Enable inter-procedural optimization by default in cmake

PiperOrigin-RevId: 647336693 Change-Id: I44acf48ed9825dd3e71b06f2aca581cdb17dce34
google-deepmind · Jun 27, 2024 · 44be878 · 44be878
1 parent f6cc3f4
commit 44be878
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diff --git a/.github/workflows/build.yml b/.github/workflows/build.yml
@@ -148,6 +148,7 @@ jobs:
         cd build &&
         cmake ..
         -DCMAKE_BUILD_TYPE:STRING=Release
+        -DCMAKE_INTERPROCEDURAL_OPTIMIZATION:BOOL=OFF
         -DCMAKE_INSTALL_PREFIX:STRING=${{ matrix.tmpdir }}/mujoco_install
         -DMUJOCO_BUILD_EXAMPLES:BOOL=OFF
         ${{ matrix.cmake_args }}
@@ -192,6 +193,7 @@ jobs:
         cd build &&
         cmake ..
         -DCMAKE_BUILD_TYPE:STRING=Release
+        -DCMAKE_INTERPROCEDURAL_OPTIMIZATION:BOOL=OFF
         -Dmujoco_ROOT:STRING=${{ matrix.tmpdir }}/mujoco_install
         ${{ matrix.cmake_args }}
     - name: Build samples
@@ -204,6 +206,7 @@ jobs:
         cd build &&
         cmake ..
         -DCMAKE_BUILD_TYPE:STRING=Release
+        -DCMAKE_INTERPROCEDURAL_OPTIMIZATION:BOOL=OFF
         -Dmujoco_ROOT:STRING=${{ matrix.tmpdir }}/mujoco_install
         ${{ matrix.cmake_args }}
     - name: Build simulate

diff --git a/cmake/MujocoOptions.cmake b/cmake/MujocoOptions.cmake
@@ -104,6 +104,10 @@ if(CMAKE_CXX_COMPILER_ID STREQUAL "GNU" OR (CMAKE_CXX_COMPILER_ID MATCHES "Clang
   endif()
 endif()
 
+if(NOT CMAKE_INTERPROCEDURAL_OPTIMIZATION AND (CMAKE_BUILD_TYPE AND NOT CMAKE_BUILD_TYPE STREQUAL "Debug"))
+  set(CMAKE_INTERPROCEDURAL_OPTIMIZATION ON)
+endif()
+
 include(MujocoHarden)
 set(EXTRA_COMPILE_OPTIONS ${EXTRA_COMPILE_OPTIONS} ${MUJOCO_HARDEN_COMPILE_OPTIONS})
 set(EXTRA_LINK_OPTIONS ${EXTRA_LINK_OPTIONS} ${MUJOCO_HARDEN_LINK_OPTIONS})

diff --git a/sample/cmake/SampleOptions.cmake b/sample/cmake/SampleOptions.cmake
@@ -104,6 +104,10 @@ if(CMAKE_CXX_COMPILER_ID STREQUAL "GNU" OR (CMAKE_CXX_COMPILER_ID MATCHES "Clang
   endif()
 endif()
 
+if(NOT CMAKE_INTERPROCEDURAL_OPTIMIZATION AND (CMAKE_BUILD_TYPE AND NOT CMAKE_BUILD_TYPE STREQUAL "Debug"))
+  set(CMAKE_INTERPROCEDURAL_OPTIMIZATION ON)
+endif()
+
 include(MujocoHarden)
 set(EXTRA_COMPILE_OPTIONS ${EXTRA_COMPILE_OPTIONS} ${MUJOCO_HARDEN_COMPILE_OPTIONS})
 set(EXTRA_LINK_OPTIONS ${EXTRA_LINK_OPTIONS} ${MUJOCO_HARDEN_LINK_OPTIONS})

diff --git a/simulate/cmake/SimulateOptions.cmake b/simulate/cmake/SimulateOptions.cmake
@@ -104,6 +104,10 @@ if(CMAKE_CXX_COMPILER_ID STREQUAL "GNU" OR (CMAKE_CXX_COMPILER_ID MATCHES "Clang
   endif()
 endif()
 
+if(NOT CMAKE_INTERPROCEDURAL_OPTIMIZATION AND (CMAKE_BUILD_TYPE AND NOT CMAKE_BUILD_TYPE STREQUAL "Debug"))
+  set(CMAKE_INTERPROCEDURAL_OPTIMIZATION ON)
+endif()
+
 include(MujocoHarden)
 set(EXTRA_COMPILE_OPTIONS ${EXTRA_COMPILE_OPTIONS} ${MUJOCO_HARDEN_COMPILE_OPTIONS})
 set(EXTRA_LINK_OPTIONS ${EXTRA_LINK_OPTIONS} ${MUJOCO_HARDEN_LINK_OPTIONS})