Make a bindings.h header file with the declarations, so that other projects can reuse the declared structs.
Add parseXMLString overload that supports passing in an MjVFS. PiperOrigin-RevId: 940579266 Change-Id: I8294988bc4279e80795fab21024f64562a9e6743
This commit is contained in:
Google DeepMind
committed by
Copybara-Service
Copybara-Service
parent
e2d7955437
commit
095608ef5f
+15
-7393
File diff suppressed because it is too large
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File diff suppressed because it is too large
Load Diff
@@ -25,13 +25,7 @@ from wasm.codegen.generators import structs
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class BindingBuilder:
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"""Builds WASM bindings for MuJoCo."""
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def __init__(
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self,
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template_path_cc: str,
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):
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with open(template_path_cc, "r") as f:
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self.content_cc = f.readlines()
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def __init__(self):
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self.markers_and_content = []
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def set_enums(self):
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@@ -57,17 +51,25 @@ class BindingBuilder:
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self.markers_and_content += functions.generate(functions_to_bind)
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return self
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def to_string(self) -> str:
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for marker, content in self.markers_and_content:
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self.content_cc = common.replace_lines_containing_marker(
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self.content_cc, marker, content
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def build_string(self, template_path: str) -> str:
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"""Applies the accumulated bindings to a template file and returns the output."""
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with open(template_path, "r") as f:
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content = f.readlines()
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for marker, lines in self.markers_and_content:
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content = common.replace_lines_containing_marker(
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content, marker, lines
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)
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text = "".join(self.content_cc)
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return text.replace(
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text = "".join(content)
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text = text.replace(
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"// limitations under the License.\n\n",
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"// limitations under the License.\n\n// DO NOT EDIT. THIS FILE IS AUTOMATICALLY GENERATED.\n\n",
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1,
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)
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return text
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def build(self, generated_path_cc: str):
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common.write_to_file(generated_path_cc, self.to_string())
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def build_file(self, template_path: str, generated_path: str):
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"""Applies the accumulated bindings to a template file and writes the output."""
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text = self.build_string(template_path)
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common.write_to_file(generated_path, text)
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@@ -15,6 +15,8 @@
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// NOLINTBEGIN(whitespace/line_length)
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// NOLINTBEGIN(whitespace/semicolon)
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#include "wasm/codegen/generated/bindings.h"
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#include <emscripten.h>
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#include <emscripten/bind.h>
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#include <emscripten/em_asm.h>
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@@ -30,7 +32,7 @@
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#include <memory>
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#include <optional> // NOLINT
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#include <sstream>
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#include <string> // NOLINT
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#include <string> // NOLINT
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#include <string_view>
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#include <vector>
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@@ -44,74 +46,6 @@
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namespace mujoco::wasm {
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using emscripten::enum_;
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using emscripten::function;
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using emscripten::val;
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using emscripten::typed_memory_view;
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using emscripten::return_value_policy::reference;
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using emscripten::return_value_policy::take_ownership;
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EMSCRIPTEN_DECLARE_VAL_TYPE(NumberOrString);
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EMSCRIPTEN_DECLARE_VAL_TYPE(NumberArray);
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EMSCRIPTEN_DECLARE_VAL_TYPE(String);
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EMSCRIPTEN_DECLARE_VAL_TYPE(StringOrNull);
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// Macro to define accessors for different MuJoCo object types within mjModel.
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// Each line calls X_ACCESSOR with the following arguments:
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// 1. NAME: The object type name in uppercase (e.g., ACTUATOR).
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// 2. Name: The object type name in CamelCase (e.g., Actuator).
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// 3. OBJTYPE: The corresponding mjOBJ_* enum value (e.g., mjOBJ_ACTUATOR).
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// 4. field: The name of the array field in mjModel (e.g., actuator).
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// 5. nfield: The name of the count field in mjModel (e.g., nu).
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#define MJMODEL_ACCESSORS \
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X_ACCESSOR( ACTUATOR, Actuator, mjOBJ_ACTUATOR, actuator, nu ) \
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X_ACCESSOR( BODY, Body, mjOBJ_BODY, body, nbody ) \
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X_ACCESSOR( CAMERA, Camera, mjOBJ_CAMERA, cam, ncam ) \
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X_ACCESSOR( EQUALITY, Equality, mjOBJ_EQUALITY, eq, neq ) \
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X_ACCESSOR( EXCLUDE, Exclude, mjOBJ_EXCLUDE, exclude, nexclude ) \
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X_ACCESSOR( GEOM, Geom, mjOBJ_GEOM, geom, ngeom ) \
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X_ACCESSOR( HFIELD, Hfield, mjOBJ_HFIELD, hfield, nhfield ) \
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X_ACCESSOR( JOINT, Joint, mjOBJ_JOINT, jnt, njnt ) \
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X_ACCESSOR( LIGHT, Light, mjOBJ_LIGHT, light, nlight ) \
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X_ACCESSOR( MATERIAL, Material, mjOBJ_MATERIAL, mat, nmat ) \
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X_ACCESSOR( MESH, Mesh, mjOBJ_MESH, mesh, nmesh ) \
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X_ACCESSOR( NUMERIC, Numeric, mjOBJ_NUMERIC, numeric, nnumeric ) \
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X_ACCESSOR( PAIR, Pair, mjOBJ_PAIR, pair, npair ) \
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X_ACCESSOR( SENSOR, Sensor, mjOBJ_SENSOR, sensor, nsensor ) \
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X_ACCESSOR( SITE, Site, mjOBJ_SITE, site, nsite ) \
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X_ACCESSOR( SKIN, Skin, mjOBJ_SKIN, skin, nskin ) \
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X_ACCESSOR( TENDON, Tendon, mjOBJ_TENDON, tendon, ntendon ) \
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X_ACCESSOR( TEXTURE, Texture, mjOBJ_TEXTURE, tex, ntex ) \
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X_ACCESSOR( TUPLE, Tuple, mjOBJ_TUPLE, tuple, ntuple ) \
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X_ACCESSOR( KEYFRAME, Keyframe, mjOBJ_KEY, key, nkey )
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// Macro to define accessors for different MuJoCo object types within mjData.
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// Each line calls X_ACCESSOR with the following arguments:
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// 1. NAME: The object type name in uppercase (e.g., ACTUATOR).
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// 2. Name: The object type name in CamelCase (e.g., Actuator).
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// 3. OBJTYPE: The corresponding mjOBJ_* enum value (e.g., mjOBJ_ACTUATOR).
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// 4. field: The name of the array field in mjData (e.g., actuator).
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// 5. nfield: The name of the count field in mjModel (e.g., nu).
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#define MJDATA_ACCESSORS \
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X_ACCESSOR( ACTUATOR, Actuator, mjOBJ_ACTUATOR, actuator, nu ) \
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X_ACCESSOR( BODY, Body, mjOBJ_BODY, body, nbody ) \
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X_ACCESSOR( CAMERA, Camera, mjOBJ_CAMERA, cam, ncam ) \
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X_ACCESSOR( GEOM, Geom, mjOBJ_GEOM, geom, ngeom ) \
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X_ACCESSOR( JOINT, Joint, mjOBJ_JOINT, jnt, njnt ) \
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X_ACCESSOR( LIGHT, Light, mjOBJ_LIGHT, light, nlight ) \
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X_ACCESSOR( SENSOR, Sensor, mjOBJ_SENSOR, sensor, nsensor ) \
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X_ACCESSOR( SITE, Site, mjOBJ_SITE, site, nsite ) \
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X_ACCESSOR( TENDON, Tendon, mjOBJ_TENDON, tendon, ntendon )
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// Raises an error if the given val is null or undefined.
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// A macro is used so that the error contains the name of the variable.
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// TODO(matijak): Remove this when we can handle strings using UNPACK_STRING?
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#define CHECK_VAL(val) \
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if (val.isNull()) { \
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mju_error("Invalid argument: %s is null", #val); \
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} else if (val.isUndefined()) { \
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mju_error("Invalid argument: %s is undefined", #val); \
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}
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void ThrowMujocoErrorToJS(const mjLogMessage* msg) {
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if (msg->level == mjLOG_ERROR) {
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@@ -214,337 +148,8 @@ val get_mjFRAMESTRING() { return MakeValArray(mjFRAMESTRING); }
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val get_mjVISSTRING() { return MakeValArray3(mjVISSTRING); }
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val get_mjRNDSTRING() { return MakeValArray3(mjRNDSTRING); }
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// {{ ANONYMOUS_STRUCT_TYPEDEFS }}
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#undef MJ_M
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#define MJ_M(n) model_->n
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// The X macro expands to a member function within an MjModel...Accessor struct.
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// This function returns an emscripten::val, typically a typed memory view,
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// providing access to array data within the underlying mjModel. The size and
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// offset of the memory view are determined by the arguments:
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// - type: The C++ type of the array elements (e.g., mjtNum, int).
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// - prefix: The prefix of the field name in mjModel (e.g., jnt_, geom_).
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// - var: The name of the field being accessed (e.g., qposadr, size).
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// - dim0: Used to determine special indexing logic for dynamically sized arrays
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// like joints (nq, nv), hfields, textures, numerics, and tuples.
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// - dim1: The fixed dimension of the array if not dynamically sized. If "1",
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// a single element is returned. Otherwise, it's used as the stride
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// for the typed memory view.
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#define X(type, prefix, var, dim0, dim1) \
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emscripten::val get_##var() const { \
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if constexpr (std::string_view(#dim0) == "nq") { \
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int start = model_->jnt_qposadr[id_]; \
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int end = (id_ < model_->njnt - 1) ? model_->jnt_qposadr[id_ + 1] : model_->nq; \
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return val(typed_memory_view(end - start, model_->prefix##var + start)); \
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} else if constexpr (std::string_view(#dim0) == "nv") { \
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int start = model_->jnt_dofadr[id_]; \
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int end = (id_ < model_->njnt - 1) ? model_->jnt_dofadr[id_ + 1] : model_->nv; \
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return val(typed_memory_view(end - start, model_->prefix##var + start)); \
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} else if constexpr (std::string_view(#dim0) == "nhfielddata") { \
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int start = model_->hfield_adr[id_]; \
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int count = model_->hfield_nrow[id_] * model_->hfield_ncol[id_]; \
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return val(typed_memory_view(count, model_->hfield_data + start)); \
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} else if constexpr (std::string_view(#dim0) == "ntexdata") { \
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int start = model_->tex_adr[id_]; \
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int count = model_->tex_height[id_] * model_->tex_width[id_] * model_->tex_nchannel[id_]; \
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return val(typed_memory_view(count, model_->tex_data + start)); \
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} else if constexpr (std::string_view(#dim0) == "nnumericdata") { \
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int start = model_->numeric_adr[id_]; \
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int count = model_->numeric_size[id_]; \
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return val(typed_memory_view(count, model_->numeric_data + start)); \
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} else if constexpr (std::string_view(#dim0) == "ntupledata") { \
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int start = model_->tuple_adr[id_]; \
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int count = model_->tuple_size[id_]; \
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return val(typed_memory_view(count, model_->prefix##var + start)); \
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} else { \
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if constexpr (std::string_view(#dim1) == "1") { \
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return val(model_->prefix##var[id_]); \
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} else { \
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return val(typed_memory_view(dim1, model_->prefix##var + id_ * dim1)); \
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} \
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} \
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} \
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void set_##var(const emscripten::val& value) { \
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if constexpr (std::string_view(#dim0) == "nq") { \
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int start = model_->jnt_qposadr[id_]; \
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int end = (id_ < model_->njnt - 1) ? model_->jnt_qposadr[id_ + 1] : model_->nq; \
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val(typed_memory_view(end - start, model_->prefix##var + start)) \
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.call<void>("set", value); \
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} else if constexpr (std::string_view(#dim0) == "nv") { \
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int start = model_->jnt_dofadr[id_]; \
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int end = (id_ < model_->njnt - 1) ? model_->jnt_dofadr[id_ + 1] : model_->nv; \
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val(typed_memory_view(end - start, model_->prefix##var + start)) \
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.call<void>("set", value); \
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} else if constexpr (std::string_view(#dim0) == "nhfielddata") { \
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int start = model_->hfield_adr[id_]; \
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int count = model_->hfield_nrow[id_] * model_->hfield_ncol[id_]; \
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val(typed_memory_view(count, model_->hfield_data + start)) \
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.call<void>("set", value); \
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} else if constexpr (std::string_view(#dim0) == "ntexdata") { \
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int start = model_->tex_adr[id_]; \
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int count = model_->tex_height[id_] * model_->tex_width[id_] * model_->tex_nchannel[id_]; \
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val(typed_memory_view(count, model_->tex_data + start)) \
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.call<void>("set", value); \
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} else if constexpr (std::string_view(#dim0) == "nnumericdata") { \
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int start = model_->numeric_adr[id_]; \
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int count = model_->numeric_size[id_]; \
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val(typed_memory_view(count, model_->numeric_data + start)) \
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.call<void>("set", value); \
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} else if constexpr (std::string_view(#dim0) == "ntupledata") { \
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int start = model_->tuple_adr[id_]; \
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int count = model_->tuple_size[id_]; \
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val(typed_memory_view(count, model_->prefix##var + start)) \
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.call<void>("set", value); \
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} else { \
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if constexpr (std::string_view(#dim1) == "1") { \
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model_->prefix##var[id_] = value.as<type>(); \
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} else { \
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val(typed_memory_view(dim1, model_->prefix##var + id_ * dim1)) \
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.call<void>("set", value); \
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} \
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} \
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}
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// Expands to a struct definition for each object type in MJMODEL_ACCESSORS.
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// Each struct, named `MjModel{Name}Accessor`, provides:
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// - A constructor taking an `mjModel*` and an integer `id`.
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// - An `id()` method to get the object's index.
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// - A `name()` method to get the object's name using `mj_id2name`.
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// - Member functions generated by the `MJMODEL_##NAME` macro, which in turn
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// uses the `X` macro to define accessors for fields within `mjModel`.
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#define X_ACCESSOR(NAME, Name, OBJTYPE, field, nfield) \
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struct MjModel##Name##Accessor { \
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MjModel##Name##Accessor(mjModel* model, int id) : model_(model), id_(id) {} \
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\
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int id() const { return id_; } \
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std::string name() const { \
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const char* name = mj_id2name(model_, OBJTYPE, id_); \
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return name ? name : ""; \
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} \
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\
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MJMODEL_##NAME \
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\
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private: \
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mjModel* model_; \
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int id_; \
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};
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MJMODEL_ACCESSORS
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#undef X_ACCESSOR
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// Expands to a struct definition for each object type in MJDATA_ACCESSORS.
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// Each struct, named `MjData{Name}Accessor`, provides:
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// - A constructor taking an `mjData*`, an `mjModel*`, and an integer `id`.
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// - An `id()` method to get the object's index.
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// - A `name()` method to get the object's name using `mj_id2name`.
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// - Member functions generated by the `MJDATA_##NAME` macro, which in turn
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// uses the `X` macro to define accessors for fields within `mjData`.
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#undef MJ_M
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#define MJ_M(n) model_->n
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#undef X
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#define X(type, prefix, var, dim0, dim1) \
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emscripten::val get_##var() const { \
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if constexpr (std::string_view(#dim0) == "nq") { \
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int start = model_->jnt_qposadr[id_]; \
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int end = (id_ < model_->njnt - 1) ? model_->jnt_qposadr[id_ + 1] : model_->nq; \
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return val(typed_memory_view(end - start, data_->prefix##var + start)); \
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} else if constexpr (std::string_view(#dim0) == "nv") { \
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int start = model_->jnt_dofadr[id_]; \
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int end = (id_ < model_->njnt - 1) ? model_->jnt_dofadr[id_ + 1] : model_->nv; \
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if constexpr (std::string_view(#dim1) == "1") { \
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return val(typed_memory_view(end - start, data_->prefix##var + start)); \
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} else { \
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return val(typed_memory_view( \
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(end - start) * dim1, data_->prefix##var + start * dim1)); \
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} \
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} else if constexpr (std::string_view(#dim0) == "nsensordata") { \
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int start = model_->sensor_adr[id_]; \
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int count = model_->sensor_dim[id_]; \
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return val(typed_memory_view(count, data_->sensordata + start)); \
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} else { \
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if constexpr (std::string_view(#dim1) == "1") { \
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return val(data_->prefix##var[id_]); \
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} else { \
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return val(typed_memory_view(dim1, data_->prefix##var + id_ * dim1)); \
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} \
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} \
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} \
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void set_##var(const emscripten::val& value) { \
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if constexpr (std::string_view(#dim0) == "nq") { \
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int start = model_->jnt_qposadr[id_]; \
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int end = (id_ < model_->njnt - 1) ? model_->jnt_qposadr[id_ + 1] : model_->nq; \
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val(typed_memory_view(end - start, data_->prefix##var + start)) \
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.call<void>("set", value); \
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} else if constexpr (std::string_view(#dim0) == "nv") { \
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int start = model_->jnt_dofadr[id_]; \
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int end = (id_ < model_->njnt - 1) ? model_->jnt_dofadr[id_ + 1] : model_->nv; \
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if constexpr (std::string_view(#dim1) == "1") { \
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val(typed_memory_view(end - start, data_->prefix##var + start)) \
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.call<void>("set", value); \
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} else { \
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val(typed_memory_view((end - start) * dim1, \
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data_->prefix##var + start * dim1)) \
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.call<void>("set", value); \
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} \
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} else if constexpr (std::string_view(#dim0) == "nsensordata") { \
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int start = model_->sensor_adr[id_]; \
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int count = model_->sensor_dim[id_]; \
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val(typed_memory_view(count, data_->sensordata + start)) \
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.call<void>("set", value); \
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} else { \
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if constexpr (std::string_view(#dim1) == "1") { \
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data_->prefix##var[id_] = value.as<type>(); \
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} else { \
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val(typed_memory_view(dim1, data_->prefix##var + id_ * dim1)) \
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.call<void>("set", value); \
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} \
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} \
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}
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#define X_ACCESSOR(NAME, Name, OBJTYPE, field, nfield) \
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struct MjData##Name##Accessor { \
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MjData##Name##Accessor(mjData* data, mjModel* model, int id) : data_(data), model_(model), id_(id) {} \
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\
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int id() const { return id_; } \
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std::string name() const { \
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const char* name = mj_id2name(model_, OBJTYPE, id_); \
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return name ? name : ""; \
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} \
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\
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MJDATA_##NAME \
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\
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private: \
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mjData* data_; \
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mjModel* model_; \
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int id_; \
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};
|
||||
MJDATA_ACCESSORS
|
||||
#undef X_ACCESSOR
|
||||
|
||||
#undef X
|
||||
#undef MJ_M
|
||||
|
||||
// {{ STRUCTS_HEADER }}
|
||||
|
||||
// {{ STRUCTS_SOURCE }}
|
||||
|
||||
struct MjvScene {
|
||||
MjvScene();
|
||||
MjvScene(MjModel *m, int maxgeom);
|
||||
~MjvScene();
|
||||
std::unique_ptr<MjvScene> copy();
|
||||
int GetSumFlexFaces() const;
|
||||
|
||||
mjvScene* get() const;
|
||||
void set(mjvScene* ptr);
|
||||
|
||||
std::vector<MjvGeom> geoms() const;
|
||||
|
||||
emscripten::val geomorder() const {
|
||||
return emscripten::val(
|
||||
emscripten::typed_memory_view(ptr_->ngeom, ptr_->geomorder));
|
||||
}
|
||||
emscripten::val flexedgeadr() const {
|
||||
return emscripten::val(
|
||||
emscripten::typed_memory_view(ptr_->nflex, ptr_->flexedgeadr));
|
||||
}
|
||||
emscripten::val flexedgenum() const {
|
||||
return emscripten::val(
|
||||
emscripten::typed_memory_view(ptr_->nflex, ptr_->flexedgenum));
|
||||
}
|
||||
emscripten::val flexvertadr() const {
|
||||
return emscripten::val(
|
||||
emscripten::typed_memory_view(ptr_->nflex, ptr_->flexvertadr));
|
||||
}
|
||||
emscripten::val flexvertnum() const {
|
||||
return emscripten::val(
|
||||
emscripten::typed_memory_view(ptr_->nflex, ptr_->flexvertnum));
|
||||
}
|
||||
emscripten::val flexfaceadr() const {
|
||||
return emscripten::val(
|
||||
emscripten::typed_memory_view(ptr_->nflex, ptr_->flexfaceadr));
|
||||
}
|
||||
emscripten::val flexfacenum() const {
|
||||
return emscripten::val(
|
||||
emscripten::typed_memory_view(ptr_->nflex, ptr_->flexfacenum));
|
||||
}
|
||||
emscripten::val flexfaceused() const {
|
||||
return emscripten::val(
|
||||
emscripten::typed_memory_view(ptr_->nflex, ptr_->flexfaceused));
|
||||
}
|
||||
emscripten::val flexedge() const {
|
||||
return emscripten::val(
|
||||
emscripten::typed_memory_view(2 * model->nflexedge, ptr_->flexedge));
|
||||
}
|
||||
emscripten::val flexvert() const {
|
||||
return emscripten::val(
|
||||
emscripten::typed_memory_view(3 * model->nflexvert, ptr_->flexvert));
|
||||
}
|
||||
emscripten::val skinfacenum() const {
|
||||
return emscripten::val(
|
||||
emscripten::typed_memory_view(ptr_->nskin, ptr_->skinfacenum));
|
||||
}
|
||||
emscripten::val skinvertadr() const {
|
||||
return emscripten::val(
|
||||
emscripten::typed_memory_view(ptr_->nskin, ptr_->skinvertadr));
|
||||
}
|
||||
emscripten::val skinvertnum() const {
|
||||
return emscripten::val(
|
||||
emscripten::typed_memory_view(ptr_->nskin, ptr_->skinvertnum));
|
||||
}
|
||||
emscripten::val skinvert() const {
|
||||
return emscripten::val(
|
||||
emscripten::typed_memory_view(3 * model->nskinvert, ptr_->skinvert));
|
||||
}
|
||||
emscripten::val skinnormal() const {
|
||||
return emscripten::val(
|
||||
emscripten::typed_memory_view(3 * model->nskinvert, ptr_->skinnormal));
|
||||
}
|
||||
emscripten::val flexface() const {
|
||||
return emscripten::val(emscripten::typed_memory_view(
|
||||
9 * MjvScene::GetSumFlexFaces(), ptr_->flexface));
|
||||
}
|
||||
emscripten::val flexnormal() const {
|
||||
return emscripten::val(emscripten::typed_memory_view(
|
||||
9 * MjvScene::GetSumFlexFaces(), ptr_->flexnormal));
|
||||
}
|
||||
emscripten::val flextexcoord() const {
|
||||
return emscripten::val(emscripten::typed_memory_view(
|
||||
6 * MjvScene::GetSumFlexFaces(), ptr_->flextexcoord));
|
||||
}
|
||||
// INSERT-GENERATED-MjvScene-DECLARATION
|
||||
|
||||
private:
|
||||
mjvScene* ptr_;
|
||||
bool owned_ = false;
|
||||
|
||||
public:
|
||||
mjModel *model;
|
||||
std::vector<MjvLight> lights;
|
||||
std::vector<MjvGLCamera> camera;
|
||||
};
|
||||
|
||||
struct MjVFS {
|
||||
MjVFS() : ptr_(new mjVFS) { mj_defaultVFS(ptr_); }
|
||||
~MjVFS() {
|
||||
mj_deleteVFS(ptr_);
|
||||
}
|
||||
void AddBuffer(const std::string& name, const emscripten::val& buffer) {
|
||||
std::vector<uint8_t> vec = emscripten::vecFromJSArray<uint8_t>(buffer);
|
||||
int result = mj_addBufferVFS(ptr_, name.c_str(), vec.data(), vec.size());
|
||||
if (result != 0) {
|
||||
mju_error("Could not add buffer to VFS: %d", result);
|
||||
}
|
||||
}
|
||||
void DeleteFile(const std::string& filename) {
|
||||
mj_deleteFileVFS(ptr_, filename.c_str());
|
||||
}
|
||||
mjVFS* get() const { return ptr_; }
|
||||
|
||||
private:
|
||||
mjVFS* ptr_;
|
||||
};
|
||||
|
||||
MjModel::MjModel(mjModel* ptr)
|
||||
: ptr_(ptr), opt(&ptr->opt), vis(&ptr->vis), stat(&ptr->stat) {}
|
||||
|
||||
@@ -801,6 +406,15 @@ std::unique_ptr<MjSpec> parseXMLString_wrapper(const std::string &xml) {
|
||||
return std::unique_ptr<MjSpec>(new MjSpec(ptr));
|
||||
}
|
||||
|
||||
std::unique_ptr<MjSpec> parseXMLString_wrapper_2(const std::string &xml, const MjVFS& vfs) {
|
||||
char error[1000];
|
||||
mjSpec *ptr = mj_parseXMLString(xml.c_str(), vfs.get(), error, sizeof(error));
|
||||
if (!ptr) {
|
||||
mju_error("Could not create Spec from XML string: %s\n", error);
|
||||
}
|
||||
return std::unique_ptr<MjSpec>(new MjSpec(ptr));
|
||||
}
|
||||
|
||||
std::unique_ptr<MjModel> mj_compile_wrapper_1(const MjSpec& spec) {
|
||||
mjSpec* spec_ptr = spec.get();
|
||||
|
||||
@@ -911,7 +525,9 @@ EMSCRIPTEN_BINDINGS(mujoco_bindings) {
|
||||
.function("deleteFile", &MjVFS::DeleteFile);
|
||||
|
||||
// {{ FUNCTION_BINDINGS }}
|
||||
function("parseXMLString", &parseXMLString_wrapper, take_ownership());
|
||||
// parseXMLString is bound using two overloads to handle the optional MjVFS argument.
|
||||
function("parseXMLString", emscripten::select_overload<std::unique_ptr<MjSpec>(const std::string&)>(&parseXMLString_wrapper), take_ownership());
|
||||
function("parseXMLString", emscripten::select_overload<std::unique_ptr<MjSpec>(const std::string&, const MjVFS&)>(&parseXMLString_wrapper_2), take_ownership());
|
||||
function("error", &error_wrapper);
|
||||
function("mj_saveModel", &mj_saveModel_wrapper);
|
||||
function("mj_saveLastXML", &mj_saveLastXML_wrapper);
|
||||
|
||||
@@ -0,0 +1,455 @@
|
||||
// Copyright 2025 DeepMind Technologies Limited
|
||||
//
|
||||
// Licensed under the Apache License, Version 2.0 (the "License");
|
||||
// you may not use this file except in compliance with the License.
|
||||
// You may obtain a copy of the License at
|
||||
//
|
||||
// http://www.apache.org/licenses/LICENSE-2.0
|
||||
//
|
||||
// Unless required by applicable law or agreed to in writing, software
|
||||
// distributed under the License is distributed on an "AS IS" BASIS,
|
||||
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
||||
// See the License for the specific language governing permissions and
|
||||
// limitations under the License.
|
||||
|
||||
// NOLINTBEGIN(whitespace/line_length)
|
||||
// NOLINTBEGIN(whitespace/semicolon)
|
||||
|
||||
#ifndef MUJOCO_WASM_CODEGEN_GENERATED_BINDINGS_H_
|
||||
#define MUJOCO_WASM_CODEGEN_GENERATED_BINDINGS_H_
|
||||
|
||||
#include <emscripten.h>
|
||||
#include <emscripten/bind.h>
|
||||
#include <emscripten/em_asm.h>
|
||||
#include <emscripten/val.h>
|
||||
|
||||
#include <algorithm>
|
||||
#include <array>
|
||||
#include <cstddef>
|
||||
#include <cstdint>
|
||||
#include <cstdio>
|
||||
#include <cstdlib>
|
||||
#include <cstring> // NOLINT
|
||||
#include <memory>
|
||||
#include <optional> // NOLINT
|
||||
#include <sstream>
|
||||
#include <string> // NOLINT
|
||||
#include <string_view>
|
||||
#include <vector>
|
||||
|
||||
#include <mujoco/mjmodel.h>
|
||||
#include <mujoco/mjspec.h>
|
||||
#include <mujoco/mjvisualize.h>
|
||||
#include <mujoco/mujoco.h>
|
||||
#include "engine/engine_util_errmem.h"
|
||||
#include "wasm/unpack.h"
|
||||
#include "python/mujoco/indexer_xmacro.h"
|
||||
|
||||
namespace mujoco::wasm {
|
||||
|
||||
using emscripten::enum_;
|
||||
using emscripten::function;
|
||||
using emscripten::typed_memory_view;
|
||||
using emscripten::val;
|
||||
using emscripten::return_value_policy::reference;
|
||||
using emscripten::return_value_policy::take_ownership;
|
||||
|
||||
EMSCRIPTEN_DECLARE_VAL_TYPE(NumberOrString);
|
||||
EMSCRIPTEN_DECLARE_VAL_TYPE(NumberArray);
|
||||
EMSCRIPTEN_DECLARE_VAL_TYPE(String);
|
||||
EMSCRIPTEN_DECLARE_VAL_TYPE(StringOrNull);
|
||||
|
||||
// Macro to define accessors for different MuJoCo object types within mjModel.
|
||||
// Each line calls X_ACCESSOR with the following arguments:
|
||||
// 1. NAME: The object type name in uppercase (e.g., ACTUATOR).
|
||||
// 2. Name: The object type name in CamelCase (e.g., Actuator).
|
||||
// 3. OBJTYPE: The corresponding mjOBJ_* enum value (e.g., mjOBJ_ACTUATOR).
|
||||
// 4. field: The name of the array field in mjModel (e.g., actuator).
|
||||
// 5. nfield: The name of the count field in mjModel (e.g., nu).
|
||||
#define MJMODEL_ACCESSORS \
|
||||
X_ACCESSOR( ACTUATOR, Actuator, mjOBJ_ACTUATOR, actuator, nu ) \
|
||||
X_ACCESSOR( BODY, Body, mjOBJ_BODY, body, nbody ) \
|
||||
X_ACCESSOR( CAMERA, Camera, mjOBJ_CAMERA, cam, ncam ) \
|
||||
X_ACCESSOR( EQUALITY, Equality, mjOBJ_EQUALITY, eq, neq ) \
|
||||
X_ACCESSOR( EXCLUDE, Exclude, mjOBJ_EXCLUDE, exclude, nexclude ) \
|
||||
X_ACCESSOR( GEOM, Geom, mjOBJ_GEOM, geom, ngeom ) \
|
||||
X_ACCESSOR( HFIELD, Hfield, mjOBJ_HFIELD, hfield, nhfield ) \
|
||||
X_ACCESSOR( JOINT, Joint, mjOBJ_JOINT, jnt, njnt ) \
|
||||
X_ACCESSOR( LIGHT, Light, mjOBJ_LIGHT, light, nlight ) \
|
||||
X_ACCESSOR( MATERIAL, Material, mjOBJ_MATERIAL, mat, nmat ) \
|
||||
X_ACCESSOR( MESH, Mesh, mjOBJ_MESH, mesh, nmesh ) \
|
||||
X_ACCESSOR( NUMERIC, Numeric, mjOBJ_NUMERIC, numeric, nnumeric ) \
|
||||
X_ACCESSOR( PAIR, Pair, mjOBJ_PAIR, pair, npair ) \
|
||||
X_ACCESSOR( SENSOR, Sensor, mjOBJ_SENSOR, sensor, nsensor ) \
|
||||
X_ACCESSOR( SITE, Site, mjOBJ_SITE, site, nsite ) \
|
||||
X_ACCESSOR( SKIN, Skin, mjOBJ_SKIN, skin, nskin ) \
|
||||
X_ACCESSOR( TENDON, Tendon, mjOBJ_TENDON, tendon, ntendon ) \
|
||||
X_ACCESSOR( TEXTURE, Texture, mjOBJ_TEXTURE, tex, ntex ) \
|
||||
X_ACCESSOR( TUPLE, Tuple, mjOBJ_TUPLE, tuple, ntuple ) \
|
||||
X_ACCESSOR( KEYFRAME, Keyframe, mjOBJ_KEY, key, nkey )
|
||||
|
||||
// Macro to define accessors for different MuJoCo object types within mjData.
|
||||
// Each line calls X_ACCESSOR with the following arguments:
|
||||
// 1. NAME: The object type name in uppercase (e.g., ACTUATOR).
|
||||
// 2. Name: The object type name in CamelCase (e.g., Actuator).
|
||||
// 3. OBJTYPE: The corresponding mjOBJ_* enum value (e.g., mjOBJ_ACTUATOR).
|
||||
// 4. field: The name of the array field in mjData (e.g., actuator).
|
||||
// 5. nfield: The name of the count field in mjModel (e.g., nu).
|
||||
#define MJDATA_ACCESSORS \
|
||||
X_ACCESSOR( ACTUATOR, Actuator, mjOBJ_ACTUATOR, actuator, nu ) \
|
||||
X_ACCESSOR( BODY, Body, mjOBJ_BODY, body, nbody ) \
|
||||
X_ACCESSOR( CAMERA, Camera, mjOBJ_CAMERA, cam, ncam ) \
|
||||
X_ACCESSOR( GEOM, Geom, mjOBJ_GEOM, geom, ngeom ) \
|
||||
X_ACCESSOR( JOINT, Joint, mjOBJ_JOINT, jnt, njnt ) \
|
||||
X_ACCESSOR( LIGHT, Light, mjOBJ_LIGHT, light, nlight ) \
|
||||
X_ACCESSOR( SENSOR, Sensor, mjOBJ_SENSOR, sensor, nsensor ) \
|
||||
X_ACCESSOR( SITE, Site, mjOBJ_SITE, site, nsite ) \
|
||||
X_ACCESSOR( TENDON, Tendon, mjOBJ_TENDON, tendon, ntendon )
|
||||
|
||||
// Raises an error if the given val is null or undefined.
|
||||
// A macro is used so that the error contains the name of the variable.
|
||||
// TODO(matijak): Remove this when we can handle strings using UNPACK_STRING?
|
||||
#define CHECK_VAL(val) \
|
||||
if (val.isNull()) { \
|
||||
mju_error("Invalid argument: %s is null", #val); \
|
||||
} else if (val.isUndefined()) { \
|
||||
mju_error("Invalid argument: %s is undefined", #val); \
|
||||
}
|
||||
|
||||
std::string KeyErrorMessage(const mjModel* model, int objtype, int count,
|
||||
std::string_view name, std::string_view accessor_name);
|
||||
|
||||
std::string IndexErrorMessage(int index, int count,
|
||||
std::string_view accessor_name);
|
||||
|
||||
// {{ ANONYMOUS_STRUCT_TYPEDEFS }}
|
||||
|
||||
#undef MJ_M
|
||||
#define MJ_M(n) model_->n
|
||||
// The X macro expands to a member function within an MjModel...Accessor struct.
|
||||
// This function returns an emscripten::val, typically a typed memory view,
|
||||
// providing access to array data within the underlying mjModel. The size and
|
||||
// offset of the memory view are determined by the arguments:
|
||||
// - type: The C++ type of the array elements (e.g., mjtNum, int).
|
||||
// - prefix: The prefix of the field name in mjModel (e.g., jnt_, geom_).
|
||||
// - var: The name of the field being accessed (e.g., qposadr, size).
|
||||
// - dim0: Used to determine special indexing logic for dynamically sized arrays
|
||||
// like joints (nq, nv), hfields, textures, numerics, and tuples.
|
||||
// - dim1: The fixed dimension of the array if not dynamically sized. If "1",
|
||||
// a single element is returned. Otherwise, it's used as the stride
|
||||
// for the typed memory view.
|
||||
#define X(type, prefix, var, dim0, dim1) \
|
||||
emscripten::val get_##var() const { \
|
||||
if constexpr (std::string_view(#dim0) == "nq") { \
|
||||
int start = model_->jnt_qposadr[id_]; \
|
||||
int end = (id_ < model_->njnt - 1) ? model_->jnt_qposadr[id_ + 1] : model_->nq; \
|
||||
return val(typed_memory_view(end - start, model_->prefix##var + start)); \
|
||||
} else if constexpr (std::string_view(#dim0) == "nv") { \
|
||||
int start = model_->jnt_dofadr[id_]; \
|
||||
int end = (id_ < model_->njnt - 1) ? model_->jnt_dofadr[id_ + 1] : model_->nv; \
|
||||
return val(typed_memory_view(end - start, model_->prefix##var + start)); \
|
||||
} else if constexpr (std::string_view(#dim0) == "nhfielddata") { \
|
||||
int start = model_->hfield_adr[id_]; \
|
||||
int count = model_->hfield_nrow[id_] * model_->hfield_ncol[id_]; \
|
||||
return val(typed_memory_view(count, model_->hfield_data + start)); \
|
||||
} else if constexpr (std::string_view(#dim0) == "ntexdata") { \
|
||||
int start = model_->tex_adr[id_]; \
|
||||
int count = model_->tex_height[id_] * model_->tex_width[id_] * model_->tex_nchannel[id_]; \
|
||||
return val(typed_memory_view(count, model_->tex_data + start)); \
|
||||
} else if constexpr (std::string_view(#dim0) == "nnumericdata") { \
|
||||
int start = model_->numeric_adr[id_]; \
|
||||
int count = model_->numeric_size[id_]; \
|
||||
return val(typed_memory_view(count, model_->numeric_data + start)); \
|
||||
} else if constexpr (std::string_view(#dim0) == "ntupledata") { \
|
||||
int start = model_->tuple_adr[id_]; \
|
||||
int count = model_->tuple_size[id_]; \
|
||||
return val(typed_memory_view(count, model_->prefix##var + start)); \
|
||||
} else { \
|
||||
if constexpr (std::string_view(#dim1) == "1") { \
|
||||
return val(model_->prefix##var[id_]); \
|
||||
} else { \
|
||||
return val(typed_memory_view(dim1, model_->prefix##var + id_ * dim1)); \
|
||||
} \
|
||||
} \
|
||||
} \
|
||||
void set_##var(const emscripten::val& value) { \
|
||||
if constexpr (std::string_view(#dim0) == "nq") { \
|
||||
int start = model_->jnt_qposadr[id_]; \
|
||||
int end = (id_ < model_->njnt - 1) ? model_->jnt_qposadr[id_ + 1] : model_->nq; \
|
||||
val(typed_memory_view(end - start, model_->prefix##var + start)) \
|
||||
.call<void>("set", value); \
|
||||
} else if constexpr (std::string_view(#dim0) == "nv") { \
|
||||
int start = model_->jnt_dofadr[id_]; \
|
||||
int end = (id_ < model_->njnt - 1) ? model_->jnt_dofadr[id_ + 1] : model_->nv; \
|
||||
val(typed_memory_view(end - start, model_->prefix##var + start)) \
|
||||
.call<void>("set", value); \
|
||||
} else if constexpr (std::string_view(#dim0) == "nhfielddata") { \
|
||||
int start = model_->hfield_adr[id_]; \
|
||||
int count = model_->hfield_nrow[id_] * model_->hfield_ncol[id_]; \
|
||||
val(typed_memory_view(count, model_->hfield_data + start)) \
|
||||
.call<void>("set", value); \
|
||||
} else if constexpr (std::string_view(#dim0) == "ntexdata") { \
|
||||
int start = model_->tex_adr[id_]; \
|
||||
int count = model_->tex_height[id_] * model_->tex_width[id_] * model_->tex_nchannel[id_]; \
|
||||
val(typed_memory_view(count, model_->tex_data + start)) \
|
||||
.call<void>("set", value); \
|
||||
} else if constexpr (std::string_view(#dim0) == "nnumericdata") { \
|
||||
int start = model_->numeric_adr[id_]; \
|
||||
int count = model_->numeric_size[id_]; \
|
||||
val(typed_memory_view(count, model_->numeric_data + start)) \
|
||||
.call<void>("set", value); \
|
||||
} else if constexpr (std::string_view(#dim0) == "ntupledata") { \
|
||||
int start = model_->tuple_adr[id_]; \
|
||||
int count = model_->tuple_size[id_]; \
|
||||
val(typed_memory_view(count, model_->prefix##var + start)) \
|
||||
.call<void>("set", value); \
|
||||
} else { \
|
||||
if constexpr (std::string_view(#dim1) == "1") { \
|
||||
model_->prefix##var[id_] = value.as<type>(); \
|
||||
} else { \
|
||||
val(typed_memory_view(dim1, model_->prefix##var + id_ * dim1)) \
|
||||
.call<void>("set", value); \
|
||||
} \
|
||||
} \
|
||||
}
|
||||
|
||||
// Expands to a struct definition for each object type in MJMODEL_ACCESSORS.
|
||||
// Each struct, named `MjModel{Name}Accessor`, provides:
|
||||
// - A constructor taking an `mjModel*` and an integer `id`.
|
||||
// - An `id()` method to get the object's index.
|
||||
// - A `name()` method to get the object's name using `mj_id2name`.
|
||||
// - Member functions generated by the `MJMODEL_##NAME` macro, which in turn
|
||||
// uses the `X` macro to define accessors for fields within `mjModel`.
|
||||
#define X_ACCESSOR(NAME, Name, OBJTYPE, field, nfield) \
|
||||
struct MjModel##Name##Accessor { \
|
||||
MjModel##Name##Accessor(mjModel* model, int id) : model_(model), id_(id) {} \
|
||||
\
|
||||
int id() const { return id_; } \
|
||||
std::string name() const { \
|
||||
const char* name = mj_id2name(model_, OBJTYPE, id_); \
|
||||
return name ? name : ""; \
|
||||
} \
|
||||
\
|
||||
MJMODEL_##NAME \
|
||||
\
|
||||
private: \
|
||||
mjModel* model_; \
|
||||
int id_; \
|
||||
};
|
||||
MJMODEL_ACCESSORS
|
||||
#undef X_ACCESSOR
|
||||
|
||||
// Expands to a struct definition for each object type in MJDATA_ACCESSORS.
|
||||
// Each struct, named `MjData{Name}Accessor`, provides:
|
||||
// - A constructor taking an `mjData*`, an `mjModel*`, and an integer `id`.
|
||||
// - An `id()` method to get the object's index.
|
||||
// - A `name()` method to get the object's name using `mj_id2name`.
|
||||
// - Member functions generated by the `MJDATA_##NAME` macro, which in turn
|
||||
// uses the `X` macro to define accessors for fields within `mjData`.
|
||||
#undef MJ_M
|
||||
#define MJ_M(n) model_->n
|
||||
#undef X
|
||||
#define X(type, prefix, var, dim0, dim1) \
|
||||
emscripten::val get_##var() const { \
|
||||
if constexpr (std::string_view(#dim0) == "nq") { \
|
||||
int start = model_->jnt_qposadr[id_]; \
|
||||
int end = (id_ < model_->njnt - 1) ? model_->jnt_qposadr[id_ + 1] : model_->nq; \
|
||||
return val(typed_memory_view(end - start, data_->prefix##var + start)); \
|
||||
} else if constexpr (std::string_view(#dim0) == "nv") { \
|
||||
int start = model_->jnt_dofadr[id_]; \
|
||||
int end = (id_ < model_->njnt - 1) ? model_->jnt_dofadr[id_ + 1] : model_->nv; \
|
||||
if constexpr (std::string_view(#dim1) == "1") { \
|
||||
return val(typed_memory_view(end - start, data_->prefix##var + start)); \
|
||||
} else { \
|
||||
return val(typed_memory_view( \
|
||||
(end - start) * dim1, data_->prefix##var + start * dim1)); \
|
||||
} \
|
||||
} else if constexpr (std::string_view(#dim0) == "nsensordata") { \
|
||||
int start = model_->sensor_adr[id_]; \
|
||||
int count = model_->sensor_dim[id_]; \
|
||||
return val(typed_memory_view(count, data_->sensordata + start)); \
|
||||
} else { \
|
||||
if constexpr (std::string_view(#dim1) == "1") { \
|
||||
return val(data_->prefix##var[id_]); \
|
||||
} else { \
|
||||
return val(typed_memory_view(dim1, data_->prefix##var + id_ * dim1)); \
|
||||
} \
|
||||
} \
|
||||
} \
|
||||
void set_##var(const emscripten::val& value) { \
|
||||
if constexpr (std::string_view(#dim0) == "nq") { \
|
||||
int start = model_->jnt_qposadr[id_]; \
|
||||
int end = (id_ < model_->njnt - 1) ? model_->jnt_qposadr[id_ + 1] : model_->nq; \
|
||||
val(typed_memory_view(end - start, data_->prefix##var + start)) \
|
||||
.call<void>("set", value); \
|
||||
} else if constexpr (std::string_view(#dim0) == "nv") { \
|
||||
int start = model_->jnt_dofadr[id_]; \
|
||||
int end = (id_ < model_->njnt - 1) ? model_->jnt_dofadr[id_ + 1] : model_->nv; \
|
||||
if constexpr (std::string_view(#dim1) == "1") { \
|
||||
val(typed_memory_view(end - start, data_->prefix##var + start)) \
|
||||
.call<void>("set", value); \
|
||||
} else { \
|
||||
val(typed_memory_view((end - start) * dim1, \
|
||||
data_->prefix##var + start * dim1)) \
|
||||
.call<void>("set", value); \
|
||||
} \
|
||||
} else if constexpr (std::string_view(#dim0) == "nsensordata") { \
|
||||
int start = model_->sensor_adr[id_]; \
|
||||
int count = model_->sensor_dim[id_]; \
|
||||
val(typed_memory_view(count, data_->sensordata + start)) \
|
||||
.call<void>("set", value); \
|
||||
} else { \
|
||||
if constexpr (std::string_view(#dim1) == "1") { \
|
||||
data_->prefix##var[id_] = value.as<type>(); \
|
||||
} else { \
|
||||
val(typed_memory_view(dim1, data_->prefix##var + id_ * dim1)) \
|
||||
.call<void>("set", value); \
|
||||
} \
|
||||
} \
|
||||
}
|
||||
|
||||
#define X_ACCESSOR(NAME, Name, OBJTYPE, field, nfield) \
|
||||
struct MjData##Name##Accessor { \
|
||||
MjData##Name##Accessor(mjData* data, mjModel* model, int id) : data_(data), model_(model), id_(id) {} \
|
||||
\
|
||||
int id() const { return id_; } \
|
||||
std::string name() const { \
|
||||
const char* name = mj_id2name(model_, OBJTYPE, id_); \
|
||||
return name ? name : ""; \
|
||||
} \
|
||||
\
|
||||
MJDATA_##NAME \
|
||||
\
|
||||
private: \
|
||||
mjData* data_; \
|
||||
mjModel* model_; \
|
||||
int id_; \
|
||||
};
|
||||
MJDATA_ACCESSORS
|
||||
#undef X_ACCESSOR
|
||||
|
||||
#undef X
|
||||
#undef MJ_M
|
||||
|
||||
// {{ STRUCTS_HEADER }}
|
||||
|
||||
struct MjvScene {
|
||||
MjvScene();
|
||||
MjvScene(MjModel *m, int maxgeom);
|
||||
~MjvScene();
|
||||
std::unique_ptr<MjvScene> copy();
|
||||
int GetSumFlexFaces() const;
|
||||
|
||||
mjvScene* get() const;
|
||||
void set(mjvScene* ptr);
|
||||
|
||||
std::vector<MjvGeom> geoms() const;
|
||||
|
||||
emscripten::val geomorder() const {
|
||||
return emscripten::val(
|
||||
emscripten::typed_memory_view(ptr_->ngeom, ptr_->geomorder));
|
||||
}
|
||||
emscripten::val flexedgeadr() const {
|
||||
return emscripten::val(
|
||||
emscripten::typed_memory_view(ptr_->nflex, ptr_->flexedgeadr));
|
||||
}
|
||||
emscripten::val flexedgenum() const {
|
||||
return emscripten::val(
|
||||
emscripten::typed_memory_view(ptr_->nflex, ptr_->flexedgenum));
|
||||
}
|
||||
emscripten::val flexvertadr() const {
|
||||
return emscripten::val(
|
||||
emscripten::typed_memory_view(ptr_->nflex, ptr_->flexvertadr));
|
||||
}
|
||||
emscripten::val flexvertnum() const {
|
||||
return emscripten::val(
|
||||
emscripten::typed_memory_view(ptr_->nflex, ptr_->flexvertnum));
|
||||
}
|
||||
emscripten::val flexfaceadr() const {
|
||||
return emscripten::val(
|
||||
emscripten::typed_memory_view(ptr_->nflex, ptr_->flexfaceadr));
|
||||
}
|
||||
emscripten::val flexfacenum() const {
|
||||
return emscripten::val(
|
||||
emscripten::typed_memory_view(ptr_->nflex, ptr_->flexfacenum));
|
||||
}
|
||||
emscripten::val flexfaceused() const {
|
||||
return emscripten::val(
|
||||
emscripten::typed_memory_view(ptr_->nflex, ptr_->flexfaceused));
|
||||
}
|
||||
emscripten::val flexedge() const {
|
||||
return emscripten::val(
|
||||
emscripten::typed_memory_view(2 * model->nflexedge, ptr_->flexedge));
|
||||
}
|
||||
emscripten::val flexvert() const {
|
||||
return emscripten::val(
|
||||
emscripten::typed_memory_view(3 * model->nflexvert, ptr_->flexvert));
|
||||
}
|
||||
emscripten::val skinfacenum() const {
|
||||
return emscripten::val(
|
||||
emscripten::typed_memory_view(ptr_->nskin, ptr_->skinfacenum));
|
||||
}
|
||||
emscripten::val skinvertadr() const {
|
||||
return emscripten::val(
|
||||
emscripten::typed_memory_view(ptr_->nskin, ptr_->skinvertadr));
|
||||
}
|
||||
emscripten::val skinvertnum() const {
|
||||
return emscripten::val(
|
||||
emscripten::typed_memory_view(ptr_->nskin, ptr_->skinvertnum));
|
||||
}
|
||||
emscripten::val skinvert() const {
|
||||
return emscripten::val(
|
||||
emscripten::typed_memory_view(3 * model->nskinvert, ptr_->skinvert));
|
||||
}
|
||||
emscripten::val skinnormal() const {
|
||||
return emscripten::val(
|
||||
emscripten::typed_memory_view(3 * model->nskinvert, ptr_->skinnormal));
|
||||
}
|
||||
emscripten::val flexface() const {
|
||||
return emscripten::val(emscripten::typed_memory_view(
|
||||
9 * MjvScene::GetSumFlexFaces(), ptr_->flexface));
|
||||
}
|
||||
emscripten::val flexnormal() const {
|
||||
return emscripten::val(emscripten::typed_memory_view(
|
||||
9 * MjvScene::GetSumFlexFaces(), ptr_->flexnormal));
|
||||
}
|
||||
emscripten::val flextexcoord() const {
|
||||
return emscripten::val(emscripten::typed_memory_view(
|
||||
6 * MjvScene::GetSumFlexFaces(), ptr_->flextexcoord));
|
||||
}
|
||||
// INSERT-GENERATED-MjvScene-DECLARATION
|
||||
|
||||
private:
|
||||
mjvScene* ptr_;
|
||||
bool owned_ = false;
|
||||
|
||||
public:
|
||||
mjModel* model;
|
||||
std::vector<MjvLight> lights;
|
||||
std::vector<MjvGLCamera> camera;
|
||||
};
|
||||
|
||||
struct MjVFS {
|
||||
MjVFS() : ptr_(new mjVFS) { mj_defaultVFS(ptr_); }
|
||||
~MjVFS() { mj_deleteVFS(ptr_); }
|
||||
void AddBuffer(const std::string& name, const emscripten::val& buffer) {
|
||||
std::vector<uint8_t> vec = emscripten::vecFromJSArray<uint8_t>(buffer);
|
||||
int result = mj_addBufferVFS(ptr_, name.c_str(), vec.data(), vec.size());
|
||||
if (result != 0) {
|
||||
mju_error("Could not add buffer to VFS: %d", result);
|
||||
}
|
||||
}
|
||||
void DeleteFile(const std::string& filename) {
|
||||
mj_deleteFileVFS(ptr_, filename.c_str());
|
||||
}
|
||||
mjVFS* get() const { return ptr_; }
|
||||
|
||||
private:
|
||||
mjVFS* ptr_;
|
||||
};
|
||||
|
||||
} // namespace mujoco::wasm
|
||||
// NOLINTEND(whitespace/semicolon)
|
||||
// NOLINTEND(whitespace/line_length)
|
||||
|
||||
#endif // MUJOCO_WASM_CODEGEN_GENERATED_BINDINGS_H_
|
||||
@@ -31,10 +31,13 @@ class BindingsDiffTest(absltest.TestCase):
|
||||
self.generated_src = f.read()
|
||||
self.template_path_cc = SCRIPT_DIR / 'templates/bindings.cc'
|
||||
|
||||
self.builder = binding_builder.BindingBuilder(self.template_path_cc)
|
||||
self.builder = binding_builder.BindingBuilder()
|
||||
|
||||
generator_output = (
|
||||
self.builder.set_enums().set_structs().set_functions().to_string()
|
||||
self.builder.set_enums()
|
||||
.set_structs()
|
||||
.set_functions()
|
||||
.build_string(self.template_path_cc)
|
||||
)
|
||||
self.assertEqual(
|
||||
generator_output,
|
||||
|
||||
@@ -18,12 +18,15 @@ from wasm.codegen.generators import binding_builder
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
template_file = "wasm/codegen/templates/bindings.cc"
|
||||
generated_file = "wasm/codegen/generated/bindings.cc"
|
||||
template_file_cc = "wasm/codegen/templates/bindings.cc"
|
||||
generated_file_cc = "wasm/codegen/generated/bindings.cc"
|
||||
template_file_h = "wasm/codegen/templates/bindings.h"
|
||||
generated_file_h = "wasm/codegen/generated/bindings.h"
|
||||
|
||||
builder = binding_builder.BindingBuilder(template_file)
|
||||
builder = binding_builder.BindingBuilder()
|
||||
builder.set_enums()
|
||||
builder.set_structs()
|
||||
builder.set_functions()
|
||||
|
||||
builder.build(generated_file)
|
||||
builder.build_file(template_file_h, generated_file_h)
|
||||
builder.build_file(template_file_cc, generated_file_cc)
|
||||
|
||||
Reference in New Issue
Block a user