[build] CMake options for solver opt-out (#22626)

Author: tyler-yankee

CMakeLists.txt

@@ -477,8 +477,30 @@ endif()
 
 set(BAZEL_CONFIG)
 
-option(WITH_GUROBI "Build with support for Gurobi" OFF)
+# Defines common options for open-source solver dependencies.
+# By default, these are all ON.
+# Passes the corresponding options to Bazel.
+function(open_solver_option SOLVER)
+  string(TOUPPER "WITH_${SOLVER}" OPTION_NAME)
+  string(TOLOWER "with_${SOLVER}" OPTION_BAZEL_ARG)
+  option("${OPTION_NAME}" "Build with support for ${SOLVER}" ON)
+  if(${OPTION_NAME})
+    string(APPEND BAZEL_CONFIG " --@drake//tools/flags:${OPTION_BAZEL_ARG}=True")
+  else()
+    string(APPEND BAZEL_CONFIG " --@drake//tools/flags:${OPTION_BAZEL_ARG}=False")
+  endif()
+  set(BAZEL_CONFIG ${BAZEL_CONFIG} PARENT_SCOPE)
+endfunction()
 
+open_solver_option("Clarabel")
+open_solver_option("CLP")
+open_solver_option("CSDP")
+open_solver_option("Ipopt")
+open_solver_option("NLopt")
+open_solver_option("OSQP")
+open_solver_option("SCS")
+
+option(WITH_GUROBI "Build with support for Gurobi" OFF)
 if(WITH_GUROBI)
   find_package(Gurobi 10.0 EXACT MODULE REQUIRED)
 
@@ -491,13 +513,11 @@ if(WITH_GUROBI)
 endif()
 
 option(WITH_MOSEK "Build with support for MOSEK" OFF)
-
 if(WITH_MOSEK)
   string(APPEND BAZEL_CONFIG " --config=mosek")
 endif()
 
 option(WITH_OPENMP "Build with support for OpenMP" OFF)
-
 if(WITH_OPENMP)
   string(APPEND BAZEL_CONFIG " --config=omp")
 endif()

bindings/pydrake/solvers/BUILD.bazel

@@ -129,7 +129,7 @@ drake_py_unittest(
     name = "csdp_solver_test",
     args = select({
         "//tools/workspace/csdp_internal:enabled": [],
-        "//conditions:default": ["TestCsdptSolver.unavailable"],
+        "//conditions:default": ["TestCsdpSolver.unavailable"],
     }),
     deps = [
         ":solvers",

doc/_pages/from_source.md

@@ -99,6 +99,14 @@ Adjusting open-source dependencies:
 * WITH_USER_ZLIB (default ON). When ON, uses `find_package(ZLIB)` to locate a
   user-provided `ZLIB::ZLIB` library instead of building from source. Caveat:
   On macOS, for now this hardcodes `-lz` instead of calling `find_package`.
+* WITH_CLARABEL (default ON). When ON, enables the `ClarabelSolver`
+  in the build.
+* WITH_CLP (default ON). When ON, enables the `ClpSolver` in the build.
+* WITH_CSDP (default ON). When ON, enables the `CsdpSolver` in the build.
+* WITH_IPOPT (default ON). When ON, enables the `IpoptSolver` in the build.
+* WITH_NLOPT (default ON). When ON, enables the `NloptSolver` in the build.
+* WITH_OSQP (default ON). When ON, enables the `OsqpSolver` in the build.
+* WITH_SCS (default ON). When ON, enables the `ScsSolver` in the build.
 
 Adjusting closed-source (commercial) software dependencies: