Consolidate WASM bindings into a single C++ file.

PiperOrigin-RevId: 827850819
Change-Id: I23e099d4e72557d79354339953246ac4eeee7ca3

wasm/codegen/binding_builder.py

@@ -31,15 +31,10 @@ class BindingBuilder:
 
   def __init__(
       self,
-      template_path_h: str,
       template_path_cc: str,
-      generated_path_h: str,
       generated_path_cc: str,
   ):
-    self.generated_path_h = generated_path_h
     self.generated_path_cc = generated_path_cc
-    with open(template_path_h, "r") as f:
-      self.content_h = f.readlines()
     with open(template_path_cc, "r") as f:
       self.content_cc = f.readlines()
 
@@ -63,20 +58,17 @@ class BindingBuilder:
     )
     return self
 
-  def set_headers(self):
-    """Generates and sets the struct definitions."""
-    struct_hdr_markers_and_content = self.structs_generator.generate_header()
-
-    for marker, content in struct_hdr_markers_and_content:
-      self.content_h = common.replace_lines_containing_marker(
-          self.content_h, marker, content
-      )
-
-    return self
-
   def set_structs(self):
     """Generates and sets the struct bindings."""
 
+    # Generate struct header bindings.
+    struct_hdr_markers_and_content = self.structs_generator.generate_header()
+    for marker, content in struct_hdr_markers_and_content:
+      self.content_cc = common.replace_lines_containing_marker(
+          self.content_cc, marker, content
+      )
+
+    # Generate struct source bindings.
     struct_src_markers_and_content = (
         self.structs_generator.generate_source()
     )
@@ -84,6 +76,7 @@ class BindingBuilder:
       self.content_cc = common.replace_lines_containing_marker(
           self.content_cc, marker, content
       )
+
     return self
 
   def set_functions(self):
@@ -105,11 +98,7 @@ class BindingBuilder:
 
   def build(self):
     """Writes the generated content to the output files."""
-    common.write_to_file(self.generated_path_h, "".join(self.content_h))
     common.write_to_file(self.generated_path_cc, "".join(self.content_cc))
 
-  def to_string_header(self) -> str:
-    return "".join(self.content_h)
-
   def to_string_source(self) -> str:
     return "".join(self.content_cc)

wasm/codegen/bindings_diff_test.py

@@ -33,15 +33,11 @@ class BindingsDiffTest(absltest.TestCase):
       self.generated_hdr = f.read()
     with open(SCRIPT_DIR / 'generated/bindings.cc', 'r') as f:
       self.generated_src = f.read()
-    self.template_path_h = SCRIPT_DIR / 'templates/bindings.h'
     self.template_path_cc = SCRIPT_DIR / 'templates/bindings.cc'
-    self.generated_path_h = SCRIPT_DIR / 'generated/bindings.h'
     self.generated_path_cc = SCRIPT_DIR / 'generated/bindings.cc'
 
     self.builder = binding_builder.BindingBuilder(
-        self.template_path_h,
         self.template_path_cc,
-        self.generated_path_h,
         self.generated_path_cc,
     )
 
@@ -54,14 +50,6 @@ class BindingsDiffTest(absltest.TestCase):
         msg=ERROR_MESSAGE.format('bindings.cc'),
     )
 
-  def test_bindings_header(self):
-    generator_output = (self.builder.set_headers().to_string_header())
-    self.assertEqual(
-        generator_output,
-        self.generated_hdr,
-        msg=ERROR_MESSAGE.format('bindings.h'),
-    )
-
 
 if __name__ == '__main__':
   absltest.main()

wasm/codegen/helpers/constants.py

@@ -420,7 +420,7 @@ MJDATA_SIZES = [
 ]
 
 # Dictionary where keys are the struct names and the values are lists of the
-# fields that are manually specified in the structs.h template file.
+# fields that are manually specified in the bindings.cc template file.
 MANUALLY_ADDED_FIELDS_FROM_TEMPLATE = {
     # go/keep-sorted start
     "MjData": ["solver", "timer", "warning", "contact"],

wasm/codegen/helpers/struct_constructor_code_builder.py

@@ -77,7 +77,8 @@ def _build_struct_header_internal(
     builder.line("")
     builder.line("private:")
     builder.line(f"{struct_name}* ptr_;")
-    builder.line("bool owned_ = false;")
+    if not is_mjs:
+      builder.line("bool owned_ = false;")
 
     if is_mjs and fields_with_init:
       builder.line("")

wasm/codegen/templates/bindings.cc

@@ -15,18 +15,16 @@
 // NOLINTBEGIN(whitespace/line_length)
 // NOLINTBEGIN(whitespace/semicolon)
 
-#include "wasm/codegen/generated/bindings.h"
+#include <emscripten.h>
-
 #include <emscripten/bind.h>
 #include <emscripten/val.h>
 
+#include <array>
 #include <cstddef>
+#include <cstdint>
 #include <cstdio>
 #include <cstdlib>
 #include <cstring>  // NOLINT
-
-#include <array>
-#include <cstdint>
 #include <memory>
 #include <optional>  // NOLINT
 #include <string>    // NOLINT
@@ -40,6 +38,313 @@
 
 namespace mujoco::wasm {
 
+// Create the types for anonymous structs
+using mjVisualGlobal = decltype(::mjVisual::global);
+using mjVisualQuality = decltype(::mjVisual::quality);
+using mjVisualHeadlight = decltype(::mjVisual::headlight);
+using mjVisualMap = decltype(::mjVisual::map);
+using mjVisualScale = decltype(::mjVisual::scale);
+using mjVisualRgba = decltype(::mjVisual::rgba);
+
+// {{ AUTOGENNED_STRUCT_DEFINITIONS }}
+
+struct MjVisualGlobal {
+  MjVisualGlobal();
+  explicit MjVisualGlobal(mjVisualGlobal *ptr);
+  MjVisualGlobal(const MjVisualGlobal &);
+  MjVisualGlobal &operator=(const MjVisualGlobal &);
+  ~MjVisualGlobal();
+  std::unique_ptr<MjVisualGlobal> copy();
+  // INSERT-GENERATED-MjVisualGlobal-DEFINITIONS
+  mjVisualGlobal* get() const { return ptr_; }
+  void set(mjVisualGlobal* ptr) { ptr_ = ptr; }
+
+ private:
+  mjVisualGlobal* ptr_;
+  bool owned_ = false;
+};
+
+struct MjVisualQuality {
+  MjVisualQuality();
+  explicit MjVisualQuality(mjVisualQuality *ptr);
+  MjVisualQuality(const MjVisualQuality &);
+  MjVisualQuality &operator=(const MjVisualQuality &);
+  ~MjVisualQuality();
+  std::unique_ptr<MjVisualQuality> copy();
+  // INSERT-GENERATED-MjVisualQuality-DEFINITIONS
+  mjVisualQuality* get() const { return ptr_; }
+  void set(mjVisualQuality* ptr) { ptr_ = ptr; }
+
+ private:
+  mjVisualQuality* ptr_;
+  bool owned_ = false;
+};
+
+struct MjVisualHeadlight {
+  MjVisualHeadlight();
+  explicit MjVisualHeadlight(mjVisualHeadlight *ptr);
+  MjVisualHeadlight(const MjVisualHeadlight &);
+  MjVisualHeadlight &operator=(const MjVisualHeadlight &);
+  ~MjVisualHeadlight();
+  std::unique_ptr<MjVisualHeadlight> copy();
+  // INSERT-GENERATED-MjVisualHeadlight-DEFINITIONS
+  mjVisualHeadlight* get() const { return ptr_; }
+  void set(mjVisualHeadlight* ptr) { ptr_ = ptr; }
+
+ private:
+  mjVisualHeadlight* ptr_;
+  bool owned_ = false;
+};
+
+struct MjVisualMap {
+  MjVisualMap();
+  explicit MjVisualMap(mjVisualMap *ptr);
+  MjVisualMap(const MjVisualMap &);
+  MjVisualMap &operator=(const MjVisualMap &);
+  ~MjVisualMap();
+  std::unique_ptr<MjVisualMap> copy();
+  // INSERT-GENERATED-MjVisualMap-DEFINITIONS
+  mjVisualMap* get() const { return ptr_; }
+  void set(mjVisualMap* ptr) { ptr_ = ptr; }
+
+ private:
+  mjVisualMap* ptr_;
+  bool owned_ = false;
+};
+
+struct MjVisualScale {
+  MjVisualScale();
+  explicit MjVisualScale(mjVisualScale *ptr);
+  MjVisualScale(const MjVisualScale &);
+  MjVisualScale &operator=(const MjVisualScale &);
+  ~MjVisualScale();
+  std::unique_ptr<MjVisualScale> copy();
+  // INSERT-GENERATED-MjVisualScale-DEFINITIONS
+  mjVisualScale* get() const { return ptr_; }
+  void set(mjVisualScale* ptr) { ptr_ = ptr; }
+
+ private:
+  mjVisualScale* ptr_;
+  bool owned_ = false;
+};
+
+struct MjVisualRgba {
+  MjVisualRgba();
+  explicit MjVisualRgba(mjVisualRgba *ptr);
+  MjVisualRgba(const MjVisualRgba &);
+  MjVisualRgba &operator=(const MjVisualRgba &);
+  ~MjVisualRgba();
+  std::unique_ptr<MjVisualRgba> copy();
+  // INSERT-GENERATED-MjVisualRgba-DEFINITIONS
+  mjVisualRgba* get() const { return ptr_; }
+  void set(mjVisualRgba* ptr) { ptr_ = ptr; }
+
+ private:
+  mjVisualRgba* ptr_;
+  bool owned_ = false;
+};
+
+struct MjVisual {
+  MjVisual();
+  explicit MjVisual(mjVisual *ptr_);
+  MjVisual(const MjVisual &);
+  MjVisual &operator=(const MjVisual &);
+  ~MjVisual();
+  std::unique_ptr<MjVisual> copy();
+  // INSERT-GENERATED-MjVisual-DEFINITIONS
+  mjVisual* get() const { return ptr_; }
+  void set(mjVisual* ptr) { ptr_ = ptr; }
+
+ private:
+  mjVisual* ptr_;
+  bool owned_ = false;
+
+ public:
+  MjVisualGlobal global;
+  MjVisualQuality quality;
+  MjVisualHeadlight headlight;
+  MjVisualMap map;
+  MjVisualScale scale;
+  MjVisualRgba rgba;
+};
+
+struct MjModel {
+  explicit MjModel(mjModel *m);
+  explicit MjModel(const MjModel &other);
+  ~MjModel();
+  std::unique_ptr<MjModel> copy();
+  // INSERT-GENERATED-MjModel-DEFINITIONS
+  mjModel* get() const { return ptr_; }
+  void set(mjModel* ptr) { ptr_ = ptr; }
+
+ private:
+  mjModel* ptr_;
+
+ public:
+  MjOption opt;
+  MjStatistic stat;
+  MjVisual vis;
+};
+
+struct MjData {
+  MjData(MjModel *m);
+  explicit MjData(const MjModel &, const MjData &);
+  ~MjData();
+  std::vector<MjSolverStat> InitSolverArray();
+  std::vector<MjTimerStat> InitTimerArray();
+  std::vector<MjWarningStat> InitWarningArray();
+  std::vector<MjContact> contact() const;
+  std::unique_ptr<MjData> copy();
+  // INSERT-GENERATED-MjData-DEFINITIONS
+  mjData* get() const { return ptr_; }
+  void set(mjData* ptr) { ptr_ = ptr; }
+
+ private:
+  mjData* ptr_;
+
+ public:
+  mjModel *model;
+  std::vector<MjSolverStat> solver;
+  std::vector<MjTimerStat> timer;
+  std::vector<MjWarningStat> warning;
+};
+
+struct MjvScene {
+  MjvScene();
+  MjvScene(MjModel *m, int maxgeom);
+  // MjvScene(const MjvScene &);
+  ~MjvScene();
+  std::unique_ptr<MjvScene> copy();
+  int GetSumFlexFaces() const;
+  std::vector<MjvLight> InitLightsArray();
+  std::vector<MjvGLCamera> InitCameraArray();
+
+  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-DEFINITIONS
+  mjvScene* get() const { return ptr_; }
+  void set(mjvScene* ptr) { ptr_ = ptr; }
+
+ private:
+  mjvScene* ptr_;
+  bool owned_ = false;
+
+ public:
+  mjModel *model;
+  std::vector<MjvLight> lights;
+  std::vector<MjvGLCamera> camera;
+};
+
+struct MjSpec {
+  MjSpec();
+  explicit MjSpec(mjSpec *ptr);
+  MjSpec(const MjSpec &);
+  MjSpec &operator=(const MjSpec &);
+  ~MjSpec();
+  std::unique_ptr<MjSpec> copy();
+  // INSERT-GENERATED-MjSpec-DEFINITIONS
+  mjSpec* get() const { return ptr_; }
+  void set(mjSpec* ptr) { ptr_ = ptr; }
+
+ private:
+  mjSpec* ptr_;
+  bool owned_ = false;
+
+ public:
+  MjOption option;
+  MjVisual visual;
+  MjStatistic stat;
+  MjsCompiler compiler;
+  MjsElement element;
+};
+
+// TODO: Refactor, Structs Manually added so functions.cc compile -- //
+struct MjpResourceProvider {
+  MjpResourceProvider(mjpResourceProvider *ptr_) { ptr = ptr_; };
+  ~MjpResourceProvider() {}
+  mjpResourceProvider *get() const { return ptr; }
+  mjpResourceProvider *ptr;
+};
+
+struct MjpPlugin {
+  MjpPlugin(mjpPlugin *ptr_) { ptr = ptr_; };
+  ~MjpPlugin() {}
+  mjpPlugin *get() const { return ptr; }
+  mjpPlugin *ptr;
+};
+
 using emscripten::enum_;
 using emscripten::class_;
 using emscripten::function;

wasm/codegen/templates/bindings.h

@@ -1,348 +0,0 @@
-// 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)
-#ifndef MUJOCO_WASM_CODEGEN_GENERATED_BINDINGS_H_
-#define MUJOCO_WASM_CODEGEN_GENERATED_BINDINGS_H_
-#include <emscripten.h>
-#include <emscripten/bind.h>
-
-#include <cstddef>
-#include <cstdint>
-#include <memory>
-
-#include <mujoco/mujoco.h>
-
-namespace mujoco::wasm {
-
-// Create the types for anonymous structs
-using mjVisualGlobal = decltype(::mjVisual::global);
-using mjVisualQuality = decltype(::mjVisual::quality);
-using mjVisualHeadlight = decltype(::mjVisual::headlight);
-using mjVisualMap = decltype(::mjVisual::map);
-using mjVisualScale = decltype(::mjVisual::scale);
-using mjVisualRgba = decltype(::mjVisual::rgba);
-
-// {{ AUTOGENNED_STRUCT_DEFINITIONS }}
-struct MjVisualGlobal {
-  MjVisualGlobal();
-  explicit MjVisualGlobal(mjVisualGlobal *ptr);
-  MjVisualGlobal(const MjVisualGlobal &);
-  MjVisualGlobal &operator=(const MjVisualGlobal &);
-  ~MjVisualGlobal();
-  std::unique_ptr<MjVisualGlobal> copy();
-  // INSERT-GENERATED-MjVisualGlobal-DEFINITIONS
-  mjVisualGlobal* get() const { return ptr_; }
-  void set(mjVisualGlobal* ptr) { ptr_ = ptr; }
-
- private:
-  mjVisualGlobal* ptr_;
-  bool owned_ = false;
-};
-
-struct MjVisualQuality {
-  MjVisualQuality();
-  explicit MjVisualQuality(mjVisualQuality *ptr);
-  MjVisualQuality(const MjVisualQuality &);
-  MjVisualQuality &operator=(const MjVisualQuality &);
-  ~MjVisualQuality();
-  std::unique_ptr<MjVisualQuality> copy();
-  // INSERT-GENERATED-MjVisualQuality-DEFINITIONS
-  mjVisualQuality* get() const { return ptr_; }
-  void set(mjVisualQuality* ptr) { ptr_ = ptr; }
-
- private:
-  mjVisualQuality* ptr_;
-  bool owned_ = false;
-};
-
-struct MjVisualHeadlight {
-  MjVisualHeadlight();
-  explicit MjVisualHeadlight(mjVisualHeadlight *ptr);
-  MjVisualHeadlight(const MjVisualHeadlight &);
-  MjVisualHeadlight &operator=(const MjVisualHeadlight &);
-  ~MjVisualHeadlight();
-  std::unique_ptr<MjVisualHeadlight> copy();
-  // INSERT-GENERATED-MjVisualHeadlight-DEFINITIONS
-  mjVisualHeadlight* get() const { return ptr_; }
-  void set(mjVisualHeadlight* ptr) { ptr_ = ptr; }
-
- private:
-  mjVisualHeadlight* ptr_;
-  bool owned_ = false;
-};
-
-struct MjVisualMap {
-  MjVisualMap();
-  explicit MjVisualMap(mjVisualMap *ptr);
-  MjVisualMap(const MjVisualMap &);
-  MjVisualMap &operator=(const MjVisualMap &);
-  ~MjVisualMap();
-  std::unique_ptr<MjVisualMap> copy();
-  // INSERT-GENERATED-MjVisualMap-DEFINITIONS
-  mjVisualMap* get() const { return ptr_; }
-  void set(mjVisualMap* ptr) { ptr_ = ptr; }
-
- private:
-  mjVisualMap* ptr_;
-  bool owned_ = false;
-};
-
-struct MjVisualScale {
-  MjVisualScale();
-  explicit MjVisualScale(mjVisualScale *ptr);
-  MjVisualScale(const MjVisualScale &);
-  MjVisualScale &operator=(const MjVisualScale &);
-  ~MjVisualScale();
-  std::unique_ptr<MjVisualScale> copy();
-  // INSERT-GENERATED-MjVisualScale-DEFINITIONS
-  mjVisualScale* get() const { return ptr_; }
-  void set(mjVisualScale* ptr) { ptr_ = ptr; }
-
- private:
-  mjVisualScale* ptr_;
-  bool owned_ = false;
-};
-
-struct MjVisualRgba {
-  MjVisualRgba();
-  explicit MjVisualRgba(mjVisualRgba *ptr);
-  MjVisualRgba(const MjVisualRgba &);
-  MjVisualRgba &operator=(const MjVisualRgba &);
-  ~MjVisualRgba();
-  std::unique_ptr<MjVisualRgba> copy();
-  // INSERT-GENERATED-MjVisualRgba-DEFINITIONS
-  mjVisualRgba* get() const { return ptr_; }
-  void set(mjVisualRgba* ptr) { ptr_ = ptr; }
-
- private:
-  mjVisualRgba* ptr_;
-  bool owned_ = false;
-};
-
-struct MjVisual {
-  MjVisual();
-  explicit MjVisual(mjVisual *ptr_);
-  MjVisual(const MjVisual &);
-  MjVisual &operator=(const MjVisual &);
-  ~MjVisual();
-  std::unique_ptr<MjVisual> copy();
-  // INSERT-GENERATED-MjVisual-DEFINITIONS
-  mjVisual* get() const { return ptr_; }
-  void set(mjVisual* ptr) { ptr_ = ptr; }
-
- private:
-  mjVisual* ptr_;
-  bool owned_ = false;
-
- public:
-  MjVisualGlobal global;
-  MjVisualQuality quality;
-  MjVisualHeadlight headlight;
-  MjVisualMap map;
-  MjVisualScale scale;
-  MjVisualRgba rgba;
-};
-
-struct MjModel {
-  explicit MjModel(mjModel *m);
-  explicit MjModel(const MjModel &other);
-  ~MjModel();
-  std::unique_ptr<MjModel> copy();
-  // INSERT-GENERATED-MjModel-DEFINITIONS
-  mjModel* get() const { return ptr_; }
-  void set(mjModel* ptr) { ptr_ = ptr; }
-
- private:
-  mjModel* ptr_;
-
- public:
-  MjOption opt;
-  MjStatistic stat;
-  MjVisual vis;
-};
-
-struct MjData {
-  MjData(MjModel *m);
-  explicit MjData(const MjModel &, const MjData &);
-  ~MjData();
-  std::vector<MjSolverStat> InitSolverArray();
-  std::vector<MjTimerStat> InitTimerArray();
-  std::vector<MjWarningStat> InitWarningArray();
-  std::vector<MjContact> contact() const;
-  std::unique_ptr<MjData> copy();
-  // INSERT-GENERATED-MjData-DEFINITIONS
-  mjData* get() const { return ptr_; }
-  void set(mjData* ptr) { ptr_ = ptr; }
-
- private:
-  mjData* ptr_;
-
- public:
-  mjModel *model;
-  std::vector<MjSolverStat> solver;
-  std::vector<MjTimerStat> timer;
-  std::vector<MjWarningStat> warning;
-};
-
-struct MjvScene {
-  MjvScene();
-  MjvScene(MjModel *m, int maxgeom);
-  // MjvScene(const MjvScene &);
-  ~MjvScene();
-  std::unique_ptr<MjvScene> copy();
-  int GetSumFlexFaces() const;
-  std::vector<MjvLight> InitLightsArray();
-  std::vector<MjvGLCamera> InitCameraArray();
-
-  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-DEFINITIONS
-  mjvScene* get() const { return ptr_; }
-  void set(mjvScene* ptr) { ptr_ = ptr; }
-
- private:
-  mjvScene* ptr_;
-  bool owned_ = false;
-
- public:
-  mjModel *model;
-  std::vector<MjvLight> lights;
-  std::vector<MjvGLCamera> camera;
-};
-
-struct MjSpec {
-  MjSpec();
-  explicit MjSpec(mjSpec *ptr);
-  MjSpec(const MjSpec &);
-  MjSpec &operator=(const MjSpec &);
-  ~MjSpec();
-  std::unique_ptr<MjSpec> copy();
-  // INSERT-GENERATED-MjSpec-DEFINITIONS
-  mjSpec* get() const { return ptr_; }
-  void set(mjSpec* ptr) { ptr_ = ptr; }
-
- private:
-  mjSpec* ptr_;
-  bool owned_ = false;
-
- public:
-  MjOption option;
-  MjVisual visual;
-  MjStatistic stat;
-  MjsCompiler compiler;
-  MjsElement element;
-};
-
-// TODO: Refactor, Structs Manually added so functions.cc compile -- //
-struct MjpResourceProvider {
-  MjpResourceProvider(mjpResourceProvider *ptr_) { ptr = ptr_; };
-  ~MjpResourceProvider() {}
-  mjpResourceProvider *get() const { return ptr; }
-  mjpResourceProvider *ptr;
-};
-
-struct MjpPlugin {
-  MjpPlugin(mjpPlugin *ptr_) { ptr = ptr_; };
-  ~MjpPlugin() {}
-  mjpPlugin *get() const { return ptr; }
-  mjpPlugin *ptr;
-};
-
-// TODO: Factory and debug helper functions, some should be removed when
-// functions are generated -- //
-std::unique_ptr<MjModel> loadFromXML(std::string filename);
-void step(MjModel *model, MjData *data);
-void error(const std::string &msg);
-void kinematics(MjModel *m, MjData *d);
-std::unique_ptr<MjSpec> parseXMLString(const std::string &xml);
-std::unique_ptr<MjsBody> findBody(MjSpec *spec, const std::string &name);
-std::unique_ptr<MjsGeom> findGeom(MjSpec *spec, const std::string &name);
-
-}  // namespace mujoco::wasm
-
-#endif  // MUJOCO_WASM_CODEGEN_GENERATED_BINDINGS_H_
-// NOLINTEND(whitespace/line_length)

wasm/codegen/update.py

@@ -25,16 +25,11 @@ from wasm.codegen.helpers import common
 
 def generate_all_bindings():
   """Generates WASM bindings for MuJoCo."""
-  template_path_h, generated_path_h = common.get_file_path(
-      "templates", "generated", "bindings.h"
-  )
   template_path_cc, generated_path_cc = common.get_file_path(
       "templates", "generated", "bindings.cc"
   )
-  builder = binding_builder.BindingBuilder(
+  builder = binding_builder.BindingBuilder(template_path_cc, generated_path_cc)
-      template_path_h, template_path_cc, generated_path_h, generated_path_cc
+  builder.set_enums().set_structs().set_functions().build()
-  )
-  builder.set_enums().set_headers().set_structs().set_functions().build()
 
 
 if __name__ == "__main__":