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 +1,171 @@
+# 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.
+
+from absl.testing import absltest
+from introspect import ast_nodes
+
+from wasm.codegen.helpers import struct_field_code_builder
+
+StructFieldDecl = ast_nodes.StructFieldDecl
+ValueType = ast_nodes.ValueType
+PointerType = ast_nodes.PointerType
+ArrayType = ast_nodes.ArrayType
+
+
+class StructFieldCodeBuilderTest(absltest.TestCase):
+
+  def test_primitive_type_definition(self):
+    field = StructFieldDecl(
+        name="ngeom",
+        type=ValueType(name="int"),
+        doc="number of geoms",
+    )
+    self.assertEqual(
+        struct_field_code_builder.build_primitive_type_definition(field),
+        """
+int ngeom() const {
+  return ptr_->ngeom;
+}
+void set_ngeom(int value) {
+  ptr_->ngeom = value;
+}
+""".strip(),
+    )
+
+  def test_memory_view_definition(self):
+    field = StructFieldDecl(
+        name="geom_rgba",
+        type=PointerType(
+            inner_type=ValueType(name="float"),
+        ),
+        doc="rgba when material is omitted",
+        array_extent=("ngeom", 4),
+    )
+    self.assertEqual(
+        struct_field_code_builder.build_memory_view_definition(
+            field, "ptr_->ngeom * 4", "ptr_->geom_rgba"
+        ),
+        """
+emscripten::val geom_rgba() const {
+  return emscripten::val(emscripten::typed_memory_view(ptr_->ngeom * 4, ptr_->geom_rgba));
+}
+""".strip(),
+    )
+
+  def test_string_field_definition(self):
+    field = StructFieldDecl(
+        name="string_field",
+        type=PointerType(
+            inner_type=ValueType(name="mjString"),
+        ),
+        doc="rgba when material is omitted",
+    )
+    self.assertEqual(
+        struct_field_code_builder.build_string_field_definition(field),
+        """
+mjString string_field() const {
+  return (ptr_ && ptr_->string_field) ? *(ptr_->string_field) : "";
+}
+void set_string_field(const mjString& value) {
+  if (ptr_ && ptr_->string_field) {
+    *(ptr_->string_field) = value;
+  }
+}
+""".strip(),
+    )
+
+  def test_mjvec_pointer_definition(self):
+    field = StructFieldDecl(
+        name="vector_field",
+        type=PointerType(
+            inner_type=ValueType(name="mjDoubleVec"),
+        ),
+        doc="",
+    )
+    self.assertEqual(
+        struct_field_code_builder.build_mjvec_pointer_definition(
+            field, "mjDoubleVec"
+        ),
+        """
+mjDoubleVec &vector_field() const {
+  return *(ptr_->vector_field);
+}""".strip(),
+    )
+
+  def test_mjbyte_vec_pointer_definition(self):
+    field = StructFieldDecl(
+        name="vector_field",
+        type=PointerType(
+            inner_type=ValueType(name="mjByteVec"),
+        ),
+        doc="",
+    )
+    self.assertEqual(
+        struct_field_code_builder.build_mjvec_pointer_definition(
+            field, "mjByteVec"
+        ),
+        """
+std::vector<uint8_t> &vector_field() const {
+  return *(reinterpret_cast<std::vector<uint8_t>*>(ptr_->vector_field));
+}""".strip(),
+    )
+
+  def test_simple_property_binding(self):
+    field = StructFieldDecl(
+        name="ngeom",
+        type=ValueType(name="int"),
+        doc="number of geoms",
+    )
+    self.assertEqual(
+        struct_field_code_builder.build_simple_property_binding(
+            field, "MjModel"
+        ),
+        '.property("ngeom", &MjModel::ngeom)',
+    )
+
+  def test_simple_property_binding_with_setter(self):
+    field = StructFieldDecl(
+        name="ngeom",
+        type=ValueType(name="int"),
+        doc="",
+    )
+    self.assertEqual(
+        struct_field_code_builder.build_simple_property_binding(
+            field, "MjModel", True
+        ),
+        '.property("ngeom", &MjModel::ngeom,'
+        " &MjModel::set_ngeom)",
+    )
+
+  def test_simple_property_binding_with_return_value_policy_as_ref(self):
+    field = StructFieldDecl(
+        name="ngeom",
+        type=ValueType(name="int"),
+        doc="",
+    )
+    self.assertEqual(
+        struct_field_code_builder.build_simple_property_binding(
+            field,
+            "MjModel",
+            add_setter=True,
+            add_return_value_policy_as_ref=True,
+        ),
+        '.property("ngeom", &MjModel::ngeom,'
+        " &MjModel::set_ngeom,"
+        " reference())",
+    )
+
+
+if __name__ == "__main__":
+  absltest.main()