Combine markers and content and reorganize parts of the WASM template file
PiperOrigin-RevId: 836729951 Change-Id: Ib3bb25a23325cfbd84fd0439243db37ca8236bf3
This commit is contained in:
Matija Kecman
committed by
Copybara-Service
Copybara-Service
parent
b6e162d6fa
commit
181dcab6be
@@ -39,13 +39,8 @@
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namespace mujoco::wasm {
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using emscripten::enum_;
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using emscripten::class_;
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using emscripten::function;
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using emscripten::val;
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using emscripten::constant;
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using emscripten::register_optional;
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using emscripten::register_type;
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using emscripten::register_vector;
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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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@@ -115,33 +110,33 @@ val get_mjRNDSTRING() { return MakeValArray3(mjRNDSTRING); }
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EMSCRIPTEN_BINDINGS(mujoco_constants) {
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// from mjmodel.h
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constant("mjPI", mjPI);
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constant("mjMAXVAL", mjMAXVAL);
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constant("mjMINMU", mjMINMU);
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constant("mjMINIMP", mjMINIMP);
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constant("mjMAXIMP", mjMAXIMP);
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constant("mjMAXCONPAIR", mjMAXCONPAIR);
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constant("mjNEQDATA", mjNEQDATA);
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constant("mjNDYN", mjNDYN);
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constant("mjNGAIN", mjNGAIN);
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constant("mjNBIAS", mjNBIAS);
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constant("mjNREF", mjNREF);
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constant("mjNIMP", mjNIMP);
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constant("mjNSOLVER", mjNSOLVER);
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emscripten::constant("mjPI", mjPI);
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emscripten::constant("mjMAXVAL", mjMAXVAL);
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emscripten::constant("mjMINMU", mjMINMU);
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emscripten::constant("mjMINIMP", mjMINIMP);
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emscripten::constant("mjMAXIMP", mjMAXIMP);
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emscripten::constant("mjMAXCONPAIR", mjMAXCONPAIR);
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emscripten::constant("mjNEQDATA", mjNEQDATA);
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emscripten::constant("mjNDYN", mjNDYN);
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emscripten::constant("mjNGAIN", mjNGAIN);
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emscripten::constant("mjNBIAS", mjNBIAS);
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emscripten::constant("mjNREF", mjNREF);
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emscripten::constant("mjNIMP", mjNIMP);
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emscripten::constant("mjNSOLVER", mjNSOLVER);
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// from mjvisualize.h
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constant("mjNGROUP", mjNGROUP);
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constant("mjMAXLIGHT", mjMAXLIGHT);
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constant("mjMAXOVERLAY", mjMAXOVERLAY);
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constant("mjMAXLINE", mjMAXLINE);
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constant("mjMAXLINEPNT", mjMAXLINEPNT);
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constant("mjMAXPLANEGRID", mjMAXPLANEGRID);
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emscripten::constant("mjNGROUP", mjNGROUP);
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emscripten::constant("mjMAXLIGHT", mjMAXLIGHT);
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emscripten::constant("mjMAXOVERLAY", mjMAXOVERLAY);
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emscripten::constant("mjMAXLINE", mjMAXLINE);
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emscripten::constant("mjMAXLINEPNT", mjMAXLINEPNT);
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emscripten::constant("mjMAXPLANEGRID", mjMAXPLANEGRID);
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// from mujoco.h
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constant("mjVERSION_HEADER", mjVERSION_HEADER);
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emscripten::constant("mjVERSION_HEADER", mjVERSION_HEADER);
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// from mjtnum.h
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constant("mjMINVAL", mjMINVAL);
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emscripten::constant("mjMINVAL", mjMINVAL);
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// emscripten::constant() is designed for simple, compile-time literal values
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// (like numbers or a single string literal), complex values need to be
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@@ -10058,6 +10053,36 @@ EMSCRIPTEN_BINDINGS(mujoco_structs) {
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.property("status", &MjvScene::status, &MjvScene::set_status, reference())
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.property("stereo", &MjvScene::stereo, &MjvScene::set_stereo, reference())
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.property("translate", &MjvScene::translate);
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emscripten::register_optional<MjSpec>();
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emscripten::register_optional<MjsActuator>();
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emscripten::register_optional<MjsBody>();
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emscripten::register_optional<MjsCamera>();
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emscripten::register_optional<MjsCompiler>();
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emscripten::register_optional<MjsDefault>();
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emscripten::register_optional<MjsElement>();
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emscripten::register_optional<MjsEquality>();
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emscripten::register_optional<MjsExclude>();
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emscripten::register_optional<MjsFlex>();
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emscripten::register_optional<MjsFrame>();
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emscripten::register_optional<MjsGeom>();
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emscripten::register_optional<MjsHField>();
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emscripten::register_optional<MjsJoint>();
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emscripten::register_optional<MjsKey>();
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emscripten::register_optional<MjsLight>();
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emscripten::register_optional<MjsMaterial>();
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emscripten::register_optional<MjsMesh>();
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emscripten::register_optional<MjsNumeric>();
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emscripten::register_optional<MjsOrientation>();
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emscripten::register_optional<MjsPair>();
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emscripten::register_optional<MjsPlugin>();
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emscripten::register_optional<MjsSensor>();
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emscripten::register_optional<MjsSite>();
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emscripten::register_optional<MjsSkin>();
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emscripten::register_optional<MjsTendon>();
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emscripten::register_optional<MjsText>();
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emscripten::register_optional<MjsTexture>();
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emscripten::register_optional<MjsTuple>();
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emscripten::register_optional<MjsWrap>();
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// TODO: should be generated in future CLs -- //
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emscripten::register_vector<MjSolverStat>("MjSolverStatVec");
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@@ -12753,64 +12778,34 @@ EMSCRIPTEN_BINDINGS(mujoco_functions) {
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function("mjv_updateCamera", &mjv_updateCamera_wrapper);
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function("mjv_updateScene", &mjv_updateScene_wrapper);
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function("mjv_updateSkin", &mjv_updateSkin_wrapper);
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class_<WasmBuffer<float>>("FloatBuffer")
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emscripten::class_<WasmBuffer<float>>("FloatBuffer")
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.constructor<int>()
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.class_function("FromArray", &WasmBuffer<float>::FromArray)
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.function("GetPointer", &WasmBuffer<float>::GetPointer)
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.function("GetElementCount", &WasmBuffer<float>::GetElementCount)
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.function("GetView", &WasmBuffer<float>::GetView);
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class_<WasmBuffer<double>>("DoubleBuffer")
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emscripten::class_<WasmBuffer<double>>("DoubleBuffer")
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.constructor<int>()
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.class_function("FromArray", &WasmBuffer<double>::FromArray)
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.function("GetPointer", &WasmBuffer<double>::GetPointer)
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.function("GetElementCount", &WasmBuffer<double>::GetElementCount)
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.function("GetView", &WasmBuffer<double>::GetView);
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class_<WasmBuffer<int>>("IntBuffer")
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emscripten::class_<WasmBuffer<int>>("IntBuffer")
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.constructor<int>()
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.class_function("FromArray", &WasmBuffer<int>::FromArray)
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.function("GetPointer", &WasmBuffer<int>::GetPointer)
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.function("GetElementCount", &WasmBuffer<int>::GetElementCount)
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.function("GetView", &WasmBuffer<int>::GetView);
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register_vector<std::string>("mjStringVec");
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register_vector<int>("mjIntVec");
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register_vector<mjIntVec>("mjIntVecVec");
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register_vector<float>("mjFloatVec");
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register_vector<mjFloatVec>("mjFloatVecVec");
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register_vector<double>("mjDoubleVec");
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// register_type gives better type information (val is mapped to any by default)
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register_type<NumberArray>("number[]");
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register_type<String>("string");
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register_vector<uint8_t>("mjByteVec");
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register_optional<MjSpec>();
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register_optional<MjsActuator>();
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register_optional<MjsBody>();
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register_optional<MjsCamera>();
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register_optional<MjsCompiler>();
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register_optional<MjsDefault>();
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register_optional<MjsElement>();
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register_optional<MjsEquality>();
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register_optional<MjsExclude>();
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register_optional<MjsFlex>();
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register_optional<MjsFrame>();
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register_optional<MjsGeom>();
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register_optional<MjsHField>();
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register_optional<MjsJoint>();
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register_optional<MjsKey>();
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register_optional<MjsLight>();
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register_optional<MjsMaterial>();
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register_optional<MjsMesh>();
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register_optional<MjsNumeric>();
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register_optional<MjsOrientation>();
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register_optional<MjsPair>();
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register_optional<MjsPlugin>();
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register_optional<MjsSensor>();
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register_optional<MjsSite>();
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register_optional<MjsSkin>();
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register_optional<MjsTendon>();
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register_optional<MjsText>();
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register_optional<MjsTexture>();
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register_optional<MjsTuple>();
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register_optional<MjsWrap>();
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emscripten::register_vector<std::string>("mjStringVec");
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emscripten::register_vector<int>("mjIntVec");
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emscripten::register_vector<mjIntVec>("mjIntVecVec");
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emscripten::register_vector<float>("mjFloatVec");
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emscripten::register_vector<mjFloatVec>("mjFloatVecVec");
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emscripten::register_vector<double>("mjDoubleVec");
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emscripten::register_type<NumberArray>("number[]");
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emscripten::register_type<String>("string");
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emscripten::register_vector<uint8_t>("mjByteVec");
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}
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} // namespace mujoco::wasm
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@@ -734,23 +734,19 @@ def generate(struct_to_bind: List[str]) -> list[tuple[str, list[str]]]:
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typedefs.append(
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f"using {type_name} = decltype(::{s['parent']}::{s['field_name']});"
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)
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markers_and_content.append((
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"// {{ ANONYMOUS_STRUCT_TYPEDEFS }}",
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typedefs,
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))
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# Sort by struct name by dependency to ensure deterministic output order
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dependency_sorted_struct_names = sort_structs_by_dependency(
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structs_to_bind_data
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)
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autogenned_struct_definitions = []
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for struct_name in dependency_sorted_struct_names:
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struct_data = structs_to_bind_data[struct_name]
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structs_header = []
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for s in dependency_sorted_struct_names:
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struct_data = structs_to_bind_data[s]
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if struct_data.wrapped_header:
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autogenned_struct_definitions.append(struct_data.wrapped_header + "\n")
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structs_header.append(struct_data.wrapped_header + "\n")
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else:
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definitions = []
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definitions: list[str] = []
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for f in sorted(struct_data.wrapped_fields, key=lambda f: f.definition):
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if f.definition:
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definitions.append(f.definition)
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@@ -758,42 +754,29 @@ def generate(struct_to_bind: List[str]) -> list[tuple[str, list[str]]]:
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f"// INSERT-GENERATED-{struct_data.wrap_name}-DEFINITIONS",
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definitions,
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))
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markers_and_content.append((
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"// {{ AUTOGENNED_STRUCTS_HEADER }}",
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autogenned_struct_definitions,
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))
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autogenned_struct_source = []
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for struct_name in dependency_sorted_struct_names:
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struct_data = structs_to_bind_data[struct_name]
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structs_source = []
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for s in dependency_sorted_struct_names:
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struct_data = structs_to_bind_data[s]
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if struct_data.wrapped_source:
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autogenned_struct_source.append(struct_data.wrapped_source + "\n")
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structs_source.append(struct_data.wrapped_source + "\n")
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autogenned_struct_bindings = []
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struct_bindings = []
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alphabetically_sorted_struct_names = sorted(structs_to_bind_data.keys())
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for struct_name in alphabetically_sorted_struct_names:
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struct_data = structs_to_bind_data[struct_name]
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autogenned_struct_bindings.append(struct_data.bindings)
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for s in alphabetically_sorted_struct_names:
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struct_data = structs_to_bind_data[s]
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struct_bindings.append(struct_data.bindings)
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for s in sorted(struct_to_bind):
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w = common.capitalize(s)
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if w.startswith("Mjs") or w == "MjSpec":
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struct_bindings.append(f"emscripten::register_optional<{w}>();")
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markers_and_content.append((
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"// {{ AUTOGENNED_STRUCTS_SOURCE }}",
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autogenned_struct_source,
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))
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markers_and_content.append((
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"// {{ AUTOGENNED_STRUCTS_BINDINGS }}",
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autogenned_struct_bindings,
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))
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# Generate optional bindings
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optional_bindings = []
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for s_name in sorted(struct_to_bind):
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w_name = common.capitalize(s_name)
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if w_name.startswith("Mjs") or w_name == "MjSpec":
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optional_bindings.append(f"register_optional<{w_name}>();")
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markers_and_content.append((
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"// {{ OPTIONAL_STRUCT_BINDINGS }}",
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optional_bindings,
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))
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# Combine all the markers and content into a single list
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markers_and_content += [
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("// {{ ANONYMOUS_STRUCT_TYPEDEFS }}", typedefs),
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("// {{ STRUCTS_HEADER }}", structs_header),
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("// {{ STRUCTS_SOURCE }}", structs_source),
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("// {{ STRUCTS_BINDINGS }}", struct_bindings),
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]
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return markers_and_content
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@@ -39,13 +39,8 @@
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namespace mujoco::wasm {
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using emscripten::enum_;
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using emscripten::class_;
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using emscripten::function;
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using emscripten::val;
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using emscripten::constant;
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using emscripten::register_optional;
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using emscripten::register_type;
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using emscripten::register_vector;
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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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@@ -115,33 +110,33 @@ val get_mjRNDSTRING() { return MakeValArray3(mjRNDSTRING); }
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EMSCRIPTEN_BINDINGS(mujoco_constants) {
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// from mjmodel.h
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constant("mjPI", mjPI);
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constant("mjMAXVAL", mjMAXVAL);
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constant("mjMINMU", mjMINMU);
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constant("mjMINIMP", mjMINIMP);
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constant("mjMAXIMP", mjMAXIMP);
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constant("mjMAXCONPAIR", mjMAXCONPAIR);
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constant("mjNEQDATA", mjNEQDATA);
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constant("mjNDYN", mjNDYN);
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constant("mjNGAIN", mjNGAIN);
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constant("mjNBIAS", mjNBIAS);
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constant("mjNREF", mjNREF);
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constant("mjNIMP", mjNIMP);
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constant("mjNSOLVER", mjNSOLVER);
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emscripten::constant("mjPI", mjPI);
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emscripten::constant("mjMAXVAL", mjMAXVAL);
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emscripten::constant("mjMINMU", mjMINMU);
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emscripten::constant("mjMINIMP", mjMINIMP);
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emscripten::constant("mjMAXIMP", mjMAXIMP);
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emscripten::constant("mjMAXCONPAIR", mjMAXCONPAIR);
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emscripten::constant("mjNEQDATA", mjNEQDATA);
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emscripten::constant("mjNDYN", mjNDYN);
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emscripten::constant("mjNGAIN", mjNGAIN);
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emscripten::constant("mjNBIAS", mjNBIAS);
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emscripten::constant("mjNREF", mjNREF);
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emscripten::constant("mjNIMP", mjNIMP);
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emscripten::constant("mjNSOLVER", mjNSOLVER);
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// from mjvisualize.h
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constant("mjNGROUP", mjNGROUP);
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constant("mjMAXLIGHT", mjMAXLIGHT);
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constant("mjMAXOVERLAY", mjMAXOVERLAY);
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constant("mjMAXLINE", mjMAXLINE);
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constant("mjMAXLINEPNT", mjMAXLINEPNT);
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constant("mjMAXPLANEGRID", mjMAXPLANEGRID);
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emscripten::constant("mjNGROUP", mjNGROUP);
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emscripten::constant("mjMAXLIGHT", mjMAXLIGHT);
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emscripten::constant("mjMAXOVERLAY", mjMAXOVERLAY);
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emscripten::constant("mjMAXLINE", mjMAXLINE);
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emscripten::constant("mjMAXLINEPNT", mjMAXLINEPNT);
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emscripten::constant("mjMAXPLANEGRID", mjMAXPLANEGRID);
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// from mujoco.h
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constant("mjVERSION_HEADER", mjVERSION_HEADER);
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emscripten::constant("mjVERSION_HEADER", mjVERSION_HEADER);
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// from mjtnum.h
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constant("mjMINVAL", mjMINVAL);
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emscripten::constant("mjMINVAL", mjMINVAL);
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// emscripten::constant() is designed for simple, compile-time literal values
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// (like numbers or a single string literal), complex values need to be
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@@ -159,9 +154,9 @@ EMSCRIPTEN_BINDINGS(mujoco_constants) {
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// {{ ANONYMOUS_STRUCT_TYPEDEFS }}
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// {{ AUTOGENNED_STRUCTS_HEADER }}
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// {{ STRUCTS_HEADER }}
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// {{ AUTOGENNED_STRUCTS_SOURCE }}
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// {{ STRUCTS_SOURCE }}
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struct MjvScene {
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MjvScene();
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@@ -470,7 +465,7 @@ int mj_setLengthRange_wrapper(const MjModel& m, const MjData& d, int index, cons
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}
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EMSCRIPTEN_BINDINGS(mujoco_structs) {
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// {{ AUTOGENNED_STRUCTS_BINDINGS }}
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// {{ STRUCTS_BINDINGS }}
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// TODO: should be generated in future CLs -- //
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emscripten::register_vector<MjSolverStat>("MjSolverStatVec");
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@@ -488,35 +483,34 @@ EMSCRIPTEN_BINDINGS(mujoco_functions) {
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function("parseXMLString", &parseXMLString_wrapper, take_ownership());
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function("error", &error_wrapper);
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// {{ FUNCTION_BINDINGS }}
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class_<WasmBuffer<float>>("FloatBuffer")
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emscripten::class_<WasmBuffer<float>>("FloatBuffer")
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.constructor<int>()
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.class_function("FromArray", &WasmBuffer<float>::FromArray)
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.function("GetPointer", &WasmBuffer<float>::GetPointer)
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.function("GetElementCount", &WasmBuffer<float>::GetElementCount)
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.function("GetView", &WasmBuffer<float>::GetView);
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class_<WasmBuffer<double>>("DoubleBuffer")
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emscripten::class_<WasmBuffer<double>>("DoubleBuffer")
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.constructor<int>()
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.class_function("FromArray", &WasmBuffer<double>::FromArray)
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.function("GetPointer", &WasmBuffer<double>::GetPointer)
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.function("GetElementCount", &WasmBuffer<double>::GetElementCount)
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.function("GetView", &WasmBuffer<double>::GetView);
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class_<WasmBuffer<int>>("IntBuffer")
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emscripten::class_<WasmBuffer<int>>("IntBuffer")
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.constructor<int>()
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.class_function("FromArray", &WasmBuffer<int>::FromArray)
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.function("GetPointer", &WasmBuffer<int>::GetPointer)
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.function("GetElementCount", &WasmBuffer<int>::GetElementCount)
|
||||
.function("GetView", &WasmBuffer<int>::GetView);
|
||||
register_vector<std::string>("mjStringVec");
|
||||
register_vector<int>("mjIntVec");
|
||||
register_vector<mjIntVec>("mjIntVecVec");
|
||||
register_vector<float>("mjFloatVec");
|
||||
register_vector<mjFloatVec>("mjFloatVecVec");
|
||||
register_vector<double>("mjDoubleVec");
|
||||
// register_type gives better type information (val is mapped to any by default)
|
||||
register_type<NumberArray>("number[]");
|
||||
register_type<String>("string");
|
||||
register_vector<uint8_t>("mjByteVec");
|
||||
// {{ OPTIONAL_STRUCT_BINDINGS }}
|
||||
emscripten::register_vector<std::string>("mjStringVec");
|
||||
emscripten::register_vector<int>("mjIntVec");
|
||||
emscripten::register_vector<mjIntVec>("mjIntVecVec");
|
||||
emscripten::register_vector<float>("mjFloatVec");
|
||||
emscripten::register_vector<mjFloatVec>("mjFloatVecVec");
|
||||
emscripten::register_vector<double>("mjDoubleVec");
|
||||
emscripten::register_type<NumberArray>("number[]");
|
||||
emscripten::register_type<String>("string");
|
||||
emscripten::register_vector<uint8_t>("mjByteVec");
|
||||
}
|
||||
|
||||
} // namespace mujoco::wasm
|
||||
|
||||
Reference in New Issue
Block a user