmark
 360      benchmark::benchmark_main
 361 @@ -328,15 +368,18 @@ if(MUJOCO_BUILD_TESTS)
 362  endif()
 363
 364  if(MUJOCO_TEST_PYTHON_UTIL)
 365 +  option(MUJOCO_USE_SYSTEM_Eigen3 "Use installed Eigen3 version." OFF)
 366 +  mark_as_advanced(MUJOCO_USE_SYSTEM_Eigen3)
 367 +
 368    add_compile_definitions(EIGEN_MPL2_ONLY)
 369 -  if(NOT TARGET eigen)
 370 -    # Support new IN_LIST if() operator.
 371 -    set(CMAKE_POLICY_DEFAULT_CMP0057 NEW)
 372 +  if(NOT TARGET Eigen3::Eigen)
 373 +    if(NOT MUJOCO_USE_SYSTEM_Eigen3)
 374 +      # Support new IN_LIST if() operator.
 375 +      set(CMAKE_POLICY_DEFAULT_CMP0057 NEW)
 376 +    endif()
 377
 378      FetchContent_Declare(
 379        Eigen3
 380 -      GIT_REPOSITORY https://gitlab.com/libeigen/eigen.git
 381 -      GIT_TAG ${MUJOCO_DEP_VERSION_Eigen3}
 382      )
 383
 384      FetchContent_GetProperties(Eigen3)
 385 @@ -348,6 +391,19 @@ if(MUJOCO_TEST_PYTHON_UTIL)
 386        set_target_properties(
 387          Eigen3::Eigen PROPERTIES INTERFACE_INCLUDE_DIRECTORIES "${eigen3_SOURCE_DIR}"
 388        )
 389 +
 390 +      fetchcontent_getproperties(Eigen3)
 391 +      # if(NOT Eigen3_POPULATED)
 392 +      #   fetchcontent_populate(Eigen3)
 393 +
 394 +      #   # Mark the library as IMPORTED as a workaround for https://gitlab.kitware.com/cmake/cmake/-/issues/15415
 395 +      #   add_library(Eigen3::Eigen INTERFACE IMPORTED)
 396 +      #   set_target_properties(
 397 +      #     Eigen3::Eigen PROPERTIES INTERFACE_INCLUDE_DIRECTORIES "${eigen3_SOURCE_DIR}"
 398 +      #   )
 399 +      # endif()
 400 +    else()
 401 +      find_package(Eigen3 REQUIRED)
 402      endif()
 403    endif()
 404  endif()
 405 diff --git a/plugin/sdf/CMakeLists.txt b/plugin/sdf/CMakeLists.txt
 406 index 3e216fc4..e7e3a1eb 100644
 407 --- a/plugin/sdf/CMakeLists.txt
 408 +++ b/plugin/sdf/CMakeLists.txt
 409 @@ -37,7 +37,7 @@ set(MUJOCO_SDF_SRCS
 410  add_library(sdf SHARED)
 411  target_sources(sdf PRIVATE ${MUJOCO_SDF_SRCS})
 412  target_include_directories(sdf PRIVATE ${MUJOCO_SDF_INCLUDE})
 413 -target_link_libraries(sdf PRIVATE mujoco SdfLib)
 414 +target_link_libraries(sdf PRIVATE mujoco SdfLib::SdfLib)
 415  target_compile_options(
 416    sdf
 417    PRIVATE ${AVX_COMPILE_OPTIONS}
 418 diff --git a/python/mujoco/util/CMakeLists.txt b/python/mujoco/util/CMakeLists.txt
 419 index 666a3725..d89bb499 100644
 420 --- a/python/mujoco/util/CMakeLists.txt
 421 +++ b/python/mujoco/util/CMakeLists.txt
 422 @@ -63,8 +63,8 @@ if(BUILD_TESTING)
 423    target_link_libraries(
 424      array_traits_test
 425      array_traits
 426 -    gmock
 427 -    gtest_main
 428 +    GTest::gmock
 429 +    GTest::gtest_main
 430    )
 431    gtest_add_tests(TARGET array_traits_test SOURCES array_traits_test.cc)
 432
 433 @@ -72,8 +72,8 @@ if(BUILD_TESTING)
 434    target_link_libraries(
 435      func_traits_test
 436      func_traits
 437 -    gmock
 438 -    gtest_main
 439 +    GTest::gmock
 440 +    GTest::gtest_main
 441    )
 442    gtest_add_tests(TARGET func_traits_test SOURCES func_traits_test.cc)
 443
 444 @@ -81,8 +81,8 @@ if(BUILD_TESTING)
 445    target_link_libraries(
 446      func_wrap_test
 447      func_wrap
 448 -    gmock
 449 -    gtest_main
 450 +    GTest::gmock
 451 +    GTest::gtest_main
 452    )
 453    gtest_add_tests(TARGET func_wrap_test SOURCES func_wrap_test.cc)
 454
 455 @@ -90,8 +90,8 @@ if(BUILD_TESTING)
 456    target_link_libraries(
 457      tuple_tools_test
 458      func_wrap
 459 -    gmock
 460 -    gtest_main
 461 +    GTest::gmock
 462 +    GTest::gtest_main
 463    )
 464    gtest_add_tests(TARGET tuple_tools_test SOURCES tuple_tools_test.cc)
 465  endif()
 466 diff --git a/simulate/cmake/SimulateDependencies.cmake b/simulate/cmake/SimulateDependencies.cmake
 467 index 5141406c..75ff7884 100644
 468 --- a/simulate/cmake/SimulateDependencies.cmake
 469 +++ b/simulate/cmake/SimulateDependencies.cmake
 470 @@ -81,10 +81,6 @@ findorfetch(
 471    glfw3
 472    LIBRARY_NAME
 473    glfw3
 474 -  GIT_REPO
 475 -  https://github.com/glfw/glfw.git
 476 -  GIT_TAG
 477 -  ${MUJOCO_DEP_VERSION_glfw3}
 478    TARGETS
 479    glfw
 480    EXCLUDE_FROM_ALL
 481 diff --git a/test/CMakeLists.txt b/test/CMakeLists.txt
 482 index 122760a9..ddd90819 100644
 483 --- a/test/CMakeLists.txt
 484 +++ b/test/CMakeLists.txt
 485 @@ -30,7 +30,7 @@ macro(mujoco_test name)
 486    )
 487
 488    add_executable(${name} ${name}.cc)
 489 -  target_link_libraries(${name} gtest_main mujoco)
 490 +  target_link_libraries(${name} GTest::gtest_main mujoco)
 491    target_include_directories(${name} PRIVATE ${MUJOCO_TEST_INCLUDE})
 492    set_target_properties(${name} PROPERTIES BUILD_RPATH ${CMAKE_LIBRARY_OUTPUT_DIRECTORY})
 493    # gtest_discover_tests is recommended over gtest_add_tests, but has some issues in Windows.
 494 @@ -60,20 +60,20 @@ target_link_libraries(
 495           absl::synchronization
 496           absl::flat_hash_map
 497           absl::flat_hash_set
 498 -         gtest
 499 -         gmock
 500 +         GTest::gtest
 501 +         GTest::gmock
 502           mujoco::mujoco
 503  )
 504  target_include_directories(fixture PRIVATE ${mujoco_SOURCE_DIR}/include gmock)
 505
 506  mujoco_test(fixture_test)
 507 -target_link_libraries(fixture_test fixture gmock)
 508 +target_link_libraries(fixture_test fixture GTest::gmock)
 509
 510  mujoco_test(header_test)
 511 -target_link_libraries(header_test fixture gmock)
 512 +target_link_libraries(fixture_test fixture GTest::gmock)
 513
 514  mujoco_test(pipeline_test)
 515 -target_link_libraries(pipeline_test fixture gmock)
 516 +target_link_libraries(fixture_test fixture GTest::gmock)
 517
 518  add_subdirectory(benchmark)
 519  add_subdirectory(engine)