feat(cmake): egl headers

CMakeLists.txt

@@ -33,7 +33,6 @@ set(CMAKE_POSITION_INDEPENDENT_CODE ON)
 
 include(FetchContent)
 
-find_package(Eigen3 REQUIRED)
 find_package(Python3 COMPONENTS Interpreter Development REQUIRED)
 find_package(MuJoCo REQUIRED)
 find_package(pinocchio REQUIRED)
@@ -45,8 +44,22 @@ FetchContent_Declare(pybind11
     GIT_PROGRESS TRUE
     EXCLUDE_FROM_ALL
 )
+FetchContent_Declare(Eigen3
+    GIT_REPOSITORY https://gitlab.com/libeigen/eigen.git
+    GIT_TAG 3.4.1
+    GIT_PROGRESS TRUE
+    EXCLUDE_FROM_ALL
+)
+FetchContent_Declare(
+    egl_headers
+    GIT_REPOSITORY https://github.com/KhronosGroup/EGL-Registry.git
+    GIT_TAG        main
+    GIT_SHALLOW    TRUE
+)
 
-FetchContent_MakeAvailable(pybind11)
+FetchContent_MakeAvailable(pybind11 Eigen3 egl_headers)
 include(compile_scenes)
+# egl headers
+include_directories(${egl_headers_SOURCE_DIR}/api)
 
 add_subdirectory(src)

README.md

@@ -110,11 +110,11 @@ We build and test RCS on the latest Debian and on the latest Ubuntu LTS.
     ```shell
     conda create -n rcs python=3.11
     conda activate rcs
-    pip install -r requirements.txt
     ```
 
 3.  **Install RCS**:
     ```shell
+    pip install -r requirements.txt
     pip install -ve . --no-build-isolation
     ```
 

include/rcs/Kinematics.h

@@ -1,8 +1,8 @@
 #ifndef RCS_IK_H
 #define RCS_IK_H
 
-#include <eigen3/Eigen/Eigen>
-#include <eigen3/Eigen/Geometry>
+#include <Eigen/Eigen>
+#include <Eigen/Geometry>
 #include <memory>
 #include <optional>
 #include <string>

include/rcs/Pose.h

@@ -1,8 +1,8 @@
 #ifndef RCS_POSE_H
 #define RCS_POSE_H
 
-#include <eigen3/Eigen/Eigen>
-#include <eigen3/Eigen/Geometry>
+#include <Eigen/Eigen>
+#include <Eigen/Geometry>
 #include <memory>
 
 #include "utils.h"

include/rcs/utils.h

@@ -1,7 +1,7 @@
 #ifndef RCS_UTIL_H
 #define RCS_UTIL_H
 
-#include <eigen3/Eigen/Eigen>
+#include <Eigen/Eigen>
 #include <memory>
 
 namespace rcs {

pyproject.toml

@@ -1,5 +1,14 @@
 [build-system]
-requires = []
+requires = [
+    "build",
+    "wheel",
+    "scikit-build-core>=0.3.3",
+    "pybind11",
+    "cmake",
+    "ninja",
+    "mujoco==3.2.6",
+    "pin==3.7.0",
+]
 build-backend = "scikit_build_core.build"
 
 [project]

requirements.txt

@@ -1,8 +1,2 @@
-build
-wheel
-scikit-build-core>=0.3.3
-pybind11
-cmake
-ninja
 mujoco==3.2.6
 pin==3.7.0

src/sim/camera.cpp

@@ -6,7 +6,7 @@
 #include <algorithm>
 #include <cstdlib>
 #include <cstring>
-#include <eigen3/Eigen/Eigen>
+#include <Eigen/Eigen>
 #include <memory>
 #include <set>
 #include <stdexcept>

src/sim/camera.h

@@ -4,7 +4,7 @@
 #include <rcs/Pose.h>
 #include <rcs/Robot.h>
 
-#include <eigen3/Eigen/Eigen>
+#include <Eigen/Eigen>
 #include <mutex>
 #include <optional>
 #include <set>

src/sim/sim.cpp

@@ -1,6 +1,5 @@
 #include "sim/sim.h"
 
-#include <GLFW/glfw3.h>
 #include <assert.h>
 
 #include <chrono>