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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/templates/bindings.cc
+36 -42
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@@ -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