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Rename WASM binding wrapper functions and reorder generated code.

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PiperOrigin-RevId: 834265965
Change-Id: I58e7d572dcae4f1ca262ae5d876fcd8353af183c
This commit is contained in:
Google DeepMind
2025-11-19 06:24:57 -08:00
committed by Copybara-Service
parent 10fe5ff07f
commit 49394d57d9
3 changed files with 981 additions and 980 deletions
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wasm/codegen/generated/bindings.cc
+905 -905
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File diff suppressed because it is too large Load Diff
wasm/codegen/generators/structs.py
+2 -1
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@@ -523,7 +523,8 @@ def _build_struct_bindings(
builder.line(".constructor<const MjModel &, const MjData &>()")
elif w == "MjModel":
builder.line(
'.class_function("loadFromXML", &loadFromXML, take_ownership())'
'.class_function("loadFromXML", &loadFromXML_wrapper,'
" take_ownership())"
)
builder.line(".constructor<const MjModel &>()")
elif w == "MjSpec":
wasm/codegen/templates/bindings.cc
+74 -74
View File
@@ -105,10 +105,66 @@ std::vector<WrapperType> InitWrapperArray(ArrayType* array, SizeType size) {
return result;
}
val get_mjDISABLESTRING() { return MakeValArray(mjDISABLESTRING); }
val get_mjENABLESTRING() { return MakeValArray(mjENABLESTRING); }
val get_mjTIMERSTRING() { return MakeValArray(mjTIMERSTRING); }
val get_mjLABELSTRING() { return MakeValArray(mjLABELSTRING); }
val get_mjFRAMESTRING() { return MakeValArray(mjFRAMESTRING); }
val get_mjVISSTRING() { return MakeValArray3(mjVISSTRING); }
val get_mjRNDSTRING() { return MakeValArray3(mjRNDSTRING); }
EMSCRIPTEN_BINDINGS(mujoco_constants) {
// from mjmodel.h
constant("mjPI", mjPI);
constant("mjMAXVAL", mjMAXVAL);
constant("mjMINMU", mjMINMU);
constant("mjMINIMP", mjMINIMP);
constant("mjMAXIMP", mjMAXIMP);
constant("mjMAXCONPAIR", mjMAXCONPAIR);
constant("mjNEQDATA", mjNEQDATA);
constant("mjNDYN", mjNDYN);
constant("mjNGAIN", mjNGAIN);
constant("mjNBIAS", mjNBIAS);
constant("mjNREF", mjNREF);
constant("mjNIMP", mjNIMP);
constant("mjNSOLVER", mjNSOLVER);
// from mjvisualize.h
constant("mjNGROUP", mjNGROUP);
constant("mjMAXLIGHT", mjMAXLIGHT);
constant("mjMAXOVERLAY", mjMAXOVERLAY);
constant("mjMAXLINE", mjMAXLINE);
constant("mjMAXLINEPNT", mjMAXLINEPNT);
constant("mjMAXPLANEGRID", mjMAXPLANEGRID);
// from mujoco.h
constant("mjVERSION_HEADER", mjVERSION_HEADER);
// from mjtnum.h
constant("mjMINVAL", mjMINVAL);
// emscripten::constant() is designed for simple, compile-time literal values
// (like numbers or a single string literal), complex values need to be
// bound as functions.
emscripten::function("get_mjDISABLESTRING", &get_mjDISABLESTRING);
emscripten::function("get_mjENABLESTRING", &get_mjENABLESTRING);
emscripten::function("get_mjTIMERSTRING", &get_mjTIMERSTRING);
emscripten::function("get_mjLABELSTRING", &get_mjLABELSTRING);
emscripten::function("get_mjFRAMESTRING", &get_mjFRAMESTRING);
emscripten::function("get_mjVISSTRING", &get_mjVISSTRING);
emscripten::function("get_mjRNDSTRING", &get_mjRNDSTRING);
}
EMSCRIPTEN_BINDINGS(mujoco_enums) {
// {{ ENUM_BINDINGS }}
}
// {{ ANONYMOUS_STRUCT_TYPEDEFS }}
// {{ AUTOGENNED_STRUCTS_HEADER }}
// {{ AUTOGENNED_STRUCTS_SOURCE }}
struct MjvScene {
MjvScene();
MjvScene(MjModel *m, int maxgeom);
@@ -205,62 +261,6 @@ struct MjvScene {
std::vector<MjvGLCamera> camera;
};
val get_mjDISABLESTRING() { return MakeValArray(mjDISABLESTRING); }
val get_mjENABLESTRING() { return MakeValArray(mjENABLESTRING); }
val get_mjTIMERSTRING() { return MakeValArray(mjTIMERSTRING); }
val get_mjLABELSTRING() { return MakeValArray(mjLABELSTRING); }
val get_mjFRAMESTRING() { return MakeValArray(mjFRAMESTRING); }
val get_mjVISSTRING() { return MakeValArray3(mjVISSTRING); }
val get_mjRNDSTRING() { return MakeValArray3(mjRNDSTRING); }
EMSCRIPTEN_BINDINGS(mujoco_constants) {
// from mjmodel.h
constant("mjPI", mjPI);
constant("mjMAXVAL", mjMAXVAL);
constant("mjMINMU", mjMINMU);
constant("mjMINIMP", mjMINIMP);
constant("mjMAXIMP", mjMAXIMP);
constant("mjMAXCONPAIR", mjMAXCONPAIR);
constant("mjNEQDATA", mjNEQDATA);
constant("mjNDYN", mjNDYN);
constant("mjNGAIN", mjNGAIN);
constant("mjNBIAS", mjNBIAS);
constant("mjNREF", mjNREF);
constant("mjNIMP", mjNIMP);
constant("mjNSOLVER", mjNSOLVER);
// from mjvisualize.h
constant("mjNGROUP", mjNGROUP);
constant("mjMAXLIGHT", mjMAXLIGHT);
constant("mjMAXOVERLAY", mjMAXOVERLAY);
constant("mjMAXLINE", mjMAXLINE);
constant("mjMAXLINEPNT", mjMAXLINEPNT);
constant("mjMAXPLANEGRID", mjMAXPLANEGRID);
// from mujoco.h
constant("mjVERSION_HEADER", mjVERSION_HEADER);
// from mjtnum.h
constant("mjMINVAL", mjMINVAL);
// emscripten::constant() is designed for simple, compile-time literal values
// (like numbers or a single string literal), complex values need to be
// bound as functions.
emscripten::function("get_mjDISABLESTRING", &get_mjDISABLESTRING);
emscripten::function("get_mjENABLESTRING", &get_mjENABLESTRING);
emscripten::function("get_mjTIMERSTRING", &get_mjTIMERSTRING);
emscripten::function("get_mjLABELSTRING", &get_mjLABELSTRING);
emscripten::function("get_mjFRAMESTRING", &get_mjFRAMESTRING);
emscripten::function("get_mjVISSTRING", &get_mjVISSTRING);
emscripten::function("get_mjRNDSTRING", &get_mjRNDSTRING);
}
EMSCRIPTEN_BINDINGS(mujoco_enums) {
// {{ ENUM_BINDINGS }}
}
// {{ AUTOGENNED_STRUCTS_SOURCE }}
// =============== MjModel =============== //
MjModel::MjModel(mjModel *ptr)
: ptr_(ptr), opt(&ptr->opt), vis(&ptr->vis), stat(&ptr->stat) {}
@@ -430,7 +430,7 @@ mjSpec *MjSpec::get() const { return ptr_; }
void MjSpec::set(mjSpec *ptr) { ptr_ = ptr; }
// ======= FACTORY AND HELPER FUNCTIONS ========= //
std::unique_ptr<MjModel> loadFromXML(std::string filename) {
std::unique_ptr<MjModel> loadFromXML_wrapper(std::string filename) {
char error[1000];
mjModel *model = mj_loadXML(filename.c_str(), nullptr, error, sizeof(error));
if (!model) {
@@ -440,7 +440,7 @@ std::unique_ptr<MjModel> loadFromXML(std::string filename) {
return std::unique_ptr<MjModel>(new MjModel(model));
}
std::unique_ptr<MjSpec> parseXMLString(const std::string &xml) {
std::unique_ptr<MjSpec> parseXMLString_wrapper(const std::string &xml) {
char error[1000];
mjSpec *ptr = mj_parseXMLString(xml.c_str(), nullptr, error, sizeof(error));
if (!ptr) {
@@ -450,21 +450,6 @@ std::unique_ptr<MjSpec> parseXMLString(const std::string &xml) {
return std::unique_ptr<MjSpec>(new MjSpec(ptr));
}
EMSCRIPTEN_BINDINGS(mujoco_structs) {
// {{ AUTOGENNED_STRUCTS_BINDINGS }}
// TODO: should be generated in future CLs -- //
emscripten::register_vector<MjSolverStat>("MjSolverStatVec");
emscripten::register_vector<MjTimerStat>("MjTimerStatVec");
emscripten::register_vector<MjWarningStat>("MjWarningStatVec");
emscripten::register_vector<MjContact>("MjContactVec");
emscripten::register_vector<MjvLight>("MjvLightVec");
emscripten::register_vector<MjvGLCamera>("MjvGLCameraVec");
emscripten::register_vector<MjvGeom>("MjvGeomVec");
}
// {{ WRAPPER_FUNCTIONS }}
void error_wrapper(const String& msg) { mju_error("%s\n", msg.as<const std::string>().data()); }
int mj_saveLastXML_wrapper(const String& filename, const MjModel& m) {
@@ -486,8 +471,23 @@ int mj_setLengthRange_wrapper(const MjModel& m, const MjData& d, int index, cons
return result;
}
EMSCRIPTEN_BINDINGS(mujoco_structs) {
// {{ AUTOGENNED_STRUCTS_BINDINGS }}
// TODO: should be generated in future CLs -- //
emscripten::register_vector<MjSolverStat>("MjSolverStatVec");
emscripten::register_vector<MjTimerStat>("MjTimerStatVec");
emscripten::register_vector<MjWarningStat>("MjWarningStatVec");
emscripten::register_vector<MjContact>("MjContactVec");
emscripten::register_vector<MjvLight>("MjvLightVec");
emscripten::register_vector<MjvGLCamera>("MjvGLCameraVec");
emscripten::register_vector<MjvGeom>("MjvGeomVec");
}
// {{ WRAPPER_FUNCTIONS }}
EMSCRIPTEN_BINDINGS(mujoco_functions) {
function("parseXMLString", &parseXMLString, take_ownership());
function("parseXMLString", &parseXMLString_wrapper, take_ownership());
function("error", &error_wrapper);
// {{ FUNCTION_BINDINGS }}
class_<WasmBuffer<float>>("FloatBuffer")