Macos build

src/3rdparty/CMakeLists.txt

@@ -1,14 +1,22 @@
-add_subdirectory(v4r EXCLUDE_FROM_ALL)
-
 add_subdirectory(corrade EXCLUDE_FROM_ALL)
+find_package(Corrade REQUIRED Main)
+
+if (NOT CORRADE_TARGET_APPLE)
+    add_subdirectory(v4r EXCLUDE_FROM_ALL)
+endif ()
+
 
 if (BUILD_GUI_APPS)
     set(WITH_SDL2APPLICATION ON CACHE BOOL "" FORCE)
 else()
     message(STATUS "Build without GUI apps!")
 endif()
 
-set(WITH_WINDOWLESSEGLAPPLICATION ON CACHE BOOL "" FORCE)
+if (NOT CORRADE_TARGET_APPLE)
+    set(WITH_WINDOWLESSEGLAPPLICATION ON CACHE BOOL "" FORCE)
+else ()
+    set(WITH_WINDOWLESSCGLAPPLICATION ON CACHE BOOL "WITH_WINDOWLESSCGLAPPLICATION" FORCE)
+endif ()
 set(WITH_TGAIMPORTER ON CACHE BOOL "" FORCE)
 add_subdirectory(magnum EXCLUDE_FROM_ALL)
 
@@ -17,8 +25,7 @@ add_subdirectory(magnum EXCLUDE_FROM_ALL)
 set(WITH_BULLET ON CACHE BOOL "" FORCE)
 add_subdirectory(magnum-integration EXCLUDE_FROM_ALL)
 
-find_package(Corrade REQUIRED Main)
-find_package(Magnum REQUIRED GL MeshTools Primitives SceneGraph Shaders WindowlessEglApplication Trade)
+find_package(Magnum REQUIRED GL MeshTools Primitives SceneGraph Shaders Trade)
 if (BUILD_GUI_APPS)
     find_package(Magnum REQUIRED Sdl2Application)
 endif()
@@ -27,6 +34,8 @@ find_package(MagnumIntegration REQUIRED Bullet)
 add_subdirectory(googletest-1.10.0)
 include_directories(${gtest_SOURCE_DIR}/include ${gtest_SOURCE_DIR})
 
-add_subdirectory(glad)
+if (NOT CORRADE_TARGET_APPLE)
+    add_subdirectory(glad)
+endif ()
 
 add_subdirectory(pybind11)

src/apps/CMakeLists.txt

@@ -1,3 +1,4 @@
+find_package(Corrade REQUIRED Main)
 set(MAGNUM_DEPENDENCIES
         Corrade::Main
         Magnum::GL
@@ -10,11 +11,19 @@ set(MAGNUM_DEPENDENCIES
 
 if (BUILD_GUI_APPS)
     add_app_default(viewer viewer.cpp)
-    target_link_libraries(viewer PRIVATE scenarios magnum_rendering v4r_rendering ${MAGNUM_DEPENDENCIES} Magnum::Application Magnum::Trade ${OpenCV_LIBS})
+    target_link_libraries(viewer PRIVATE scenarios magnum_rendering ${MAGNUM_DEPENDENCIES} Magnum::Application Magnum::Trade ${OpenCV_LIBS})
+
+    if (NOT CORRADE_TARGET_APPLE)
+        target_link_libraries(viewer PRIVATE v4r_rendering)
+     endif ()
 endif()
 
 add_app_default(voxel_env_app voxel_env_app.cpp)
-target_link_libraries(voxel_env_app PRIVATE scenarios magnum_rendering v4r_rendering ${MAGNUM_DEPENDENCIES} Magnum::WindowlessEglApplication ${OpenCV_LIBS})
+target_link_libraries(voxel_env_app PRIVATE scenarios magnum_rendering ${MAGNUM_DEPENDENCIES} ${OpenCV_LIBS})
+
+if (NOT CORRADE_TARGET_APPLE)
+    target_link_libraries(voxel_env_app PRIVATE v4r_rendering)
+endif ()
 
 # Make the executable a default target to build & run in Visual Studio
 set_property(DIRECTORY ${PROJECT_SOURCE_DIR} PROPERTY VS_STARTUP_PROJECT viewer)

src/apps/viewer.cpp

@@ -30,7 +30,10 @@
 #include <magnum_rendering/windowless_context.hpp>
 #include <magnum_rendering/magnum_env_renderer.hpp>
 
+#if !defined(CORRADE_TARGET_APPLE)
 #include <v4r_rendering/v4r_env_renderer.hpp>
+#endif
+
 
 
 using namespace Magnum;
@@ -40,7 +43,13 @@ using namespace Magnum::Math::Literals;
 using namespace VoxelWorld;
 
 // TODO: CLI parameters
-const bool useVulkan = false;
+#if defined(CORRADE_TARGET_APPLE)
+constexpr bool useVulkan = false;
+
+static_assert(!useVulkan, "Vulkan not supported on MacOS");
+#else
+constexpr bool useVulkan = true;
+#endif
 
 // "main" envs
 //const auto scenarioName = "ObstaclesHard";  // *
@@ -81,7 +90,7 @@ class Viewer: public Magnum::Platform::Application
     void moveOverviewCamera();
 
 private:
-    int width = 1800, height = 1000;
+    int width = 1280, height = 720;
 
     Envs envs;
     std::unique_ptr<EnvRenderer> renderer;
@@ -140,15 +149,20 @@ Viewer::Viewer(const Arguments& arguments)
 
     ctx = std::make_unique<WindowRenderingContext>();
 
+    const Magnum::Vector2i fbSize = framebufferSize();
     if (useVulkan) {
-        framebuffer = GL::Framebuffer{Range2Di{{}, Vector2i{width, height}}};
+#if defined (CORRADE_TARGET_APPLE)
+        TLOG(ERROR) << "Vulkan not supported on MacOS";
+#else
+        framebuffer = GL::Framebuffer{Range2Di{{}, fbSize}};
         framebuffer.attachRenderbuffer(GL::Framebuffer::ColorAttachment{0}, colorBuffer);
         framebuffer.mapForDraw({{0, GL::Framebuffer::ColorAttachment{0}}});
         framebuffer.clearColor(0, Color3{0.125f}).clearDepth(1.0).bind();
 
-        renderer = std::make_unique<V4REnvRenderer>(envs, width, height, nullptr);
+        renderer = std::make_unique<V4REnvRenderer>(envs, fbSize[0], fbSize[1], nullptr);
+#endif
     } else {
-        renderer = std::make_unique<MagnumEnvRenderer>(envs, width, height, withDebugDraw, true, ctx.get());
+        renderer = std::make_unique<MagnumEnvRenderer>(envs, fbSize[0], fbSize[1], withDebugDraw, true, ctx.get());
         dynamic_cast<MagnumEnvRenderer &>(*renderer).toggleDebugMode();
     }
 
@@ -161,6 +175,7 @@ Viewer::Viewer(const Arguments& arguments)
 void Viewer::drawEvent()
 {
     if (useVulkan) {
+#if !defined(CORRADE_TARGET_APPLE)
         for (int envIdx = 0; envIdx < int(envs.size()); ++envIdx)
             renderer->preDraw(*envs[envIdx], envIdx);
 
@@ -187,7 +202,7 @@ void Viewer::drawEvent()
         // blit color to window framebuffer
         GL::defaultFramebuffer.bind();
         GL::AbstractFramebuffer::blit(framebuffer, GL::defaultFramebuffer, {{}, framebuffer.viewport().size()}, GL::FramebufferBlit::Color);
-
+#endif
     } else {
         auto &magnumRenderer = dynamic_cast<MagnumEnvRenderer &>(*renderer);
 
@@ -405,4 +420,4 @@ void Viewer::mouseMoveEvent(Magnum::Platform::Sdl2Application::MouseMoveEvent &e
     redraw();
 }
 
-MAGNUM_APPLICATION_MAIN(Viewer)
+MAGNUM_APPLICATION_MAIN(Viewer)

src/apps/voxel_env_app.cpp

@@ -1,5 +1,7 @@
 #include <cstdlib>
 
+#include <Corrade/configure.h>
+
 #include <opencv2/core/mat.hpp>
 #include <opencv2/imgproc.hpp>
 #include <opencv2/highgui.hpp>
@@ -15,7 +17,9 @@
 
 #include <scenarios/init.hpp>
 
+#if !defined(CORRADE_TARGET_APPLE)
 #include <v4r_rendering/v4r_env_renderer.hpp>
+#endif
 
 #include <magnum_rendering/magnum_env_renderer.hpp>
 
@@ -34,7 +38,14 @@ constexpr int delayMs = 1;  // 1000 / 15;
 //ConstStr scenario = "Rearrange";
 ConstStr scenario = "HexMemory";
 
+
+#if defined(CORRADE_TARGET_APPLE)
+constexpr bool useVulkan = false;
+
+static_assert(!useVulkan, "Vulkan not supported on MacOS");
+#else
 constexpr bool useVulkan = true;
+#endif
 
 constexpr bool viz = false;
 constexpr bool hires = false;
@@ -210,7 +221,11 @@ int main(int argc, char** argv)
 
     std::unique_ptr<EnvRenderer> renderer;
     if constexpr (useVulkan)
+#if defined (CORRADE_TARGET_APPLE)
+        TLOG(ERROR) << "Vulkan not supported on MacOS";
+#else
         renderer = std::make_unique<V4REnvRenderer>(envs, W, H, nullptr);
+#endif
     else {
         const auto debugDraw = false;
         renderer = std::make_unique<MagnumEnvRenderer>(envs, W, H, debugDraw);

src/libs/CMakeLists.txt

@@ -1,7 +1,11 @@
+find_package(Corrade REQUIRED Main)
+
 add_subdirectory(util)
 add_subdirectory(rendering)
 add_subdirectory(magnum_rendering)
-add_subdirectory(v4r_rendering)
+if (NOT CORRADE_TARGET_APPLE)
+    add_subdirectory(v4r_rendering)
+endif ()
 add_subdirectory(env)
 add_subdirectory(mazes)
 add_subdirectory(scenarios)

src/libs/bindings/CMakeLists.txt

@@ -1,2 +1,8 @@
+find_package(Corrade REQUIRED Main)
+
 pybind11_add_module(voxel_env voxel_env.cpp)
-target_link_libraries(voxel_env PUBLIC scenarios magnum_rendering v4r_rendering)
+target_link_libraries(voxel_env PUBLIC scenarios magnum_rendering)
+
+if (NOT CORRADE_TARGET_APPLE)
+    target_link_libraries(voxel_env PUBLIC v4r_rendering)
+endif ()

src/libs/bindings/voxel_env.cpp

@@ -10,8 +10,10 @@
 
 #include <scenarios/init.hpp>
 
-#include <v4r_rendering/v4r_env_renderer.hpp>
 #include <magnum_rendering/magnum_env_renderer.hpp>
+#if !defined(CORRADE_TARGET_APPLE)
+#include <v4r_rendering/v4r_env_renderer.hpp>
+#endif
 
 
 namespace py = pybind11;
@@ -70,7 +72,11 @@ class VoxelEnvGym
     {
         if (!vectorEnv) {
             if (useVulkan)
+#if defined (CORRADE_TARGET_APPLE)
+                TLOG(ERROR) << "Vulkan not supported on MacOS";
+#else
                 renderer = std::make_unique<V4REnvRenderer>(envs, w, h, nullptr);
+#endif
             else
                 renderer = std::make_unique<MagnumEnvRenderer>(envs, w, h);
 
@@ -148,7 +154,11 @@ class VoxelEnvGym
     {
         if (!hiresRenderer) {
             if (useVulkan)
+#if defined (CORRADE_TARGET_APPLE)
+                TLOG(ERROR) << "Vulkan not supported on MacOS";
+#else
                 hiresRenderer = std::make_unique<V4REnvRenderer>(envs, renderW, renderH, dynamic_cast<V4REnvRenderer *>(renderer.get()));
+#endif
             else
                 hiresRenderer = std::make_unique<MagnumEnvRenderer>(envs, renderW, renderH);
 

src/libs/magnum_rendering/CMakeLists.txt

@@ -2,4 +2,13 @@ cmake_minimum_required(VERSION 3.10)
 project(libgfx-magnum VERSION 0.1 LANGUAGES CXX)
 
 add_library_default(magnum_rendering)
-target_link_libraries(magnum_rendering PUBLIC env rendering glad Corrade::Main Magnum::GL Magnum::WindowlessEglApplication Magnum::Shaders Magnum::MeshTools Magnum::Primitives MagnumIntegration::Bullet)
+target_link_libraries(magnum_rendering PUBLIC env rendering Corrade::Main Magnum::GL Magnum::Shaders Magnum::MeshTools Magnum::Primitives MagnumIntegration::Bullet)
+
+find_package (Corrade REQUIRED Main)
+if (NOT CORRADE_TARGET_APPLE)
+    find_package(Magnum REQUIRED WindowlessEglApplication)
+    target_link_libraries(magnum_rendering PUBLIC glad Magnum::WindowlessEglApplication)
+else ()
+    find_package(Magnum REQUIRED WindowlessCglApplication)
+    target_link_libraries(magnum_rendering PUBLIC Magnum::WindowlessCglApplication)
+endif ()

src/libs/magnum_rendering/src/magnum_env_renderer.cpp

@@ -17,7 +17,6 @@
 #include <Magnum/GL/Framebuffer.h>
 #include <Magnum/GL/Renderbuffer.h>
 #include <Magnum/GL/Context.h>
-#include <Magnum/Platform/WindowlessEglApplication.h>
 #include <Magnum/PixelFormat.h>
 #include <Magnum/BulletIntegration/DebugDraw.h>
 
@@ -26,9 +25,8 @@
 #include <rendering/render_utils.hpp>
 
 #include <magnum_rendering/windowless_context.hpp>
-#include <magnum_rendering/magnum_env_renderer.hpp>
-
 
+#include <magnum_rendering/magnum_env_renderer.hpp>
 
 using namespace Magnum;
 using namespace Magnum::Math::Literals;