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Refactor array initialization for mjData and mjvScene in MuJoCo WASM bindings.

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PiperOrigin-RevId: 829406147
Change-Id: Ib93c49e938086fb277e4959ade1f25e6ced5c70d
This commit is contained in:
Matias Manevi
2025-11-07 06:11:14 -08:00
committed by Copybara-Service
parent 8734cab366
commit 6fb4394701
2 changed files with 42 additions and 140 deletions
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wasm/codegen/generated/bindings.cc
+21 -70
View File
@@ -5698,9 +5698,6 @@ struct MjData {
MjData(MjModel *m);
explicit MjData(const MjModel &, const MjData &);
~MjData();
std::vector<MjSolverStat> InitSolverArray();
std::vector<MjTimerStat> InitTimerArray();
std::vector<MjWarningStat> InitWarningArray();
std::vector<MjContact> contact() const;
std::unique_ptr<MjData> copy();
mjData* get() const;
@@ -6381,8 +6378,6 @@ struct MjvScene {
~MjvScene();
std::unique_ptr<MjvScene> copy();
int GetSumFlexFaces() const;
std::vector<MjvLight> InitLightsArray();
std::vector<MjvGLCamera> InitCameraArray();
mjvScene* get() const;
void set(mjvScene* ptr);
@@ -8362,6 +8357,15 @@ void MjsDefault::set(mjsDefault* ptr) {
ptr_ = ptr;
}
template <typename WrapperType, typename ArrayType, typename SizeType>
std::vector<WrapperType> InitWrapperArray(ArrayType* array, SizeType size) {
std::vector<WrapperType> result;
result.reserve(size);
for (int i = 0; i < size; ++i) {
result.emplace_back(&array[i]);
}
return result;
}
// =============== MjModel =============== //
MjModel::MjModel(mjModel *m)
@@ -8385,17 +8389,17 @@ MjData::MjData(MjModel *m) {
model = m->get();
ptr_ = mj_makeData(model);
if (ptr_) {
solver = InitSolverArray();
timer = InitTimerArray();
warning = InitWarningArray();
solver = InitWrapperArray<MjSolverStat>(get()->solver, mjNSOLVER * mjNISLAND);
timer = InitWrapperArray<MjTimerStat>(get()->timer, mjNTIMER);
warning = InitWrapperArray<MjWarningStat>(get()->warning, mjNWARNING);
}
}
MjData::MjData(const MjModel &model, const MjData &other)
: ptr_(mj_copyData(nullptr, model.get(), other.get())), model(model.get()) {
if (ptr_) {
solver = InitSolverArray();
timer = InitTimerArray();
warning = InitWarningArray();
solver = InitWrapperArray<MjSolverStat>(get()->solver, mjNSOLVER * mjNISLAND);
timer = InitWrapperArray<MjTimerStat>(get()->timer, mjNTIMER);
warning = InitWrapperArray<MjWarningStat>(get()->warning, mjNWARNING);
}
}
MjData::~MjData() {
@@ -8406,38 +8410,8 @@ MjData::~MjData() {
mjData* MjData::get() const { return ptr_; }
void MjData::set(mjData *ptr) { ptr_ = ptr; }
std::vector<MjSolverStat> MjData::InitSolverArray() {
std::vector<MjSolverStat> arr;
arr.reserve(mjNSOLVER * mjNISLAND);
for (int i = 0; i < mjNSOLVER * mjNISLAND; i++) {
arr.emplace_back(&get()->solver[i]);
}
return arr;
}
std::vector<MjTimerStat> MjData::InitTimerArray() {
std::vector<MjTimerStat> arr;
arr.reserve(mjNTIMER);
for (int i = 0; i < mjNTIMER; i++) {
arr.emplace_back(&get()->timer[i]);
}
return arr;
}
std::vector<MjWarningStat>
MjData::InitWarningArray() {
std::vector<MjWarningStat> arr;
arr.reserve(mjNWARNING);
for (int i = 0; i < mjNWARNING; i++) {
arr.emplace_back(&get()->warning[i]);
}
return arr;
}
std::vector<MjContact> MjData::contact() const {
std::vector<MjContact> contacts;
contacts.reserve(get()->ncon);
for (int i = 0; i < get()->ncon; ++i) {
contacts.emplace_back(&get()->contact[i]);
}
return contacts;
return InitWrapperArray<MjContact>(get()->contact, get()->ncon);
}
MjvScene::MjvScene() {
@@ -8445,8 +8419,8 @@ MjvScene::MjvScene() {
ptr_ = new mjvScene;
mjv_defaultScene(ptr_);
mjv_makeScene(nullptr, ptr_, 0);
lights = InitLightsArray();
camera = InitCameraArray();
lights = InitWrapperArray<MjvLight>(ptr_->lights, mjMAXLIGHT);
camera = InitWrapperArray<MjvGLCamera>(ptr_->camera, 2);
};
MjvScene::MjvScene(MjModel *m, int maxgeom) {
@@ -8455,8 +8429,8 @@ MjvScene::MjvScene(MjModel *m, int maxgeom) {
ptr_ = new mjvScene;
mjv_defaultScene(ptr_);
mjv_makeScene(model, ptr_, maxgeom);
lights = InitLightsArray();
camera = InitCameraArray();
lights = InitWrapperArray<MjvLight>(ptr_->lights, mjMAXLIGHT);
camera = InitWrapperArray<MjvGLCamera>(ptr_->camera, 2);
};
MjvScene::~MjvScene() {
if (owned_ && ptr_) {
@@ -8502,31 +8476,8 @@ int MjvScene::GetSumFlexFaces() const {
return nflexface;
}
std::vector<MjvLight> MjvScene::InitLightsArray() {
std::vector<MjvLight> arr;
arr.reserve(mjMAXLIGHT);
for (int i = 0; i < mjMAXLIGHT; i++) {
arr.emplace_back(&ptr_->lights[i]);
}
return arr;
}
std::vector<MjvGLCamera> MjvScene::InitCameraArray() {
std::vector<MjvGLCamera> arr;
arr.reserve(2);
for (int i = 0; i < 2; i++) {
arr.emplace_back(&ptr_->camera[i]);
}
return arr;
}
std::vector<MjvGeom> MjvScene::geoms() const {
std::vector<MjvGeom> geoms;
geoms.reserve(ptr_->ngeom);
for (int i = 0; i < ptr_->ngeom; ++i) {
geoms.emplace_back(&ptr_->geoms[i]);
}
return geoms;
return InitWrapperArray<MjvGeom>(ptr_->geoms, ptr_->ngeom);
}
MjSpec::MjSpec()
wasm/codegen/templates/bindings.cc
+21 -70
View File
@@ -94,9 +94,6 @@ struct MjData {
MjData(MjModel *m);
explicit MjData(const MjModel &, const MjData &);
~MjData();
std::vector<MjSolverStat> InitSolverArray();
std::vector<MjTimerStat> InitTimerArray();
std::vector<MjWarningStat> InitWarningArray();
std::vector<MjContact> contact() const;
std::unique_ptr<MjData> copy();
mjData* get() const;
@@ -120,8 +117,6 @@ struct MjvScene {
~MjvScene();
std::unique_ptr<MjvScene> copy();
int GetSumFlexFaces() const;
std::vector<MjvLight> InitLightsArray();
std::vector<MjvGLCamera> InitCameraArray();
mjvScene* get() const;
void set(mjvScene* ptr);
@@ -352,6 +347,15 @@ EMSCRIPTEN_BINDINGS(mujoco_enums) {
// STRUCTS
// {{ AUTOGENNED_STRUCTS_SOURCE }}
template <typename WrapperType, typename ArrayType, typename SizeType>
std::vector<WrapperType> InitWrapperArray(ArrayType* array, SizeType size) {
std::vector<WrapperType> result;
result.reserve(size);
for (int i = 0; i < size; ++i) {
result.emplace_back(&array[i]);
}
return result;
}
// =============== MjModel =============== //
MjModel::MjModel(mjModel *m)
@@ -375,17 +379,17 @@ MjData::MjData(MjModel *m) {
model = m->get();
ptr_ = mj_makeData(model);
if (ptr_) {
solver = InitSolverArray();
timer = InitTimerArray();
warning = InitWarningArray();
solver = InitWrapperArray<MjSolverStat>(get()->solver, mjNSOLVER * mjNISLAND);
timer = InitWrapperArray<MjTimerStat>(get()->timer, mjNTIMER);
warning = InitWrapperArray<MjWarningStat>(get()->warning, mjNWARNING);
}
}
MjData::MjData(const MjModel &model, const MjData &other)
: ptr_(mj_copyData(nullptr, model.get(), other.get())), model(model.get()) {
if (ptr_) {
solver = InitSolverArray();
timer = InitTimerArray();
warning = InitWarningArray();
solver = InitWrapperArray<MjSolverStat>(get()->solver, mjNSOLVER * mjNISLAND);
timer = InitWrapperArray<MjTimerStat>(get()->timer, mjNTIMER);
warning = InitWrapperArray<MjWarningStat>(get()->warning, mjNWARNING);
}
}
MjData::~MjData() {
@@ -396,38 +400,8 @@ MjData::~MjData() {
mjData* MjData::get() const { return ptr_; }
void MjData::set(mjData *ptr) { ptr_ = ptr; }
std::vector<MjSolverStat> MjData::InitSolverArray() {
std::vector<MjSolverStat> arr;
arr.reserve(mjNSOLVER * mjNISLAND);
for (int i = 0; i < mjNSOLVER * mjNISLAND; i++) {
arr.emplace_back(&get()->solver[i]);
}
return arr;
}
std::vector<MjTimerStat> MjData::InitTimerArray() {
std::vector<MjTimerStat> arr;
arr.reserve(mjNTIMER);
for (int i = 0; i < mjNTIMER; i++) {
arr.emplace_back(&get()->timer[i]);
}
return arr;
}
std::vector<MjWarningStat>
MjData::InitWarningArray() {
std::vector<MjWarningStat> arr;
arr.reserve(mjNWARNING);
for (int i = 0; i < mjNWARNING; i++) {
arr.emplace_back(&get()->warning[i]);
}
return arr;
}
std::vector<MjContact> MjData::contact() const {
std::vector<MjContact> contacts;
contacts.reserve(get()->ncon);
for (int i = 0; i < get()->ncon; ++i) {
contacts.emplace_back(&get()->contact[i]);
}
return contacts;
return InitWrapperArray<MjContact>(get()->contact, get()->ncon);
}
MjvScene::MjvScene() {
@@ -435,8 +409,8 @@ MjvScene::MjvScene() {
ptr_ = new mjvScene;
mjv_defaultScene(ptr_);
mjv_makeScene(nullptr, ptr_, 0);
lights = InitLightsArray();
camera = InitCameraArray();
lights = InitWrapperArray<MjvLight>(ptr_->lights, mjMAXLIGHT);
camera = InitWrapperArray<MjvGLCamera>(ptr_->camera, 2);
};
MjvScene::MjvScene(MjModel *m, int maxgeom) {
@@ -445,8 +419,8 @@ MjvScene::MjvScene(MjModel *m, int maxgeom) {
ptr_ = new mjvScene;
mjv_defaultScene(ptr_);
mjv_makeScene(model, ptr_, maxgeom);
lights = InitLightsArray();
camera = InitCameraArray();
lights = InitWrapperArray<MjvLight>(ptr_->lights, mjMAXLIGHT);
camera = InitWrapperArray<MjvGLCamera>(ptr_->camera, 2);
};
MjvScene::~MjvScene() {
if (owned_ && ptr_) {
@@ -492,31 +466,8 @@ int MjvScene::GetSumFlexFaces() const {
return nflexface;
}
std::vector<MjvLight> MjvScene::InitLightsArray() {
std::vector<MjvLight> arr;
arr.reserve(mjMAXLIGHT);
for (int i = 0; i < mjMAXLIGHT; i++) {
arr.emplace_back(&ptr_->lights[i]);
}
return arr;
}
std::vector<MjvGLCamera> MjvScene::InitCameraArray() {
std::vector<MjvGLCamera> arr;
arr.reserve(2);
for (int i = 0; i < 2; i++) {
arr.emplace_back(&ptr_->camera[i]);
}
return arr;
}
std::vector<MjvGeom> MjvScene::geoms() const {
std::vector<MjvGeom> geoms;
geoms.reserve(ptr_->ngeom);
for (int i = 0; i < ptr_->ngeom; ++i) {
geoms.emplace_back(&ptr_->geoms[i]);
}
return geoms;
return InitWrapperArray<MjvGeom>(ptr_->geoms, ptr_->ngeom);
}
MjSpec::MjSpec()