From 181dcab6be1c66a23544a7cdcdd440e63e36abed Mon Sep 17 00:00:00 2001
From: Matija Kecman <matijak@google.com>
Date: Tue, 25 Nov 2025 10:39:37 -0800
Subject: [PATCH] Combine markers and content and reorganize parts of the WASM
 template file

PiperOrigin-RevId: 836729951
Change-Id: Ib3bb25a23325cfbd84fd0439243db37ca8236bf3
---
 wasm/codegen/generated/bindings.cc | 131 ++++++++++++++---------------
 wasm/codegen/generators/structs.py |  65 ++++++--------
 wasm/codegen/templates/bindings.cc |  78 ++++++++---------
 3 files changed, 123 insertions(+), 151 deletions(-)

diff --git a/wasm/codegen/generated/bindings.cc b/wasm/codegen/generated/bindings.cc
index 9ae27fea..eca58689 100644
--- a/wasm/codegen/generated/bindings.cc
+++ b/wasm/codegen/generated/bindings.cc
@@ -39,13 +39,8 @@
 namespace mujoco::wasm {
 
 using emscripten::enum_;
-using emscripten::class_;
 using emscripten::function;
 using emscripten::val;
-using emscripten::constant;
-using emscripten::register_optional;
-using emscripten::register_type;
-using emscripten::register_vector;
 using emscripten::return_value_policy::reference;
 using emscripten::return_value_policy::take_ownership;
 
@@ -115,33 +110,33 @@ val get_mjRNDSTRING() { return MakeValArray3(mjRNDSTRING); }
 
 EMSCRIPTEN_BINDINGS(mujoco_constants) {
   // from mjmodel.h
-  constant("mjPI", mjPI);
-  constant("mjMAXVAL", mjMAXVAL);
-  constant("mjMINMU", mjMINMU);
-  constant("mjMINIMP", mjMINIMP);
-  constant("mjMAXIMP", mjMAXIMP);
-  constant("mjMAXCONPAIR", mjMAXCONPAIR);
-  constant("mjNEQDATA", mjNEQDATA);
-  constant("mjNDYN", mjNDYN);
-  constant("mjNGAIN", mjNGAIN);
-  constant("mjNBIAS", mjNBIAS);
-  constant("mjNREF", mjNREF);
-  constant("mjNIMP", mjNIMP);
-  constant("mjNSOLVER", mjNSOLVER);
+  emscripten::constant("mjPI", mjPI);
+  emscripten::constant("mjMAXVAL", mjMAXVAL);
+  emscripten::constant("mjMINMU", mjMINMU);
+  emscripten::constant("mjMINIMP", mjMINIMP);
+  emscripten::constant("mjMAXIMP", mjMAXIMP);
+  emscripten::constant("mjMAXCONPAIR", mjMAXCONPAIR);
+  emscripten::constant("mjNEQDATA", mjNEQDATA);
+  emscripten::constant("mjNDYN", mjNDYN);
+  emscripten::constant("mjNGAIN", mjNGAIN);
+  emscripten::constant("mjNBIAS", mjNBIAS);
+  emscripten::constant("mjNREF", mjNREF);
+  emscripten::constant("mjNIMP", mjNIMP);
+  emscripten::constant("mjNSOLVER", mjNSOLVER);
 
   // from mjvisualize.h
-  constant("mjNGROUP", mjNGROUP);
-  constant("mjMAXLIGHT", mjMAXLIGHT);
-  constant("mjMAXOVERLAY", mjMAXOVERLAY);
-  constant("mjMAXLINE", mjMAXLINE);
-  constant("mjMAXLINEPNT", mjMAXLINEPNT);
-  constant("mjMAXPLANEGRID", mjMAXPLANEGRID);
+  emscripten::constant("mjNGROUP", mjNGROUP);
+  emscripten::constant("mjMAXLIGHT", mjMAXLIGHT);
+  emscripten::constant("mjMAXOVERLAY", mjMAXOVERLAY);
+  emscripten::constant("mjMAXLINE", mjMAXLINE);
+  emscripten::constant("mjMAXLINEPNT", mjMAXLINEPNT);
+  emscripten::constant("mjMAXPLANEGRID", mjMAXPLANEGRID);
 
   // from mujoco.h
-  constant("mjVERSION_HEADER", mjVERSION_HEADER);
+  emscripten::constant("mjVERSION_HEADER", mjVERSION_HEADER);
 
   // from mjtnum.h
-  constant("mjMINVAL", mjMINVAL);
+  emscripten::constant("mjMINVAL", mjMINVAL);
 
   // emscripten::constant() is designed for simple, compile-time literal values
   // (like numbers or a single string literal), complex values need to be
@@ -10058,6 +10053,36 @@ EMSCRIPTEN_BINDINGS(mujoco_structs) {
     .property("status", &MjvScene::status, &MjvScene::set_status, reference())
     .property("stereo", &MjvScene::stereo, &MjvScene::set_stereo, reference())
     .property("translate", &MjvScene::translate);
+  emscripten::register_optional<MjSpec>();
+  emscripten::register_optional<MjsActuator>();
+  emscripten::register_optional<MjsBody>();
+  emscripten::register_optional<MjsCamera>();
+  emscripten::register_optional<MjsCompiler>();
+  emscripten::register_optional<MjsDefault>();
+  emscripten::register_optional<MjsElement>();
+  emscripten::register_optional<MjsEquality>();
+  emscripten::register_optional<MjsExclude>();
+  emscripten::register_optional<MjsFlex>();
+  emscripten::register_optional<MjsFrame>();
+  emscripten::register_optional<MjsGeom>();
+  emscripten::register_optional<MjsHField>();
+  emscripten::register_optional<MjsJoint>();
+  emscripten::register_optional<MjsKey>();
+  emscripten::register_optional<MjsLight>();
+  emscripten::register_optional<MjsMaterial>();
+  emscripten::register_optional<MjsMesh>();
+  emscripten::register_optional<MjsNumeric>();
+  emscripten::register_optional<MjsOrientation>();
+  emscripten::register_optional<MjsPair>();
+  emscripten::register_optional<MjsPlugin>();
+  emscripten::register_optional<MjsSensor>();
+  emscripten::register_optional<MjsSite>();
+  emscripten::register_optional<MjsSkin>();
+  emscripten::register_optional<MjsTendon>();
+  emscripten::register_optional<MjsText>();
+  emscripten::register_optional<MjsTexture>();
+  emscripten::register_optional<MjsTuple>();
+  emscripten::register_optional<MjsWrap>();
 
   // TODO: should be generated in future CLs -- //
   emscripten::register_vector<MjSolverStat>("MjSolverStatVec");
@@ -12753,64 +12778,34 @@ EMSCRIPTEN_BINDINGS(mujoco_functions) {
   function("mjv_updateCamera", &mjv_updateCamera_wrapper);
   function("mjv_updateScene", &mjv_updateScene_wrapper);
   function("mjv_updateSkin", &mjv_updateSkin_wrapper);
-  class_<WasmBuffer<float>>("FloatBuffer")
+  emscripten::class_<WasmBuffer<float>>("FloatBuffer")
       .constructor<int>()
       .class_function("FromArray", &WasmBuffer<float>::FromArray)
       .function("GetPointer", &WasmBuffer<float>::GetPointer)
       .function("GetElementCount", &WasmBuffer<float>::GetElementCount)
       .function("GetView", &WasmBuffer<float>::GetView);
-  class_<WasmBuffer<double>>("DoubleBuffer")
+  emscripten::class_<WasmBuffer<double>>("DoubleBuffer")
       .constructor<int>()
       .class_function("FromArray", &WasmBuffer<double>::FromArray)
       .function("GetPointer", &WasmBuffer<double>::GetPointer)
       .function("GetElementCount", &WasmBuffer<double>::GetElementCount)
       .function("GetView", &WasmBuffer<double>::GetView);
-  class_<WasmBuffer<int>>("IntBuffer")
+  emscripten::class_<WasmBuffer<int>>("IntBuffer")
       .constructor<int>()
       .class_function("FromArray", &WasmBuffer<int>::FromArray)
       .function("GetPointer", &WasmBuffer<int>::GetPointer)
       .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");
-  register_optional<MjSpec>();
-  register_optional<MjsActuator>();
-  register_optional<MjsBody>();
-  register_optional<MjsCamera>();
-  register_optional<MjsCompiler>();
-  register_optional<MjsDefault>();
-  register_optional<MjsElement>();
-  register_optional<MjsEquality>();
-  register_optional<MjsExclude>();
-  register_optional<MjsFlex>();
-  register_optional<MjsFrame>();
-  register_optional<MjsGeom>();
-  register_optional<MjsHField>();
-  register_optional<MjsJoint>();
-  register_optional<MjsKey>();
-  register_optional<MjsLight>();
-  register_optional<MjsMaterial>();
-  register_optional<MjsMesh>();
-  register_optional<MjsNumeric>();
-  register_optional<MjsOrientation>();
-  register_optional<MjsPair>();
-  register_optional<MjsPlugin>();
-  register_optional<MjsSensor>();
-  register_optional<MjsSite>();
-  register_optional<MjsSkin>();
-  register_optional<MjsTendon>();
-  register_optional<MjsText>();
-  register_optional<MjsTexture>();
-  register_optional<MjsTuple>();
-  register_optional<MjsWrap>();
+  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
diff --git a/wasm/codegen/generators/structs.py b/wasm/codegen/generators/structs.py
index 55feda2c..8b45e242 100644
--- a/wasm/codegen/generators/structs.py
+++ b/wasm/codegen/generators/structs.py
@@ -734,23 +734,19 @@ def generate(struct_to_bind: List[str]) -> list[tuple[str, list[str]]]:
     typedefs.append(
         f"using {type_name} = decltype(::{s['parent']}::{s['field_name']});"
     )
-  markers_and_content.append((
-      "// {{ ANONYMOUS_STRUCT_TYPEDEFS }}",
-      typedefs,
-  ))
 
   # Sort by struct name by dependency to ensure deterministic output order
   dependency_sorted_struct_names = sort_structs_by_dependency(
       structs_to_bind_data
   )
 
-  autogenned_struct_definitions = []
-  for struct_name in dependency_sorted_struct_names:
-    struct_data = structs_to_bind_data[struct_name]
+  structs_header = []
+  for s in dependency_sorted_struct_names:
+    struct_data = structs_to_bind_data[s]
     if struct_data.wrapped_header:
-      autogenned_struct_definitions.append(struct_data.wrapped_header + "\n")
+      structs_header.append(struct_data.wrapped_header + "\n")
     else:
-      definitions = []
+      definitions: list[str] = []
       for f in sorted(struct_data.wrapped_fields, key=lambda f: f.definition):
         if f.definition:
           definitions.append(f.definition)
@@ -758,42 +754,29 @@ def generate(struct_to_bind: List[str]) -> list[tuple[str, list[str]]]:
           f"// INSERT-GENERATED-{struct_data.wrap_name}-DEFINITIONS",
           definitions,
       ))
-  markers_and_content.append((
-      "// {{ AUTOGENNED_STRUCTS_HEADER }}",
-      autogenned_struct_definitions,
-  ))
 
-  autogenned_struct_source = []
-  for struct_name in dependency_sorted_struct_names:
-    struct_data = structs_to_bind_data[struct_name]
+  structs_source = []
+  for s in dependency_sorted_struct_names:
+    struct_data = structs_to_bind_data[s]
     if struct_data.wrapped_source:
-      autogenned_struct_source.append(struct_data.wrapped_source + "\n")
+      structs_source.append(struct_data.wrapped_source + "\n")
 
-  autogenned_struct_bindings = []
+  struct_bindings = []
   alphabetically_sorted_struct_names = sorted(structs_to_bind_data.keys())
-  for struct_name in alphabetically_sorted_struct_names:
-    struct_data = structs_to_bind_data[struct_name]
-    autogenned_struct_bindings.append(struct_data.bindings)
+  for s in alphabetically_sorted_struct_names:
+    struct_data = structs_to_bind_data[s]
+    struct_bindings.append(struct_data.bindings)
+  for s in sorted(struct_to_bind):
+    w = common.capitalize(s)
+    if w.startswith("Mjs") or w == "MjSpec":
+      struct_bindings.append(f"emscripten::register_optional<{w}>();")
 
-  markers_and_content.append((
-      "// {{ AUTOGENNED_STRUCTS_SOURCE }}",
-      autogenned_struct_source,
-  ))
-  markers_and_content.append((
-      "// {{ AUTOGENNED_STRUCTS_BINDINGS }}",
-      autogenned_struct_bindings,
-  ))
-
-  # Generate optional bindings
-  optional_bindings = []
-  for s_name in sorted(struct_to_bind):
-    w_name = common.capitalize(s_name)
-    if w_name.startswith("Mjs") or w_name == "MjSpec":
-      optional_bindings.append(f"register_optional<{w_name}>();")
-
-  markers_and_content.append((
-      "// {{ OPTIONAL_STRUCT_BINDINGS }}",
-      optional_bindings,
-  ))
+  # Combine all the markers and content into a single list
+  markers_and_content += [
+      ("// {{ ANONYMOUS_STRUCT_TYPEDEFS }}", typedefs),
+      ("// {{ STRUCTS_HEADER }}", structs_header),
+      ("// {{ STRUCTS_SOURCE }}", structs_source),
+      ("// {{ STRUCTS_BINDINGS }}", struct_bindings),
+  ]
 
   return markers_and_content
diff --git a/wasm/codegen/templates/bindings.cc b/wasm/codegen/templates/bindings.cc
index c67f8768..1db0553b 100644
--- a/wasm/codegen/templates/bindings.cc
+++ b/wasm/codegen/templates/bindings.cc
@@ -39,13 +39,8 @@
 namespace mujoco::wasm {
 
 using emscripten::enum_;
-using emscripten::class_;
 using emscripten::function;
 using emscripten::val;
-using emscripten::constant;
-using emscripten::register_optional;
-using emscripten::register_type;
-using emscripten::register_vector;
 using emscripten::return_value_policy::reference;
 using emscripten::return_value_policy::take_ownership;
 
@@ -115,33 +110,33 @@ val get_mjRNDSTRING() { return MakeValArray3(mjRNDSTRING); }
 
 EMSCRIPTEN_BINDINGS(mujoco_constants) {
   // from mjmodel.h
-  constant("mjPI", mjPI);
-  constant("mjMAXVAL", mjMAXVAL);
-  constant("mjMINMU", mjMINMU);
-  constant("mjMINIMP", mjMINIMP);
-  constant("mjMAXIMP", mjMAXIMP);
-  constant("mjMAXCONPAIR", mjMAXCONPAIR);
-  constant("mjNEQDATA", mjNEQDATA);
-  constant("mjNDYN", mjNDYN);
-  constant("mjNGAIN", mjNGAIN);
-  constant("mjNBIAS", mjNBIAS);
-  constant("mjNREF", mjNREF);
-  constant("mjNIMP", mjNIMP);
-  constant("mjNSOLVER", mjNSOLVER);
+  emscripten::constant("mjPI", mjPI);
+  emscripten::constant("mjMAXVAL", mjMAXVAL);
+  emscripten::constant("mjMINMU", mjMINMU);
+  emscripten::constant("mjMINIMP", mjMINIMP);
+  emscripten::constant("mjMAXIMP", mjMAXIMP);
+  emscripten::constant("mjMAXCONPAIR", mjMAXCONPAIR);
+  emscripten::constant("mjNEQDATA", mjNEQDATA);
+  emscripten::constant("mjNDYN", mjNDYN);
+  emscripten::constant("mjNGAIN", mjNGAIN);
+  emscripten::constant("mjNBIAS", mjNBIAS);
+  emscripten::constant("mjNREF", mjNREF);
+  emscripten::constant("mjNIMP", mjNIMP);
+  emscripten::constant("mjNSOLVER", mjNSOLVER);
 
   // from mjvisualize.h
-  constant("mjNGROUP", mjNGROUP);
-  constant("mjMAXLIGHT", mjMAXLIGHT);
-  constant("mjMAXOVERLAY", mjMAXOVERLAY);
-  constant("mjMAXLINE", mjMAXLINE);
-  constant("mjMAXLINEPNT", mjMAXLINEPNT);
-  constant("mjMAXPLANEGRID", mjMAXPLANEGRID);
+  emscripten::constant("mjNGROUP", mjNGROUP);
+  emscripten::constant("mjMAXLIGHT", mjMAXLIGHT);
+  emscripten::constant("mjMAXOVERLAY", mjMAXOVERLAY);
+  emscripten::constant("mjMAXLINE", mjMAXLINE);
+  emscripten::constant("mjMAXLINEPNT", mjMAXLINEPNT);
+  emscripten::constant("mjMAXPLANEGRID", mjMAXPLANEGRID);
 
   // from mujoco.h
-  constant("mjVERSION_HEADER", mjVERSION_HEADER);
+  emscripten::constant("mjVERSION_HEADER", mjVERSION_HEADER);
 
   // from mjtnum.h
-  constant("mjMINVAL", mjMINVAL);
+  emscripten::constant("mjMINVAL", mjMINVAL);
 
   // emscripten::constant() is designed for simple, compile-time literal values
   // (like numbers or a single string literal), complex values need to be
@@ -159,9 +154,9 @@ EMSCRIPTEN_BINDINGS(mujoco_constants) {
 
 // {{ ANONYMOUS_STRUCT_TYPEDEFS }}
 
-// {{ AUTOGENNED_STRUCTS_HEADER }}
+// {{ STRUCTS_HEADER }}
 
-// {{ AUTOGENNED_STRUCTS_SOURCE }}
+// {{ STRUCTS_SOURCE }}
 
 struct MjvScene {
   MjvScene();
@@ -470,7 +465,7 @@ int mj_setLengthRange_wrapper(const MjModel& m, const MjData& d, int index, cons
 }
 
 EMSCRIPTEN_BINDINGS(mujoco_structs) {
-  // {{ AUTOGENNED_STRUCTS_BINDINGS }}
+  // {{ STRUCTS_BINDINGS }}
 
   // TODO: should be generated in future CLs -- //
   emscripten::register_vector<MjSolverStat>("MjSolverStatVec");
@@ -488,35 +483,34 @@ EMSCRIPTEN_BINDINGS(mujoco_functions) {
   function("parseXMLString", &parseXMLString_wrapper, take_ownership());
   function("error", &error_wrapper);
   // {{ FUNCTION_BINDINGS }}
-  class_<WasmBuffer<float>>("FloatBuffer")
+  emscripten::class_<WasmBuffer<float>>("FloatBuffer")
       .constructor<int>()
       .class_function("FromArray", &WasmBuffer<float>::FromArray)
       .function("GetPointer", &WasmBuffer<float>::GetPointer)
       .function("GetElementCount", &WasmBuffer<float>::GetElementCount)
       .function("GetView", &WasmBuffer<float>::GetView);
-  class_<WasmBuffer<double>>("DoubleBuffer")
+  emscripten::class_<WasmBuffer<double>>("DoubleBuffer")
       .constructor<int>()
       .class_function("FromArray", &WasmBuffer<double>::FromArray)
       .function("GetPointer", &WasmBuffer<double>::GetPointer)
       .function("GetElementCount", &WasmBuffer<double>::GetElementCount)
       .function("GetView", &WasmBuffer<double>::GetView);
-  class_<WasmBuffer<int>>("IntBuffer")
+  emscripten::class_<WasmBuffer<int>>("IntBuffer")
       .constructor<int>()
       .class_function("FromArray", &WasmBuffer<int>::FromArray)
       .function("GetPointer", &WasmBuffer<int>::GetPointer)
       .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