fix: fix absolute path err

.gitignore

@@ -0,0 +1 @@
+build/

CPP/Chapter1-make/CMakeLists.txt

@@ -1,5 +1,6 @@
 cmake_minimum_required(VERSION 3.20)
 project(MUJOCO_T)
+set(CMAKE_CXX_STANDARD 17)
 include_directories(${CMAKE_CURRENT_SOURCE_DIR}/simulate)
 
 #编译安装，从cmake安装位置opt使用
@@ -30,8 +31,8 @@ target_link_libraries(basic mujoco::mujoco glut GL GLU glfw)
 
 
 #simulate编译
-include_directories(${CMAKE_CURRENT_SOURCE_DIR}/simulate)
-link_directories(${CMAKE_CURRENT_SOURCE_DIR}/simulate)
-file(GLOB SIMULATE_SRC ${CMAKE_CURRENT_SOURCE_DIR}/simulate/*.cc)
-add_executable(simulate ${SIMULATE_SRC})
-target_link_libraries(simulate mujoco::mujoco glut GL GLU glfw lodepng)
+# include_directories(${CMAKE_CURRENT_SOURCE_DIR}/simulate)
+# link_directories(${CMAKE_CURRENT_SOURCE_DIR}/simulate)
+# file(GLOB SIMULATE_SRC ${CMAKE_CURRENT_SOURCE_DIR}/simulate/*.cc)
+# add_executable(simulate ${SIMULATE_SRC})
+# target_link_libraries(simulate mujoco::mujoco glut GL GLU glfw lodepng)

CPP/Chapter1-make/basic.cc

@@ -19,45 +19,46 @@
 #include <mujoco/mujoco.h>
 
 // MuJoCo data structures
-mjModel* m = NULL;                  // MuJoCo model
-mjData* d = NULL;                   // MuJoCo data
-mjvCamera cam;                      // abstract camera
-mjvOption opt;                      // visualization options
-mjvScene scn;                       // abstract scene
-mjrContext con;                     // custom GPU context
+mjModel *m = NULL; // MuJoCo model
+mjData *d = NULL;  // MuJoCo data
+mjvCamera cam;     // abstract camera
+mjvOption opt;     // visualization options
+mjvScene scn;      // abstract scene
+mjrContext con;    // custom GPU context
 
 // mouse interaction
 bool button_left = false;
 bool button_middle = false;
-bool button_right =  false;
+bool button_right = false;
 double lastx = 0;
 double lasty = 0;
 
-
 // keyboard callback
-void keyboard(GLFWwindow* window, int key, int scancdataode, int act, int mods) {
+void keyboard(GLFWwindow *window, int key, int scancdataode, int act,
+              int mods) {
   // backspace: reset simulation
-  if (act==GLFW_PRESS && key==GLFW_KEY_BACKSPACE) {
+  if (act == GLFW_PRESS && key == GLFW_KEY_BACKSPACE) {
     mj_resetData(m, d);
     mj_forward(m, d);
   }
 }
 
-
 // mouse button callback
-void mouse_button(GLFWwindow* window, int button, int act, int mods) {
+void mouse_button(GLFWwindow *window, int button, int act, int mods) {
   // update button state
-  button_left = (glfwGetMouseButton(window, GLFW_MOUSE_BUTTON_LEFT)==GLFW_PRESS);
-  button_middle = (glfwGetMouseButton(window, GLFW_MOUSE_BUTTON_MIDDLE)==GLFW_PRESS);
-  button_right = (glfwGetMouseButton(window, GLFW_MOUSE_BUTTON_RIGHT)==GLFW_PRESS);
+  button_left =
+      (glfwGetMouseButton(window, GLFW_MOUSE_BUTTON_LEFT) == GLFW_PRESS);
+  button_middle =
+      (glfwGetMouseButton(window, GLFW_MOUSE_BUTTON_MIDDLE) == GLFW_PRESS);
+  button_right =
+      (glfwGetMouseButton(window, GLFW_MOUSE_BUTTON_RIGHT) == GLFW_PRESS);
 
   // update mouse position
   glfwGetCursorPos(window, &lastx, &lasty);
 }
 
-
 // mouse move callback
-void mouse_move(GLFWwindow* window, double xpos, double ypos) {
+void mouse_move(GLFWwindow *window, double xpos, double ypos) {
   // no buttons down: nothing to do
   if (!button_left && !button_middle && !button_right) {
     return;
@@ -74,8 +75,8 @@ void mouse_move(GLFWwindow* window, double xpos, double ypos) {
   glfwGetWindowSize(window, &width, &height);
 
   // get shift key state
-  bool mod_shift = (glfwGetKey(window, GLFW_KEY_LEFT_SHIFT)==GLFW_PRESS ||
-                    glfwGetKey(window, GLFW_KEY_RIGHT_SHIFT)==GLFW_PRESS);
+  bool mod_shift = (glfwGetKey(window, GLFW_KEY_LEFT_SHIFT) == GLFW_PRESS ||
+                    glfwGetKey(window, GLFW_KEY_RIGHT_SHIFT) == GLFW_PRESS);
 
   // determine action based on mouse button
   mjtMouse action;
@@ -88,28 +89,27 @@ void mouse_move(GLFWwindow* window, double xpos, double ypos) {
   }
 
   // move camera
-  mjv_moveCamera(m, action, dx/height, dy/height, &scn, &cam);
+  mjv_moveCamera(m, action, dx / height, dy / height, &scn, &cam);
 }
 
-
 // scroll callback
-void scroll(GLFWwindow* window, double xoffset, double yoffset) {
+void scroll(GLFWwindow *window, double xoffset, double yoffset) {
   // emulate vertical mouse motion = 5% of window height
-  mjv_moveCamera(m, mjMOUSE_ZOOM, 0, -0.05*yoffset, &scn, &cam);
+  mjv_moveCamera(m, mjMOUSE_ZOOM, 0, -0.05 * yoffset, &scn, &cam);
 }
 
-
 // main function
-int main(int argc, const char** argv) {
+int main(int argc, const char **argv) {
   // check command-line arguments
-  if (argc!=2) {
+  if (argc != 2) {
     std::printf(" USAGE:  basic modelfile\n");
     return 0;
   }
 
   // load and compile model
   char error[1000] = "Could not load binary model";
-  if (std::strlen(argv[1])>4 && !std::strcmp(argv[1]+std::strlen(argv[1])-4, ".mjb")) {
+  if (std::strlen(argv[1]) > 4 &&
+      !std::strcmp(argv[1] + std::strlen(argv[1]) - 4, ".mjb")) {
     m = mj_loadModel(argv[1], 0);
   } else {
     m = mj_loadXML(argv[1], 0, error, 1000);
@@ -127,7 +127,7 @@ int main(int argc, const char** argv) {
   }
 
   // create window, make OpenGL context current, request v-sync
-  GLFWwindow* window = glfwCreateWindow(1200, 900, "Demo", NULL, NULL);
+  GLFWwindow *window = glfwCreateWindow(1200, 900, "Demo", NULL, NULL);
   glfwMakeContextCurrent(window);
   glfwSwapInterval(1);
 
@@ -150,11 +150,12 @@ int main(int argc, const char** argv) {
   // run main loop, target real-time simulation and 60 fps rendering
   while (!glfwWindowShouldClose(window)) {
     // advance interactive simulation for 1/60 sec
-    //  Assuming MuJoCo can simulate faster than real-time, which it usually can,
-    //  this loop will finish on time for the next frame to be rendered at 60 fps.
-    //  Otherwise add a cpu timer and exit this loop when it is time to render.
+    //  Assuming MuJoCo can simulate faster than real-time, which it usually
+    //  can, this loop will finish on time for the next frame to be rendered at
+    //  60 fps. Otherwise add a cpu timer and exit this loop when it is time to
+    //  render.
     mjtNum simstart = d->time;
-    while (d->time - simstart < 1.0/60.0) {
+    while (d->time - simstart < 1.0 / 60.0) {
       mj_step(m, d);
     }
 
@@ -173,7 +174,7 @@ int main(int argc, const char** argv) {
     glfwPollEvents();
   }
 
-  //free visualization storage
+  // free visualization storage
   mjv_freeScene(&scn);
   mjr_freeContext(&con);
 

CPP/Chapter2-view&step/CMakeLists.txt

@@ -1,5 +1,6 @@
 cmake_minimum_required(VERSION 3.20)
 project(MUJOCO_T)
+set(CMAKE_CXX_STANDARD 17)
 include_directories(${CMAKE_CURRENT_SOURCE_DIR}/simulate)
 
 #编译安装，从cmake安装位置opt使用