Add JavaScript bindings and WASM support

Co-authored-by: Matija Kecman <matijak@google.com>
Co-authored-by: Sebastian Noreña Rendón <sebas.norena@creativa77.com.ar>
Co-authored-by: Kyle Bayes <kylebayes@google.com>
PiperOrigin-RevId: 826479070
Change-Id: I25acf36e6c20b091d8492e10798d028ae66f6733

cmake/MujocoDependencies.cmake

@@ -109,7 +109,11 @@ if(NOT TARGET lodepng)
     add_library(lodepng STATIC ${LODEPNG_HEADERS} ${LODEPNG_SRCS})
     target_compile_options(lodepng PRIVATE ${MUJOCO_MACOS_COMPILE_OPTIONS})
     target_link_options(lodepng PRIVATE ${MUJOCO_MACOS_LINK_OPTIONS})
-    target_include_directories(lodepng PUBLIC ${lodepng_SOURCE_DIR})
+    if(NOT EMSCRIPTEN)
+      target_include_directories(lodepng PUBLIC ${lodepng_SOURCE_DIR})
+    else()
+      target_include_directories(lodepng PUBLIC  $<BUILD_INTERFACE:${lodepng_SOURCE_DIR}> $<INSTALL_INTERFACE:include>)
+    endif()
   endif()
 endif()
 
@@ -128,6 +132,10 @@ if(NOT TARGET marchingcubecpp)
 endif()
 
 set(QHULL_ENABLE_TESTING OFF)
+# Patch changes in https://github.com/qhull/qhull/pull/173.patch
+set(QHULL_PATCH_COMMAND
+  git apply --reject --whitespace=fix ${mujoco_SOURCE_DIR}/cmake/qhull-support-emscripten.patch
+)
 
 findorfetch(
   USE_SYSTEM_PACKAGE
@@ -143,6 +151,7 @@ findorfetch(
   TARGETS
   qhull
   EXCLUDE_FROM_ALL
+  PATCH_COMMAND ${QHULL_PATCH_COMMAND}
 )
 # MuJoCo includes a file from libqhull_r which is not exported by the qhull include directories.
 # Add it to the target.
@@ -222,6 +231,12 @@ endif()
 
 set(ENABLE_DOUBLE_PRECISION ON)
 set(CCD_HIDE_ALL_SYMBOLS ON)
+
+# Patch changes in https://github.com/danfis/libccd/pull/83.patch
+set(CCD_PATCH_COMMAND
+  git apply --reject --whitespace=fix ${mujoco_SOURCE_DIR}/cmake/ccd-support-emscripten.patch
+)
+
 # update cmake_minimum_required version for compatibility with newer version of cmake
 if(NOT DEFINED CMAKE_POLICY_VERSION_MINIMUM)
   set(CMAKE_POLICY_VERSION_MINIMUM ${MUJOCO_CMAKE_MIN_REQ})
@@ -241,6 +256,7 @@ findorfetch(
   TARGETS
   ccd
   EXCLUDE_FROM_ALL
+  PATCH_COMMAND ${CCD_PATCH_COMMAND}
 )
 if(CMAKE_POLICY_VERSION_MINIMUM_LOCALLY_DEFINED)
   unset(CMAKE_POLICY_VERSION_MINIMUM)

cmake/ccd-support-emscripten.patch

@@ -0,0 +1,22 @@
+diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
+index 1407080..b4dea44 100644
+--- a/src/CMakeLists.txt
++++ b/src/CMakeLists.txt
+@@ -49,9 +49,14 @@ target_include_directories(ccd PUBLIC
+   $<BUILD_INTERFACE:${CMAKE_CURRENT_BINARY_DIR}>)
+ 
+ if(NOT WIN32)
+-  find_library(LIBM_LIBRARY NAMES m)
+-  if(NOT LIBM_LIBRARY)
+-    message(FATAL_ERROR "Could NOT find required library LibM")
++  if (EMSCRIPTEN)
++    set(LIBM_LIBRARY "-lm")
++    message("Subtitute LibM with emscripten -lm")
++  else()
++    find_library(LIBM_LIBRARY NAMES m)
++    if(NOT LIBM_LIBRARY)
++      message(FATAL_ERROR "Could NOT find required library LibM")
++    endif()
+   endif()
+   target_link_libraries(ccd "${LIBM_LIBRARY}")
+   if(BUILD_SHARED_LIBS)

cmake/qhull-support-emscripten.patch

@@ -0,0 +1,30 @@
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index 0423820..c5295c1 100644
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -360,6 +360,7 @@ if (NOT DEFINED CMAKE_BUILD_WITH_INSTALL_RPATH)
+     set(CMAKE_BUILD_WITH_INSTALL_RPATH FALSE)
+ endif ()
+ 
++if (NOT EMSCRIPTEN)
+ add_library(${qhull_SHAREDR} SHARED 
+         ${libqhullr_SOURCES}
+         src/libqhull_r/qhull_r-exports.def)
+@@ -420,7 +421,7 @@ set_target_properties(${qhull_SHAREDP} PROPERTIES
+ if(UNIX)
+     target_link_libraries(${qhull_SHAREDP} m)
+ endif(UNIX)
+-
++endif (NOT EMSCRIPTEN)
+ # ---------------------------------------
+ # Define static libraries qhullstatic (non-reentrant) and qhullstatic_r (reentrant)
+ # ---------------------------------------
+@@ -475,7 +476,7 @@ if(NOT ${BUILD_STATIC_LIBS})
+     set_target_properties(${qhull_STATICR} PROPERTIES EXCLUDE_FROM_ALL TRUE)
+     set_target_properties(${qhull_CPP} PROPERTIES EXCLUDE_FROM_ALL TRUE)
+ endif()
+-if(NOT ${BUILD_SHARED_LIBS})
++if(NOT ${BUILD_SHARED_LIBS} AND NOT EMSCRIPTEN)
+     set_target_properties(${qhull_SHARED} PROPERTIES EXCLUDE_FROM_ALL TRUE)
+     set_target_properties(${qhull_SHAREDR} PROPERTIES EXCLUDE_FROM_ALL TRUE)
+     set_target_properties(${qhull_SHAREDP} PROPERTIES EXCLUDE_FROM_ALL TRUE)