Autogenerate more of mjVFS and mjvGeom WASM bindings

PiperOrigin-RevId: 827898643
Change-Id: I95f9eaa129f663cbeb3606d286c2080c47cfbcc4

wasm/codegen/generated/bindings.cc

@@ -7398,7 +7398,9 @@ MjLROpt& MjLROpt::operator=(const MjLROpt &other) {
   return *this;
 }
 MjLROpt::~MjLROpt() {
-  if (owned_ && ptr_) delete ptr_;
+  if (owned_ && ptr_) {
+    delete ptr_;
+  }
 }
 std::unique_ptr<MjLROpt> MjLROpt::copy() {
   return std::make_unique<MjLROpt>(*this);
@@ -7421,7 +7423,9 @@ MjOption& MjOption::operator=(const MjOption &other) {
   return *this;
 }
 MjOption::~MjOption() {
-  if (owned_ && ptr_) delete ptr_;
+  if (owned_ && ptr_) {
+    delete ptr_;
+  }
 }
 std::unique_ptr<MjOption> MjOption::copy() {
   return std::make_unique<MjOption>(*this);
@@ -7443,7 +7447,9 @@ MjStatistic& MjStatistic::operator=(const MjStatistic &other) {
   return *this;
 }
 MjStatistic::~MjStatistic() {
-  if (owned_ && ptr_) delete ptr_;
+  if (owned_ && ptr_) {
+    delete ptr_;
+  }
 }
 std::unique_ptr<MjStatistic> MjStatistic::copy() {
   return std::make_unique<MjStatistic>(*this);
@@ -7465,7 +7471,9 @@ MjVisualGlobal& MjVisualGlobal::operator=(const MjVisualGlobal &other) {
   return *this;
 }
 MjVisualGlobal::~MjVisualGlobal() {
-  if (owned_ && ptr_) delete ptr_;
+  if (owned_ && ptr_) {
+    delete ptr_;
+  }
 }
 std::unique_ptr<MjVisualGlobal> MjVisualGlobal::copy() {
   return std::make_unique<MjVisualGlobal>(*this);
@@ -7486,7 +7494,9 @@ MjVisualQuality& MjVisualQuality::operator=(const MjVisualQuality &other) {
   return *this;
 }
 MjVisualQuality::~MjVisualQuality() {
-  if (owned_ && ptr_) delete ptr_;
+  if (owned_ && ptr_) {
+    delete ptr_;
+  }
 }
 std::unique_ptr<MjVisualQuality> MjVisualQuality::copy() {
   return std::make_unique<MjVisualQuality>(*this);
@@ -7507,7 +7517,9 @@ MjVisualHeadlight& MjVisualHeadlight::operator=(const MjVisualHeadlight &other)
   return *this;
 }
 MjVisualHeadlight::~MjVisualHeadlight() {
-  if (owned_ && ptr_) delete ptr_;
+  if (owned_ && ptr_) {
+    delete ptr_;
+  }
 }
 std::unique_ptr<MjVisualHeadlight> MjVisualHeadlight::copy() {
   return std::make_unique<MjVisualHeadlight>(*this);
@@ -7528,7 +7540,9 @@ MjVisualMap& MjVisualMap::operator=(const MjVisualMap &other) {
   return *this;
 }
 MjVisualMap::~MjVisualMap() {
-  if (owned_ && ptr_) delete ptr_;
+  if (owned_ && ptr_) {
+    delete ptr_;
+  }
 }
 std::unique_ptr<MjVisualMap> MjVisualMap::copy() {
   return std::make_unique<MjVisualMap>(*this);
@@ -7549,7 +7563,9 @@ MjVisualScale& MjVisualScale::operator=(const MjVisualScale &other) {
   return *this;
 }
 MjVisualScale::~MjVisualScale() {
-  if (owned_ && ptr_) delete ptr_;
+  if (owned_ && ptr_) {
+    delete ptr_;
+  }
 }
 std::unique_ptr<MjVisualScale> MjVisualScale::copy() {
   return std::make_unique<MjVisualScale>(*this);
@@ -7570,7 +7586,9 @@ MjVisualRgba& MjVisualRgba::operator=(const MjVisualRgba &other) {
   return *this;
 }
 MjVisualRgba::~MjVisualRgba() {
-  if (owned_ && ptr_) delete ptr_;
+  if (owned_ && ptr_) {
+    delete ptr_;
+  }
 }
 std::unique_ptr<MjVisualRgba> MjVisualRgba::copy() {
   return std::make_unique<MjVisualRgba>(*this);
@@ -7604,7 +7622,9 @@ MjVisual& MjVisual::operator=(const MjVisual &other) {
   return *this;
 }
 MjVisual::~MjVisual() {
-  if (owned_ && ptr_) delete ptr_;
+  if (owned_ && ptr_) {
+    delete ptr_;
+  }
 }
 std::unique_ptr<MjVisual> MjVisual::copy() {
   return std::make_unique<MjVisual>(*this);
@@ -7626,7 +7646,9 @@ MjSolverStat& MjSolverStat::operator=(const MjSolverStat &other) {
   return *this;
 }
 MjSolverStat::~MjSolverStat() {
-  if (owned_ && ptr_) delete ptr_;
+  if (owned_ && ptr_) {
+    delete ptr_;
+  }
 }
 std::unique_ptr<MjSolverStat> MjSolverStat::copy() {
   return std::make_unique<MjSolverStat>(*this);
@@ -7648,7 +7670,9 @@ MjTimerStat& MjTimerStat::operator=(const MjTimerStat &other) {
   return *this;
 }
 MjTimerStat::~MjTimerStat() {
-  if (owned_ && ptr_) delete ptr_;
+  if (owned_ && ptr_) {
+    delete ptr_;
+  }
 }
 std::unique_ptr<MjTimerStat> MjTimerStat::copy() {
   return std::make_unique<MjTimerStat>(*this);
@@ -7670,7 +7694,9 @@ MjWarningStat& MjWarningStat::operator=(const MjWarningStat &other) {
   return *this;
 }
 MjWarningStat::~MjWarningStat() {
-  if (owned_ && ptr_) delete ptr_;
+  if (owned_ && ptr_) {
+    delete ptr_;
+  }
 }
 std::unique_ptr<MjWarningStat> MjWarningStat::copy() {
   return std::make_unique<MjWarningStat>(*this);
@@ -7692,7 +7718,9 @@ MjContact& MjContact::operator=(const MjContact &other) {
   return *this;
 }
 MjContact::~MjContact() {
-  if (owned_ && ptr_) delete ptr_;
+  if (owned_ && ptr_) {
+    delete ptr_;
+  }
 }
 std::unique_ptr<MjContact> MjContact::copy() {
   return std::make_unique<MjContact>(*this);
@@ -7786,7 +7814,9 @@ MjvPerturb& MjvPerturb::operator=(const MjvPerturb &other) {
   return *this;
 }
 MjvPerturb::~MjvPerturb() {
-  if (owned_ && ptr_) delete ptr_;
+  if (owned_ && ptr_) {
+    delete ptr_;
+  }
 }
 std::unique_ptr<MjvPerturb> MjvPerturb::copy() {
   return std::make_unique<MjvPerturb>(*this);
@@ -7809,7 +7839,9 @@ MjvCamera& MjvCamera::operator=(const MjvCamera &other) {
   return *this;
 }
 MjvCamera::~MjvCamera() {
-  if (owned_ && ptr_) delete ptr_;
+  if (owned_ && ptr_) {
+    delete ptr_;
+  }
 }
 std::unique_ptr<MjvCamera> MjvCamera::copy() {
   return std::make_unique<MjvCamera>(*this);
@@ -7831,23 +7863,24 @@ MjvGLCamera& MjvGLCamera::operator=(const MjvGLCamera &other) {
   return *this;
 }
 MjvGLCamera::~MjvGLCamera() {
-  if (owned_ && ptr_) delete ptr_;
+  if (owned_ && ptr_) {
+    delete ptr_;
+  }
 }
 std::unique_ptr<MjvGLCamera> MjvGLCamera::copy() {
   return std::make_unique<MjvGLCamera>(*this);
 }
 
 // =============== MjvGeom =============== //
-MjvGeom::MjvGeom(mjvGeom *ptr) { ptr_ = ptr; };
+MjvGeom::MjvGeom(mjvGeom *ptr) : ptr_(ptr) {}
 MjvGeom::MjvGeom() : ptr_(new mjvGeom) {
   owned_ = true;
   mjv_initGeom(ptr_, mjGEOM_NONE, nullptr, nullptr, nullptr, nullptr);
-};
+}
 MjvGeom::MjvGeom(const MjvGeom &other) : MjvGeom() {
   *ptr_ = *other.get();
 }
-MjvGeom &MjvGeom::operator=(
-    const MjvGeom &other) {
+MjvGeom& MjvGeom::operator=(const MjvGeom &other) {
   if (this == &other) {
     return *this;
   }
@@ -7855,7 +7888,9 @@ MjvGeom &MjvGeom::operator=(
   return *this;
 }
 MjvGeom::~MjvGeom() {
-  if (owned_ && ptr_) delete ptr_;
+  if (owned_ && ptr_) {
+    delete ptr_;
+  }
 }
 std::unique_ptr<MjvGeom> MjvGeom::copy() {
   return std::make_unique<MjvGeom>(*this);
@@ -7877,7 +7912,9 @@ MjvLight& MjvLight::operator=(const MjvLight &other) {
   return *this;
 }
 MjvLight::~MjvLight() {
-  if (owned_ && ptr_) delete ptr_;
+  if (owned_ && ptr_) {
+    delete ptr_;
+  }
 }
 std::unique_ptr<MjvLight> MjvLight::copy() {
   return std::make_unique<MjvLight>(*this);
@@ -7900,7 +7937,9 @@ MjvOption& MjvOption::operator=(const MjvOption &other) {
   return *this;
 }
 MjvOption::~MjvOption() {
-  if (owned_ && ptr_) delete ptr_;
+  if (owned_ && ptr_) {
+    delete ptr_;
+  }
 }
 std::unique_ptr<MjvOption> MjvOption::copy() {
   return std::make_unique<MjvOption>(*this);
@@ -8010,7 +8049,9 @@ MjvFigure& MjvFigure::operator=(const MjvFigure &other) {
   return *this;
 }
 MjvFigure::~MjvFigure() {
-  if (owned_ && ptr_) delete ptr_;
+  if (owned_ && ptr_) {
+    delete ptr_;
+  }
 }
 std::unique_ptr<MjvFigure> MjvFigure::copy() {
   return std::make_unique<MjvFigure>(*this);

wasm/codegen/helpers/helpers_test.py

@@ -311,7 +311,9 @@ MjLROpt& MjLROpt::operator=(const MjLROpt &other) {
   return *this;
 }
 MjLROpt::~MjLROpt() {
-  if (owned_ && ptr_) delete ptr_;
+  if (owned_ && ptr_) {
+    delete ptr_;
+  }
 }
 std::unique_ptr<MjLROpt> MjLROpt::copy() {
   return std::make_unique<MjLROpt>(*this);
@@ -372,7 +374,9 @@ MjvLight& MjvLight::operator=(const MjvLight &other) {
   return *this;
 }
 MjvLight::~MjvLight() {
-  if (owned_ && ptr_) delete ptr_;
+  if (owned_ && ptr_) {
+    delete ptr_;
+  }
 }
 std::unique_ptr<MjvLight> MjvLight::copy() {
   return std::make_unique<MjvLight>(*this);

wasm/codegen/helpers/structs.py

@@ -493,7 +493,7 @@ def _build_struct_header_internal(
   return builder.to_string() + ";"
 
 
-def _get_default_func_name(struct_name: str) -> str:
+def _default_function_statement(struct_name: str) -> str:
   """Returns the default function name for the given struct."""
   if (
       struct_name in constants.ANONYMOUS_STRUCTS.keys()
@@ -505,11 +505,23 @@ def _get_default_func_name(struct_name: str) -> str:
   ):
     return ""
   elif struct_name.startswith("mjs"):
-    return f"mjs_default{struct_name.removeprefix('mjs')}"
+    return f"mjs_default{struct_name.removeprefix('mjs')}(ptr_);"
+  elif struct_name == "mjvGeom":
+    return (
+        "mjv_initGeom(ptr_, mjGEOM_NONE, nullptr, nullptr, nullptr, nullptr);"
+    )
   elif struct_name.startswith("mjv"):
-    return f"mjv_default{struct_name.removeprefix('mjv')}"
+    return f"mjv_default{struct_name.removeprefix('mjv')}(ptr_);"
   else:
-    return f"mj_default{struct_name.removeprefix('mj')}"
+    return f"mj_default{struct_name.removeprefix('mj')}(ptr_);"
+
+
+def _delete_ptr_statement(struct_name: str) -> str:
+  """Returns the delete function name for the given struct."""
+  if struct_name == "mjVFS":
+    return "mj_deleteVFS(ptr_);"
+  else:
+    return "delete ptr_;"
 
 
 def _find_fields_with_init(
@@ -574,18 +586,19 @@ def build_struct_source(
 
   fields_with_init = _find_fields_with_init(wrapped_fields)
   shallow_copy = use_shallow_copy(wrapped_fields)
-  mj_default_func = _get_default_func_name(struct_name)
 
   fields_init = ""
   if fields_with_init:
     fields_init = "".join(
         field_with_init.initialization for field_with_init in fields_with_init
     )
+
   # constructor passing native ptr
   builder.line(
       f"{wrapper_name}::{wrapper_name}({struct_name} *ptr) :"
       f" ptr_(ptr){fields_init} {{}}"
   )
+
   # constructor with default values
   if not is_mjs_struct:
     with builder.block(
@@ -593,10 +606,12 @@ def build_struct_source(
         f" {struct_name}){fields_init}"
     ):
       builder.line("owned_ = true;")
-      if mj_default_func:
-        builder.line(f"{mj_default_func}(ptr_);")
-  # copy constructor
+      default_func = _default_function_statement(struct_name)
+      if default_func:
+        builder.line(default_func)
+
   if shallow_copy and not is_mjs_struct:
+    # copy constructor
     with builder.block(
         f"{wrapper_name}::{wrapper_name}(const {wrapper_name} &other)"
         + (f" : {wrapper_name}()" if not is_mjs_struct else "")
@@ -606,6 +621,7 @@ def build_struct_source(
         for field_with_init in fields_with_init:
           if field_with_init.ptr_copy_reset is not None:
             builder.line(field_with_init.ptr_copy_reset)
+
     # assignment operator
     with builder.block(
         f"{wrapper_name}&"
@@ -620,18 +636,23 @@ def build_struct_source(
           if field_with_init.ptr_copy_reset is not None:
             builder.line(field_with_init.ptr_copy_reset)
       builder.line("return *this;")
+
   # destructor
   if is_mjs_struct:
     builder.line(f"{wrapper_name}::~{wrapper_name}() {{}}")
   else:
     with builder.block(f"{wrapper_name}::~{wrapper_name}()"):
-      builder.line("if (owned_ && ptr_) delete ptr_;")
+      with builder.block("if (owned_ && ptr_)"):
+        delete_ptr = _delete_ptr_statement(struct_name)
+        builder.line(delete_ptr)
+
   # copy function
   if shallow_copy:
     with builder.block(
         f"std::unique_ptr<{wrapper_name}> {wrapper_name}::copy()"
     ):
       builder.line(f"return std::make_unique<{wrapper_name}>(*this);")
+
   return builder.to_string()
 
 

wasm/codegen/templates/bindings.cc

@@ -563,28 +563,7 @@ std::vector<MjContact> MjData::contact() const {
 // INSERT-GENERATED-MjvGLCamera-CONSTRUCTOR
 
 // =============== MjvGeom =============== //
-MjvGeom::MjvGeom(mjvGeom *ptr) { ptr_ = ptr; };
-MjvGeom::MjvGeom() : ptr_(new mjvGeom) {
-  owned_ = true;
-  mjv_initGeom(ptr_, mjGEOM_NONE, nullptr, nullptr, nullptr, nullptr);
-};
-MjvGeom::MjvGeom(const MjvGeom &other) : MjvGeom() {
-  *ptr_ = *other.get();
-}
-MjvGeom &MjvGeom::operator=(
-    const MjvGeom &other) {
-  if (this == &other) {
-    return *this;
-  }
-  *ptr_ = *other.get();
-  return *this;
-}
-MjvGeom::~MjvGeom() {
-  if (owned_ && ptr_) delete ptr_;
-}
-std::unique_ptr<MjvGeom> MjvGeom::copy() {
-  return std::make_unique<MjvGeom>(*this);
-}
+// INSERT-GENERATED-MjvGeom-CONSTRUCTOR
 
 // =============== MjvLight =============== //
 // INSERT-GENERATED-MjvLight-CONSTRUCTOR
@@ -823,16 +802,7 @@ MjSpec::~MjSpec() {
 // INSERT-GENERATED-MjsPlugin-CONSTRUCTOR
 
 // =============== MjVFS =============== //
-MjVFS::MjVFS(mjVFS *ptr) : ptr_(ptr) {}
-MjVFS::MjVFS() : ptr_(new mjVFS) {
-  owned_ = true;
-  mj_defaultVFS(ptr_);
-}
-MjVFS::~MjVFS() {
-  if (owned_ && ptr_) {
-    mj_deleteVFS(ptr_);
-  }
-}
+// INSERT-GENERATED-MjVFS-CONSTRUCTOR
 
 // ======= FACTORY AND HELPER FUNCTIONS ========= //
 std::unique_ptr<MjModel> loadFromXML(std::string filename) {