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Generate MjVisual, MjModel, MjData and MjSpec structs declaration

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PiperOrigin-RevId: 834264723
Change-Id: Id33d7568a1f9f0cfb1271cf9dd2d8713c00eee34
This commit is contained in:
Google DeepMind
2025-11-19 06:21:24 -08:00
committed by Copybara-Service
parent 07d8bd5b80
commit 10fe5ff07f
4 changed files with 1442 additions and 1509 deletions
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wasm/codegen/templates/bindings.cc
+13 -99
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@@ -109,72 +109,9 @@ std::vector<WrapperType> InitWrapperArray(ArrayType* array, SizeType size) {
// {{ AUTOGENNED_STRUCTS_HEADER }}
struct MjVisual {
MjVisual();
explicit MjVisual(mjVisual *ptr_);
MjVisual(const MjVisual &);
MjVisual &operator=(const MjVisual &);
~MjVisual();
std::unique_ptr<MjVisual> copy();
mjVisual* get() const;
void set(mjVisual* ptr);
// INSERT-GENERATED-MjVisual-DEFINITIONS
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();
mjModel* get() const;
void set(mjModel* ptr);
// INSERT-GENERATED-MjModel-DEFINITIONS
private:
mjModel* ptr_;
public:
MjOption opt;
MjStatistic stat;
MjVisual vis;
};
struct MjData {
MjData(MjModel *m);
explicit MjData(const MjModel &, const MjData &);
~MjData();
std::vector<MjContact> contact() const;
std::unique_ptr<MjData> copy();
mjData* get() const;
void set(mjData* ptr);
// INSERT-GENERATED-MjData-DEFINITIONS
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;
@@ -268,29 +205,6 @@ struct MjvScene {
std::vector<MjvGLCamera> camera;
};
struct MjSpec {
MjSpec();
explicit MjSpec(mjSpec *ptr);
MjSpec(const MjSpec &);
MjSpec &operator=(const MjSpec &);
~MjSpec();
std::unique_ptr<MjSpec> copy();
mjSpec* get() const;
void set(mjSpec* ptr);
// INSERT-GENERATED-MjSpec-DEFINITIONS
private:
mjSpec* ptr_;
bool owned_ = false;
public:
MjOption option;
MjVisual visual;
MjStatistic stat;
MjsCompiler compiler;
MjsElement element;
};
val get_mjDISABLESTRING() { return MakeValArray(mjDISABLESTRING); }
val get_mjENABLESTRING() { return MakeValArray(mjENABLESTRING); }
val get_mjTIMERSTRING() { return MakeValArray(mjTIMERSTRING); }
@@ -348,13 +262,13 @@ EMSCRIPTEN_BINDINGS(mujoco_enums) {
// {{ AUTOGENNED_STRUCTS_SOURCE }}
// =============== MjModel =============== //
MjModel::MjModel(mjModel *m)
: ptr_(m), opt(&m->opt), stat(&m->stat), vis(&m->vis) {}
MjModel::MjModel(mjModel *ptr)
: ptr_(ptr), opt(&ptr->opt), vis(&ptr->vis), stat(&ptr->stat) {}
MjModel::MjModel(const MjModel &other)
: ptr_(mj_copyModel(nullptr, other.get())),
opt(&ptr_->opt),
stat(&ptr_->stat),
vis(&ptr_->vis) {}
vis(&ptr_->vis),
stat(&ptr_->stat) {}
MjModel::~MjModel() {
if (ptr_) {
mj_deleteModel(ptr_);
@@ -462,30 +376,30 @@ std::vector<MjvGeom> MjvScene::geoms() const {
MjSpec::MjSpec()
: ptr_(mj_makeSpec()),
element(ptr_->element),
compiler(&ptr_->compiler),
option(&ptr_->option),
visual(&ptr_->visual),
stat(&ptr_->stat),
compiler(&ptr_->compiler),
element(ptr_->element) {
stat(&ptr_->stat) {
owned_ = true;
mjs_defaultSpec(ptr_);
};
MjSpec::MjSpec(mjSpec *ptr)
: ptr_(ptr),
element(ptr_->element),
compiler(&ptr_->compiler),
option(&ptr_->option),
visual(&ptr_->visual),
stat(&ptr_->stat),
compiler(&ptr_->compiler),
element(ptr_->element) {}
stat(&ptr_->stat) {}
MjSpec::MjSpec(const MjSpec &other)
: ptr_(mj_copySpec(other.get())),
element(ptr_->element),
compiler(&ptr_->compiler),
option(&ptr_->option),
visual(&ptr_->visual),
stat(&ptr_->stat),
compiler(&ptr_->compiler),
element(ptr_->element) {
stat(&ptr_->stat) {
owned_ = true;
}