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
2025-10-31 07:20:18 -07:00
parent 57f7145806
commit 4086261714
58 changed files with 24418 additions and 22 deletions
@@ -0,0 +1,115 @@
+# Copyright 2025 DeepMind Technologies Limited
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+"""Builds WASM bindings for MuJoCo."""
+
+from introspect import enums as introspect_enums
+from introspect import functions as introspect_functions
+
+from wasm.codegen.generators import enums
+from wasm.codegen.generators import functions
+from wasm.codegen.generators import structs
+
+from wasm.codegen.helpers import common
+from wasm.codegen.helpers import constants as _constants
+from wasm.codegen.helpers import function_utils
+
+
+class BindingBuilder:
+  """Builds WASM bindings for MuJoCo."""
+
+  def __init__(
+      self,
+      template_path_h: str,
+      template_path_cc: str,
+      generated_path_h: str,
+      generated_path_cc: str,
+  ):
+    self.generated_path_h = generated_path_h
+    self.generated_path_cc = generated_path_cc
+    with open(template_path_h, "r") as f:
+      self.content_h = f.readlines()
+    with open(template_path_cc, "r") as f:
+      self.content_cc = f.readlines()
+
+    filtered_functions = {
+        name: func
+        for name, func in introspect_functions.FUNCTIONS.items()
+        if not function_utils.is_excluded_function_name(name)
+        and name not in _constants.BOUNDCHECK_FUNCS
+    }
+    self.enums_generator = enums.Generator(introspect_enums.ENUMS)
+    self.functions_generator = functions.Generator(filtered_functions)
+    self.structs_generator = structs.Generator()
+
+  def set_enums(self):
+    """Generates and sets the enum bindings."""
+    enum_bindings = self.enums_generator.generate()
+    self.content_cc = common.replace_lines_containing_marker(
+        self.content_cc,
+        "// {{ ENUM_BINDINGS }}",
+        enum_bindings,
+    )
+    return self
+
+  def set_headers(self):
+    """Generates and sets the struct definitions."""
+    struct_hdr_markers_and_content = self.structs_generator.generate_header()
+
+    for marker, content in struct_hdr_markers_and_content:
+      self.content_h = common.replace_lines_containing_marker(
+          self.content_h, marker, content
+      )
+
+    return self
+
+  def set_structs(self):
+    """Generates and sets the struct bindings."""
+
+    struct_src_markers_and_content = (
+        self.structs_generator.generate_source()
+    )
+    for marker, content in struct_src_markers_and_content:
+      self.content_cc = common.replace_lines_containing_marker(
+          self.content_cc, marker, content
+      )
+    return self
+
+  def set_functions(self):
+    """Generates and sets the function wrappers and bindings."""
+    wrapper_functions, function_bindings = (
+        self.functions_generator.generate()
+    )
+    self.content_cc = common.replace_lines_containing_marker(
+        self.content_cc,
+        "// {{ WRAPPER_FUNCTIONS }}",
+        wrapper_functions,
+    )
+    self.content_cc = common.replace_lines_containing_marker(
+        self.content_cc,
+        "// {{ FUNCTION_BINDINGS }}",
+        function_bindings,
+    )
+    return self
+
+  def build(self):
+    """Writes the generated content to the output files."""
+    common.write_to_file(self.generated_path_h, "".join(self.content_h))
+    common.write_to_file(self.generated_path_cc, "".join(self.content_cc))
+
+  def to_string_header(self) -> str:
+    return "".join(self.content_h)
+
+  def to_string_source(self) -> str:
+    return "".join(self.content_cc)