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 +1,88 @@
+# 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.
+
+"""Generates Embind bindings for MuJoCo structs."""
+
+from typing import Optional
+
+from wasm.codegen.helpers import constants
+from wasm.codegen.helpers import structs_parser
+from wasm.codegen.helpers import structs_wrappers_data
+
+
+class Generator:
+  """Generates C++ code for binding and wrapping MuJoCo structs."""
+
+  def __init__(self):
+    # Set up the correct input dict based on the structs we want to bind
+    # and already have a wrapper manually created in the template/bindings.cc
+    wrapped_structs = structs_wrappers_data.create_wrapped_structs_set_up_data(
+        constants.STRUCTS_TO_BIND
+    )
+
+    # Traverse the introspect dictionary to get the field
+    # wrapper/bindings statements set up for each struct
+    self.structs_to_bind_data = structs_parser.generate_wasm_bindings(
+        wrapped_structs
+    )
+
+  def generate_header(
+      self
+  ) -> list[tuple[str, list[Optional[str]]]]:
+    """Generates C++ header file for binding and wrapping MuJoCo structs."""
+    autogenned_struct_definitions = []
+    markers_and_content = []
+
+    # Sort by struct name by dependency to ensure deterministic output order
+    sorted_struct_names = structs_parser.sort_structs_by_dependency(
+        constants.STRUCTS_TO_BIND
+    )
+
+    for struct_name in sorted_struct_names:
+      struct_data = self.structs_to_bind_data[struct_name]
+      if struct_data.wrapped_header:
+        autogenned_struct_definitions.append(
+            struct_data.wrapped_header + "\n"
+        )
+      else:
+        markers_and_content.append((
+            f"// INSERT-GENERATED-{struct_data.wrap_name}-DEFINITIONS",
+            [
+                l.definition if l.definition else ""
+                for l in struct_data.wrapped_fields
+            ],
+        ))
+    markers_and_content.append((
+        "// {{ AUTOGENNED_STRUCT_DEFINITIONS }}",
+        autogenned_struct_definitions,
+    ))
+    return markers_and_content
+
+  def generate_source(self) -> list[tuple[str, list[str]]]:
+    """Generates C++ source file for binding and wrapping MuJoCo structs."""
+    constructors = [
+        (
+            f"// INSERT-GENERATED-{struct_data.wrap_name}-CONSTRUCTOR",
+            [struct_data.wrapped_source],
+        )
+        for _, struct_data in self.structs_to_bind_data.items()
+    ]
+    properties = [
+        (
+            f"// INSERT-GENERATED-{struct_data.wrap_name}-BINDINGS",
+            [l.binding for l in struct_data.wrapped_fields],
+        )
+        for _, struct_data in self.structs_to_bind_data.items()
+    ]
+    return constructors + properties