From 2693be71bd64c1b499e81dbde1e9cd8a7c340811 Mon Sep 17 00:00:00 2001
From: ThomasDuvinage <toto.duvinage@gmail.com>
Date: Fri, 6 Dec 2024 16:19:54 +0900
Subject: [PATCH 1/2] [plugins] add plugins loading method

---
 src/CMakeLists.txt |  1 +
 src/main.cpp       | 25 +++++++++++++++++++++++++
 2 files changed, 26 insertions(+)

diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
index c45febf..3045dc9 100644
--- a/src/CMakeLists.txt
+++ b/src/CMakeLists.txt
@@ -149,6 +149,7 @@ endif()
 find_package(Boost REQUIRED COMPONENTS program_options)
 
 add_executable(mc_mujoco main.cpp)
+target_compile_definitions(mc_mujoco PUBLIC MUJOCO_BIN_DIR="${MUJOCO_BIN_DIR}")
 target_link_libraries(mc_mujoco PRIVATE mc_mujoco_lib Boost::program_options
                                         Boost::disable_autolinking)
 
diff --git a/src/main.cpp b/src/main.cpp
index 2d48c0a..3042022 100644
--- a/src/main.cpp
+++ b/src/main.cpp
@@ -12,6 +12,28 @@ namespace po = boost::program_options;
 
 bool render_state = true;
 
+#define MUJOCO_PLUGIN_DIR "mujoco_plugin"
+
+
+void scanPluginLibraries(){
+  // define platform-specific strings
+  #if defined(_WIN32) || defined(__CYGWIN__)
+    const std::string sep = "\\";
+  #else
+    const std::string sep = "/";
+  #endif
+
+  const std::string plugin_dir = MUJOCO_BIN_DIR + sep + MUJOCO_PLUGIN_DIR;
+  mj_loadAllPluginLibraries(
+      plugin_dir.c_str(), +[](const char * filename, int first, int count) {
+        std::printf("Plugins registered by library '%s':\n", filename);
+        for(int i = first; i < first + count; ++i)
+        {
+          std::printf("    %s\n", mjp_getPluginAtSlot(i)->name);
+        }
+      });
+}
+
 void simulate(mc_mujoco::MjSim & mj_sim)
 {
   bool done = false;
@@ -68,6 +90,9 @@ int main(int argc, char * argv[])
       config.visualize_collisions = vm["with-collisions"].as<bool>();
     }
   }
+
+  scanPluginLibraries();
+
   mc_mujoco::MjSim mj_sim(config);
 
   std::thread simThread(simulate, std::ref(mj_sim));

From 6eaa350a2865c6affc70fd1d5aac4b0f434ac1cd Mon Sep 17 00:00:00 2001
From: "pre-commit-ci[bot]"
 <66853113+pre-commit-ci[bot]@users.noreply.github.com>
Date: Fri, 6 Dec 2024 07:22:33 +0000
Subject: [PATCH 2/2] [pre-commit.ci] auto fixes from pre-commit.com hooks

for more information, see https://pre-commit.ci
---
 src/main.cpp | 20 +++++++++++---------
 1 file changed, 11 insertions(+), 9 deletions(-)

diff --git a/src/main.cpp b/src/main.cpp
index 3042022..2dfe36b 100644
--- a/src/main.cpp
+++ b/src/main.cpp
@@ -14,18 +14,20 @@ bool render_state = true;
 
 #define MUJOCO_PLUGIN_DIR "mujoco_plugin"
 
-
-void scanPluginLibraries(){
-  // define platform-specific strings
-  #if defined(_WIN32) || defined(__CYGWIN__)
-    const std::string sep = "\\";
-  #else
-    const std::string sep = "/";
-  #endif
+void scanPluginLibraries()
+{
+// define platform-specific strings
+#if defined(_WIN32) || defined(__CYGWIN__)
+  const std::string sep = "\\";
+#else
+  const std::string sep = "/";
+#endif
 
   const std::string plugin_dir = MUJOCO_BIN_DIR + sep + MUJOCO_PLUGIN_DIR;
   mj_loadAllPluginLibraries(
-      plugin_dir.c_str(), +[](const char * filename, int first, int count) {
+      plugin_dir.c_str(),
+      +[](const char * filename, int first, int count)
+      {
         std::printf("Plugins registered by library '%s':\n", filename);
         for(int i = first; i < first + count; ++i)
         {