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
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+// 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.
+
+#include <emscripten/bind.h>
+#include <emscripten/val.h>
+#include <algorithm>
+
+#include <mujoco/mujoco.h>
+#include "wasm/unpack.h"
+
+namespace mujoco::wasm {
+using emscripten::val;
+
+EMSCRIPTEN_DECLARE_VAL_TYPE(NumberArray);
+
+// TODO(matijak): Add a benchmark where the buffer shared with JS and C++ is
+// created in C++ rather than JS.
+
+val BenchmarkSortNumberArray(const NumberArray& vec) {
+  UNPACK_ARRAY(mjtNum, vec);
+  std::sort(vec_.data(), vec_.data() + vec_.size());
+  return val::array(vec_.data(), vec_.data() + vec_.size());
+}
+
+val BenchmarkSortDoubleBuffer(const val& vec) {
+  UNPACK_VALUE(mjtNum, vec);
+  std::sort(vec_.data(), vec_.data() + vec_.size());
+  return vec;
+}
+
+EMSCRIPTEN_BINDINGS(mujoco_benchmark_functions) {
+  emscripten::class_<WasmBuffer<mjtNum>>("DoubleBuffer")
+      .constructor<int>()
+      .class_function("FromArray", &WasmBuffer<mjtNum>::FromArray)
+      .function("GetPointer", &WasmBuffer<mjtNum>::GetPointer)
+      .function("GetElementCount", &WasmBuffer<mjtNum>::GetElementCount)
+      .function("GetView", &WasmBuffer<mjtNum>::GetView);
+  emscripten::function("SortNumberArray", &BenchmarkSortNumberArray);
+  emscripten::function("SortDoubleBuffer", &BenchmarkSortDoubleBuffer);
+  emscripten::register_type<NumberArray>("number[]");
+}
+
+}  // namespace mujoco::wasm