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Combine markers and content and reorganize parts of the WASM template file

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PiperOrigin-RevId: 836729951
Change-Id: Ib3bb25a23325cfbd84fd0439243db37ca8236bf3
This commit is contained in:
Matija Kecman
2025-11-25 10:39:37 -08:00
committed by Copybara-Service
parent b6e162d6fa
commit 181dcab6be
3 changed files with 123 additions and 151 deletions
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wasm/codegen/generated/bindings.cc
+63 -68
View File
@@ -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