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Autogenerate more of mjVFS and mjvGeom WASM bindings

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PiperOrigin-RevId: 827898643
Change-Id: I95f9eaa129f663cbeb3606d286c2080c47cfbcc4
This commit is contained in:
Matija Kecman
2025-11-04 03:59:28 -08:00
committed by Copybara-Service
parent f808632cf8
commit 34e5eecba5
4 changed files with 104 additions and 68 deletions
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wasm/codegen/generated/bindings.cc
+66 -25
View File
@@ -7398,7 +7398,9 @@ MjLROpt& MjLROpt::operator=(const MjLROpt &other) {
return *this; return *this;
} }
MjLROpt::~MjLROpt() { MjLROpt::~MjLROpt() {
if (owned_ && ptr_) delete ptr_; if (owned_ && ptr_) {
delete ptr_;
}
} }
std::unique_ptr<MjLROpt> MjLROpt::copy() { std::unique_ptr<MjLROpt> MjLROpt::copy() {
return std::make_unique<MjLROpt>(*this); return std::make_unique<MjLROpt>(*this);
@@ -7421,7 +7423,9 @@ MjOption& MjOption::operator=(const MjOption &other) {
return *this; return *this;
} }
MjOption::~MjOption() { MjOption::~MjOption() {
if (owned_ && ptr_) delete ptr_; if (owned_ && ptr_) {
delete ptr_;
}
} }
std::unique_ptr<MjOption> MjOption::copy() { std::unique_ptr<MjOption> MjOption::copy() {
return std::make_unique<MjOption>(*this); return std::make_unique<MjOption>(*this);
@@ -7443,7 +7447,9 @@ MjStatistic& MjStatistic::operator=(const MjStatistic &other) {
return *this; return *this;
} }
MjStatistic::~MjStatistic() { MjStatistic::~MjStatistic() {
if (owned_ && ptr_) delete ptr_; if (owned_ && ptr_) {
delete ptr_;
}
} }
std::unique_ptr<MjStatistic> MjStatistic::copy() { std::unique_ptr<MjStatistic> MjStatistic::copy() {
return std::make_unique<MjStatistic>(*this); return std::make_unique<MjStatistic>(*this);
@@ -7465,7 +7471,9 @@ MjVisualGlobal& MjVisualGlobal::operator=(const MjVisualGlobal &other) {
return *this; return *this;
} }
MjVisualGlobal::~MjVisualGlobal() { MjVisualGlobal::~MjVisualGlobal() {
if (owned_ && ptr_) delete ptr_; if (owned_ && ptr_) {
delete ptr_;
}
} }
std::unique_ptr<MjVisualGlobal> MjVisualGlobal::copy() { std::unique_ptr<MjVisualGlobal> MjVisualGlobal::copy() {
return std::make_unique<MjVisualGlobal>(*this); return std::make_unique<MjVisualGlobal>(*this);
@@ -7486,7 +7494,9 @@ MjVisualQuality& MjVisualQuality::operator=(const MjVisualQuality &other) {
return *this; return *this;
} }
MjVisualQuality::~MjVisualQuality() { MjVisualQuality::~MjVisualQuality() {
if (owned_ && ptr_) delete ptr_; if (owned_ && ptr_) {
delete ptr_;
}
} }
std::unique_ptr<MjVisualQuality> MjVisualQuality::copy() { std::unique_ptr<MjVisualQuality> MjVisualQuality::copy() {
return std::make_unique<MjVisualQuality>(*this); return std::make_unique<MjVisualQuality>(*this);
@@ -7507,7 +7517,9 @@ MjVisualHeadlight& MjVisualHeadlight::operator=(const MjVisualHeadlight &other)
return *this; return *this;
} }
MjVisualHeadlight::~MjVisualHeadlight() { MjVisualHeadlight::~MjVisualHeadlight() {
if (owned_ && ptr_) delete ptr_; if (owned_ && ptr_) {
delete ptr_;
}
} }
std::unique_ptr<MjVisualHeadlight> MjVisualHeadlight::copy() { std::unique_ptr<MjVisualHeadlight> MjVisualHeadlight::copy() {
return std::make_unique<MjVisualHeadlight>(*this); return std::make_unique<MjVisualHeadlight>(*this);
@@ -7528,7 +7540,9 @@ MjVisualMap& MjVisualMap::operator=(const MjVisualMap &other) {
return *this; return *this;
} }
MjVisualMap::~MjVisualMap() { MjVisualMap::~MjVisualMap() {
if (owned_ && ptr_) delete ptr_; if (owned_ && ptr_) {
delete ptr_;
}
} }
std::unique_ptr<MjVisualMap> MjVisualMap::copy() { std::unique_ptr<MjVisualMap> MjVisualMap::copy() {
return std::make_unique<MjVisualMap>(*this); return std::make_unique<MjVisualMap>(*this);
@@ -7549,7 +7563,9 @@ MjVisualScale& MjVisualScale::operator=(const MjVisualScale &other) {
return *this; return *this;
} }
MjVisualScale::~MjVisualScale() { MjVisualScale::~MjVisualScale() {
if (owned_ && ptr_) delete ptr_; if (owned_ && ptr_) {
delete ptr_;
}
} }
std::unique_ptr<MjVisualScale> MjVisualScale::copy() { std::unique_ptr<MjVisualScale> MjVisualScale::copy() {
return std::make_unique<MjVisualScale>(*this); return std::make_unique<MjVisualScale>(*this);
@@ -7570,7 +7586,9 @@ MjVisualRgba& MjVisualRgba::operator=(const MjVisualRgba &other) {
return *this; return *this;
} }
MjVisualRgba::~MjVisualRgba() { MjVisualRgba::~MjVisualRgba() {
if (owned_ && ptr_) delete ptr_; if (owned_ && ptr_) {
delete ptr_;
}
} }
std::unique_ptr<MjVisualRgba> MjVisualRgba::copy() { std::unique_ptr<MjVisualRgba> MjVisualRgba::copy() {
return std::make_unique<MjVisualRgba>(*this); return std::make_unique<MjVisualRgba>(*this);
@@ -7604,7 +7622,9 @@ MjVisual& MjVisual::operator=(const MjVisual &other) {
return *this; return *this;
} }
MjVisual::~MjVisual() { MjVisual::~MjVisual() {
if (owned_ && ptr_) delete ptr_; if (owned_ && ptr_) {
delete ptr_;
}
} }
std::unique_ptr<MjVisual> MjVisual::copy() { std::unique_ptr<MjVisual> MjVisual::copy() {
return std::make_unique<MjVisual>(*this); return std::make_unique<MjVisual>(*this);
@@ -7626,7 +7646,9 @@ MjSolverStat& MjSolverStat::operator=(const MjSolverStat &other) {
return *this; return *this;
} }
MjSolverStat::~MjSolverStat() { MjSolverStat::~MjSolverStat() {
if (owned_ && ptr_) delete ptr_; if (owned_ && ptr_) {
delete ptr_;
}
} }
std::unique_ptr<MjSolverStat> MjSolverStat::copy() { std::unique_ptr<MjSolverStat> MjSolverStat::copy() {
return std::make_unique<MjSolverStat>(*this); return std::make_unique<MjSolverStat>(*this);
@@ -7648,7 +7670,9 @@ MjTimerStat& MjTimerStat::operator=(const MjTimerStat &other) {
return *this; return *this;
} }
MjTimerStat::~MjTimerStat() { MjTimerStat::~MjTimerStat() {
if (owned_ && ptr_) delete ptr_; if (owned_ && ptr_) {
delete ptr_;
}
} }
std::unique_ptr<MjTimerStat> MjTimerStat::copy() { std::unique_ptr<MjTimerStat> MjTimerStat::copy() {
return std::make_unique<MjTimerStat>(*this); return std::make_unique<MjTimerStat>(*this);
@@ -7670,7 +7694,9 @@ MjWarningStat& MjWarningStat::operator=(const MjWarningStat &other) {
return *this; return *this;
} }
MjWarningStat::~MjWarningStat() { MjWarningStat::~MjWarningStat() {
if (owned_ && ptr_) delete ptr_; if (owned_ && ptr_) {
delete ptr_;
}
} }
std::unique_ptr<MjWarningStat> MjWarningStat::copy() { std::unique_ptr<MjWarningStat> MjWarningStat::copy() {
return std::make_unique<MjWarningStat>(*this); return std::make_unique<MjWarningStat>(*this);
@@ -7692,7 +7718,9 @@ MjContact& MjContact::operator=(const MjContact &other) {
return *this; return *this;
} }
MjContact::~MjContact() { MjContact::~MjContact() {
if (owned_ && ptr_) delete ptr_; if (owned_ && ptr_) {
delete ptr_;
}
} }
std::unique_ptr<MjContact> MjContact::copy() { std::unique_ptr<MjContact> MjContact::copy() {
return std::make_unique<MjContact>(*this); return std::make_unique<MjContact>(*this);
@@ -7786,7 +7814,9 @@ MjvPerturb& MjvPerturb::operator=(const MjvPerturb &other) {
return *this; return *this;
} }
MjvPerturb::~MjvPerturb() { MjvPerturb::~MjvPerturb() {
if (owned_ && ptr_) delete ptr_; if (owned_ && ptr_) {
delete ptr_;
}
} }
std::unique_ptr<MjvPerturb> MjvPerturb::copy() { std::unique_ptr<MjvPerturb> MjvPerturb::copy() {
return std::make_unique<MjvPerturb>(*this); return std::make_unique<MjvPerturb>(*this);
@@ -7809,7 +7839,9 @@ MjvCamera& MjvCamera::operator=(const MjvCamera &other) {
return *this; return *this;
} }
MjvCamera::~MjvCamera() { MjvCamera::~MjvCamera() {
if (owned_ && ptr_) delete ptr_; if (owned_ && ptr_) {
delete ptr_;
}
} }
std::unique_ptr<MjvCamera> MjvCamera::copy() { std::unique_ptr<MjvCamera> MjvCamera::copy() {
return std::make_unique<MjvCamera>(*this); return std::make_unique<MjvCamera>(*this);
@@ -7831,23 +7863,24 @@ MjvGLCamera& MjvGLCamera::operator=(const MjvGLCamera &other) {
return *this; return *this;
} }
MjvGLCamera::~MjvGLCamera() { MjvGLCamera::~MjvGLCamera() {
if (owned_ && ptr_) delete ptr_; if (owned_ && ptr_) {
delete ptr_;
}
} }
std::unique_ptr<MjvGLCamera> MjvGLCamera::copy() { std::unique_ptr<MjvGLCamera> MjvGLCamera::copy() {
return std::make_unique<MjvGLCamera>(*this); return std::make_unique<MjvGLCamera>(*this);
} }
// =============== MjvGeom =============== // // =============== MjvGeom =============== //
MjvGeom::MjvGeom(mjvGeom *ptr) { ptr_ = ptr; }; MjvGeom::MjvGeom(mjvGeom *ptr) : ptr_(ptr) {}
MjvGeom::MjvGeom() : ptr_(new mjvGeom) { MjvGeom::MjvGeom() : ptr_(new mjvGeom) {
owned_ = true; owned_ = true;
mjv_initGeom(ptr_, mjGEOM_NONE, nullptr, nullptr, nullptr, nullptr); mjv_initGeom(ptr_, mjGEOM_NONE, nullptr, nullptr, nullptr, nullptr);
}; }
MjvGeom::MjvGeom(const MjvGeom &other) : MjvGeom() { MjvGeom::MjvGeom(const MjvGeom &other) : MjvGeom() {
*ptr_ = *other.get(); *ptr_ = *other.get();
} }
MjvGeom &MjvGeom::operator=( MjvGeom& MjvGeom::operator=(const MjvGeom &other) {
const MjvGeom &other) {
if (this == &other) { if (this == &other) {
return *this; return *this;
} }
@@ -7855,7 +7888,9 @@ MjvGeom &MjvGeom::operator=(
return *this; return *this;
} }
MjvGeom::~MjvGeom() { MjvGeom::~MjvGeom() {
if (owned_ && ptr_) delete ptr_; if (owned_ && ptr_) {
delete ptr_;
}
} }
std::unique_ptr<MjvGeom> MjvGeom::copy() { std::unique_ptr<MjvGeom> MjvGeom::copy() {
return std::make_unique<MjvGeom>(*this); return std::make_unique<MjvGeom>(*this);
@@ -7877,7 +7912,9 @@ MjvLight& MjvLight::operator=(const MjvLight &other) {
return *this; return *this;
} }
MjvLight::~MjvLight() { MjvLight::~MjvLight() {
if (owned_ && ptr_) delete ptr_; if (owned_ && ptr_) {
delete ptr_;
}
} }
std::unique_ptr<MjvLight> MjvLight::copy() { std::unique_ptr<MjvLight> MjvLight::copy() {
return std::make_unique<MjvLight>(*this); return std::make_unique<MjvLight>(*this);
@@ -7900,7 +7937,9 @@ MjvOption& MjvOption::operator=(const MjvOption &other) {
return *this; return *this;
} }
MjvOption::~MjvOption() { MjvOption::~MjvOption() {
if (owned_ && ptr_) delete ptr_; if (owned_ && ptr_) {
delete ptr_;
}
} }
std::unique_ptr<MjvOption> MjvOption::copy() { std::unique_ptr<MjvOption> MjvOption::copy() {
return std::make_unique<MjvOption>(*this); return std::make_unique<MjvOption>(*this);
@@ -8010,7 +8049,9 @@ MjvFigure& MjvFigure::operator=(const MjvFigure &other) {
return *this; return *this;
} }
MjvFigure::~MjvFigure() { MjvFigure::~MjvFigure() {
if (owned_ && ptr_) delete ptr_; if (owned_ && ptr_) {
delete ptr_;
}
} }
std::unique_ptr<MjvFigure> MjvFigure::copy() { std::unique_ptr<MjvFigure> MjvFigure::copy() {
return std::make_unique<MjvFigure>(*this); return std::make_unique<MjvFigure>(*this);
wasm/codegen/helpers/helpers_test.py
+6 -2
View File
@@ -311,7 +311,9 @@ MjLROpt& MjLROpt::operator=(const MjLROpt &other) {
return *this; return *this;
} }
MjLROpt::~MjLROpt() { MjLROpt::~MjLROpt() {
if (owned_ && ptr_) delete ptr_; if (owned_ && ptr_) {
delete ptr_;
}
} }
std::unique_ptr<MjLROpt> MjLROpt::copy() { std::unique_ptr<MjLROpt> MjLROpt::copy() {
return std::make_unique<MjLROpt>(*this); return std::make_unique<MjLROpt>(*this);
@@ -372,7 +374,9 @@ MjvLight& MjvLight::operator=(const MjvLight &other) {
return *this; return *this;
} }
MjvLight::~MjvLight() { MjvLight::~MjvLight() {
if (owned_ && ptr_) delete ptr_; if (owned_ && ptr_) {
delete ptr_;
}
} }
std::unique_ptr<MjvLight> MjvLight::copy() { std::unique_ptr<MjvLight> MjvLight::copy() {
return std::make_unique<MjvLight>(*this); return std::make_unique<MjvLight>(*this);
wasm/codegen/helpers/structs.py
+30 -9
View File
@@ -493,7 +493,7 @@ def _build_struct_header_internal(
return builder.to_string() + ";" 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.""" """Returns the default function name for the given struct."""
if ( if (
struct_name in constants.ANONYMOUS_STRUCTS.keys() struct_name in constants.ANONYMOUS_STRUCTS.keys()
@@ -505,11 +505,23 @@ def _get_default_func_name(struct_name: str) -> str:
): ):
return "" return ""
elif struct_name.startswith("mjs"): 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"): elif struct_name.startswith("mjv"):
return f"mjv_default{struct_name.removeprefix('mjv')}" return f"mjv_default{struct_name.removeprefix('mjv')}(ptr_);"
else: 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( def _find_fields_with_init(
@@ -574,18 +586,19 @@ def build_struct_source(
fields_with_init = _find_fields_with_init(wrapped_fields) fields_with_init = _find_fields_with_init(wrapped_fields)
shallow_copy = use_shallow_copy(wrapped_fields) shallow_copy = use_shallow_copy(wrapped_fields)
mj_default_func = _get_default_func_name(struct_name)
fields_init = "" fields_init = ""
if fields_with_init: if fields_with_init:
fields_init = "".join( fields_init = "".join(
field_with_init.initialization for field_with_init in fields_with_init field_with_init.initialization for field_with_init in fields_with_init
) )
# constructor passing native ptr # constructor passing native ptr
builder.line( builder.line(
f"{wrapper_name}::{wrapper_name}({struct_name} *ptr) :" f"{wrapper_name}::{wrapper_name}({struct_name} *ptr) :"
f" ptr_(ptr){fields_init} {{}}" f" ptr_(ptr){fields_init} {{}}"
) )
# constructor with default values # constructor with default values
if not is_mjs_struct: if not is_mjs_struct:
with builder.block( with builder.block(
@@ -593,10 +606,12 @@ def build_struct_source(
f" {struct_name}){fields_init}" f" {struct_name}){fields_init}"
): ):
builder.line("owned_ = true;") builder.line("owned_ = true;")
if mj_default_func: default_func = _default_function_statement(struct_name)
builder.line(f"{mj_default_func}(ptr_);") if default_func:
# copy constructor builder.line(default_func)
if shallow_copy and not is_mjs_struct: if shallow_copy and not is_mjs_struct:
# copy constructor
with builder.block( with builder.block(
f"{wrapper_name}::{wrapper_name}(const {wrapper_name} &other)" f"{wrapper_name}::{wrapper_name}(const {wrapper_name} &other)"
+ (f" : {wrapper_name}()" if not is_mjs_struct else "") + (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: for field_with_init in fields_with_init:
if field_with_init.ptr_copy_reset is not None: if field_with_init.ptr_copy_reset is not None:
builder.line(field_with_init.ptr_copy_reset) builder.line(field_with_init.ptr_copy_reset)
# assignment operator # assignment operator
with builder.block( with builder.block(
f"{wrapper_name}&" f"{wrapper_name}&"
@@ -620,18 +636,23 @@ def build_struct_source(
if field_with_init.ptr_copy_reset is not None: if field_with_init.ptr_copy_reset is not None:
builder.line(field_with_init.ptr_copy_reset) builder.line(field_with_init.ptr_copy_reset)
builder.line("return *this;") builder.line("return *this;")
# destructor # destructor
if is_mjs_struct: if is_mjs_struct:
builder.line(f"{wrapper_name}::~{wrapper_name}() {{}}") builder.line(f"{wrapper_name}::~{wrapper_name}() {{}}")
else: else:
with builder.block(f"{wrapper_name}::~{wrapper_name}()"): 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 # copy function
if shallow_copy: if shallow_copy:
with builder.block( with builder.block(
f"std::unique_ptr<{wrapper_name}> {wrapper_name}::copy()" f"std::unique_ptr<{wrapper_name}> {wrapper_name}::copy()"
): ):
builder.line(f"return std::make_unique<{wrapper_name}>(*this);") builder.line(f"return std::make_unique<{wrapper_name}>(*this);")
return builder.to_string() return builder.to_string()
wasm/codegen/templates/bindings.cc
+2 -32
View File
@@ -563,28 +563,7 @@ std::vector<MjContact> MjData::contact() const {
// INSERT-GENERATED-MjvGLCamera-CONSTRUCTOR // INSERT-GENERATED-MjvGLCamera-CONSTRUCTOR
// =============== MjvGeom =============== // // =============== MjvGeom =============== //
MjvGeom::MjvGeom(mjvGeom *ptr) { ptr_ = ptr; }; // INSERT-GENERATED-MjvGeom-CONSTRUCTOR
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);
}
// =============== MjvLight =============== // // =============== MjvLight =============== //
// INSERT-GENERATED-MjvLight-CONSTRUCTOR // INSERT-GENERATED-MjvLight-CONSTRUCTOR
@@ -823,16 +802,7 @@ MjSpec::~MjSpec() {
// INSERT-GENERATED-MjsPlugin-CONSTRUCTOR // INSERT-GENERATED-MjsPlugin-CONSTRUCTOR
// =============== MjVFS =============== // // =============== MjVFS =============== //
MjVFS::MjVFS(mjVFS *ptr) : ptr_(ptr) {} // INSERT-GENERATED-MjVFS-CONSTRUCTOR
MjVFS::MjVFS() : ptr_(new mjVFS) {
owned_ = true;
mj_defaultVFS(ptr_);
}
MjVFS::~MjVFS() {
if (owned_ && ptr_) {
mj_deleteVFS(ptr_);
}
}
// ======= FACTORY AND HELPER FUNCTIONS ========= // // ======= FACTORY AND HELPER FUNCTIONS ========= //
std::unique_ptr<MjModel> loadFromXML(std::string filename) { std::unique_ptr<MjModel> loadFromXML(std::string filename) {