Bazel build #2225
Bazel build #2225
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| load("@bazel_tools//tools/build_defs/repo:http.bzl", "http_archive") | ||
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| def abseil_cpp_repository(name = "abseil-cpp"): | ||
| version = "20240722.0" |
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We really should have a mechanism to ensure that this is kept in sync with CMakeFiles...
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This is a good idea. Let me add that mechanism.
tools/workspace/cereal/BUILD.bazel
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There are several libraries that aren't being pulled in for our CMake builds (cereal, spdlog, libglvnd, ...) -- why are these needed for Bazel?
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These are transitive dependencies:
For instance, SdfLib depends on cereal and spdlog, while libglfw3 depends on libglvnd.
The goal is to avoid using system-installed libraries and instead fetch them with a fixed SHA to ensure hermeticity.
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| workspace(name = "mujoco") | |||
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This is using the soon-to-be deprecated WORKSPACE system. It might be worth migrating this to use the new Bzlmod setup. I'll take a look at this if I have some extra time in the upcoming days. No guarantees though.
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Good point. I noticed that some dependencies are already in Bazel Central Registry. Let me know how it goes - I’m happy to explore this as well.
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I see that some of my changes to the include paths broke the CMake build system. I'll fix this issue. |
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Any idea of why this is failing? I only touched generate_functions.py, generate_functions.py, and generate_structs.py, which shouldn't affect the test. |
Thanks for the comment, and sorry for the delayed response. I've added some default copts to match the options in CMake. I know the CMake system has more options to configure GL backends and precision, but I hope this PR serves as a starting point toward that. |
Summary
This PR introduces a Bazel build system that compiles the C library, Python bindings, and
mjxlibrary. While the original CMake build system supports multiple architectures and configurations, this Bazel build is currently configured only for Ubuntu 22.04 on x86_64.This setup is not yet fully comprehensive. Some functionalities are still lacking, such as a hermetic toolchain, support for multiple OS and architecture builds, and compatibility with various rendering backends. However, this PR aims to initiate a discussion on the best direction for further improvements.
Testing
Build and test using the default Clang compiler:
Run
bazel build //...andbazel test //....Build and test using the GCC compiler:
Run
bazel build --config=linux_gcc_x86_64 //...andbazel test --config=linux_gcc_x86_64 //....Security
This build process fetches third-party dependencies through Bazel's
http_archiverule, ensuring each dependency includes its license file.