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Introduce mjPreContact, a minimal struct passed into the collision functions.

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PiperOrigin-RevId: 918533795
Change-Id: I2b5af05c1479b25d5c2cfdc690321a26fce6ede6
This commit is contained in:
Kyle Bayes
2026-05-20 10:47:11 -07:00
committed by Copybara-Service
parent 53b3137a12
commit 7174d33f08
25 changed files with 709 additions and 406 deletions
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wasm/codegen/generated/bindings.cc
+87 -21
View File
@@ -766,6 +766,36 @@ struct MjOption {
bool owned_ = false;
};
struct MjPreContact {
~MjPreContact();
MjPreContact();
explicit MjPreContact(mjPreContact *ptr);
MjPreContact(const MjPreContact &);
MjPreContact &operator=(const MjPreContact &);
std::unique_ptr<MjPreContact> copy();
mjPreContact* get() const;
void set(mjPreContact* ptr);
mjtNum dist() const {
return ptr_->dist;
}
void set_dist(mjtNum value) {
ptr_->dist = value;
}
emscripten::val pos() const {
return emscripten::val(emscripten::typed_memory_view(3, ptr_->pos));
}
emscripten::val normal() const {
return emscripten::val(emscripten::typed_memory_view(3, ptr_->normal));
}
emscripten::val tangent() const {
return emscripten::val(emscripten::typed_memory_view(3, ptr_->tangent));
}
private:
mjPreContact* ptr_;
bool owned_ = false;
};
struct MjSolverStat {
~MjSolverStat();
MjSolverStat();
@@ -7139,7 +7169,7 @@ MjContact::~MjContact() {
delete ptr_;
}
}
MjContact::MjContact() : ptr_(new mjContact) {
MjContact::MjContact() : ptr_(new mjContact()) {
owned_ = true;
}
MjContact::MjContact(const MjContact &other) : MjContact() {
@@ -7168,7 +7198,7 @@ MjLROpt::~MjLROpt() {
delete ptr_;
}
}
MjLROpt::MjLROpt() : ptr_(new mjLROpt) {
MjLROpt::MjLROpt() : ptr_(new mjLROpt()) {
owned_ = true;
mj_defaultLROpt(ptr_);
}
@@ -7198,7 +7228,7 @@ MjOption::~MjOption() {
delete ptr_;
}
}
MjOption::MjOption() : ptr_(new mjOption) {
MjOption::MjOption() : ptr_(new mjOption()) {
owned_ = true;
mj_defaultOption(ptr_);
}
@@ -7222,13 +7252,42 @@ void MjOption::set(mjOption* ptr) {
ptr_ = ptr;
}
MjPreContact::MjPreContact(mjPreContact *ptr) : ptr_(ptr) {}
MjPreContact::~MjPreContact() {
if (owned_ && ptr_) {
delete ptr_;
}
}
MjPreContact::MjPreContact() : ptr_(new mjPreContact()) {
owned_ = true;
}
MjPreContact::MjPreContact(const MjPreContact &other) : MjPreContact() {
*ptr_ = *other.get();
}
MjPreContact& MjPreContact::operator=(const MjPreContact &other) {
if (this == &other) {
return *this;
}
*ptr_ = *other.get();
return *this;
}
std::unique_ptr<MjPreContact> MjPreContact::copy() {
return std::make_unique<MjPreContact>(*this);
}
mjPreContact* MjPreContact::get() const {
return ptr_;
}
void MjPreContact::set(mjPreContact* ptr) {
ptr_ = ptr;
}
MjSolverStat::MjSolverStat(mjSolverStat *ptr) : ptr_(ptr) {}
MjSolverStat::~MjSolverStat() {
if (owned_ && ptr_) {
delete ptr_;
}
}
MjSolverStat::MjSolverStat() : ptr_(new mjSolverStat) {
MjSolverStat::MjSolverStat() : ptr_(new mjSolverStat()) {
owned_ = true;
}
MjSolverStat::MjSolverStat(const MjSolverStat &other) : MjSolverStat() {
@@ -7257,7 +7316,7 @@ MjStatistic::~MjStatistic() {
delete ptr_;
}
}
MjStatistic::MjStatistic() : ptr_(new mjStatistic) {
MjStatistic::MjStatistic() : ptr_(new mjStatistic()) {
owned_ = true;
}
MjStatistic::MjStatistic(const MjStatistic &other) : MjStatistic() {
@@ -7286,7 +7345,7 @@ MjTimerStat::~MjTimerStat() {
delete ptr_;
}
}
MjTimerStat::MjTimerStat() : ptr_(new mjTimerStat) {
MjTimerStat::MjTimerStat() : ptr_(new mjTimerStat()) {
owned_ = true;
}
MjTimerStat::MjTimerStat(const MjTimerStat &other) : MjTimerStat() {
@@ -7315,7 +7374,7 @@ MjVisualGlobal::~MjVisualGlobal() {
delete ptr_;
}
}
MjVisualGlobal::MjVisualGlobal() : ptr_(new mjVisualGlobal) {
MjVisualGlobal::MjVisualGlobal() : ptr_(new mjVisualGlobal()) {
owned_ = true;
}
MjVisualGlobal::MjVisualGlobal(const MjVisualGlobal &other) : MjVisualGlobal() {
@@ -7344,7 +7403,7 @@ MjVisualHeadlight::~MjVisualHeadlight() {
delete ptr_;
}
}
MjVisualHeadlight::MjVisualHeadlight() : ptr_(new mjVisualHeadlight) {
MjVisualHeadlight::MjVisualHeadlight() : ptr_(new mjVisualHeadlight()) {
owned_ = true;
}
MjVisualHeadlight::MjVisualHeadlight(const MjVisualHeadlight &other) : MjVisualHeadlight() {
@@ -7373,7 +7432,7 @@ MjVisualMap::~MjVisualMap() {
delete ptr_;
}
}
MjVisualMap::MjVisualMap() : ptr_(new mjVisualMap) {
MjVisualMap::MjVisualMap() : ptr_(new mjVisualMap()) {
owned_ = true;
}
MjVisualMap::MjVisualMap(const MjVisualMap &other) : MjVisualMap() {
@@ -7402,7 +7461,7 @@ MjVisualQuality::~MjVisualQuality() {
delete ptr_;
}
}
MjVisualQuality::MjVisualQuality() : ptr_(new mjVisualQuality) {
MjVisualQuality::MjVisualQuality() : ptr_(new mjVisualQuality()) {
owned_ = true;
}
MjVisualQuality::MjVisualQuality(const MjVisualQuality &other) : MjVisualQuality() {
@@ -7431,7 +7490,7 @@ MjVisualRgba::~MjVisualRgba() {
delete ptr_;
}
}
MjVisualRgba::MjVisualRgba() : ptr_(new mjVisualRgba) {
MjVisualRgba::MjVisualRgba() : ptr_(new mjVisualRgba()) {
owned_ = true;
}
MjVisualRgba::MjVisualRgba(const MjVisualRgba &other) : MjVisualRgba() {
@@ -7460,7 +7519,7 @@ MjVisualScale::~MjVisualScale() {
delete ptr_;
}
}
MjVisualScale::MjVisualScale() : ptr_(new mjVisualScale) {
MjVisualScale::MjVisualScale() : ptr_(new mjVisualScale()) {
owned_ = true;
}
MjVisualScale::MjVisualScale(const MjVisualScale &other) : MjVisualScale() {
@@ -7489,7 +7548,7 @@ MjWarningStat::~MjWarningStat() {
delete ptr_;
}
}
MjWarningStat::MjWarningStat() : ptr_(new mjWarningStat) {
MjWarningStat::MjWarningStat() : ptr_(new mjWarningStat()) {
owned_ = true;
}
MjWarningStat::MjWarningStat(const MjWarningStat &other) : MjWarningStat() {
@@ -7534,7 +7593,7 @@ MjvCamera::~MjvCamera() {
delete ptr_;
}
}
MjvCamera::MjvCamera() : ptr_(new mjvCamera) {
MjvCamera::MjvCamera() : ptr_(new mjvCamera()) {
owned_ = true;
mjv_defaultCamera(ptr_);
}
@@ -7564,7 +7623,7 @@ MjvFigure::~MjvFigure() {
delete ptr_;
}
}
MjvFigure::MjvFigure() : ptr_(new mjvFigure) {
MjvFigure::MjvFigure() : ptr_(new mjvFigure()) {
owned_ = true;
mjv_defaultFigure(ptr_);
}
@@ -7594,7 +7653,7 @@ MjvGLCamera::~MjvGLCamera() {
delete ptr_;
}
}
MjvGLCamera::MjvGLCamera() : ptr_(new mjvGLCamera) {
MjvGLCamera::MjvGLCamera() : ptr_(new mjvGLCamera()) {
owned_ = true;
}
MjvGLCamera::MjvGLCamera(const MjvGLCamera &other) : MjvGLCamera() {
@@ -7623,7 +7682,7 @@ MjvGeom::~MjvGeom() {
delete ptr_;
}
}
MjvGeom::MjvGeom() : ptr_(new mjvGeom) {
MjvGeom::MjvGeom() : ptr_(new mjvGeom()) {
owned_ = true;
mjv_initGeom(ptr_, mjGEOM_NONE, nullptr, nullptr, nullptr, nullptr);
}
@@ -7653,7 +7712,7 @@ MjvLight::~MjvLight() {
delete ptr_;
}
}
MjvLight::MjvLight() : ptr_(new mjvLight) {
MjvLight::MjvLight() : ptr_(new mjvLight()) {
owned_ = true;
}
MjvLight::MjvLight(const MjvLight &other) : MjvLight() {
@@ -7682,7 +7741,7 @@ MjvOption::~MjvOption() {
delete ptr_;
}
}
MjvOption::MjvOption() : ptr_(new mjvOption) {
MjvOption::MjvOption() : ptr_(new mjvOption()) {
owned_ = true;
mjv_defaultOption(ptr_);
}
@@ -7712,7 +7771,7 @@ MjvPerturb::~MjvPerturb() {
delete ptr_;
}
}
MjvPerturb::MjvPerturb() : ptr_(new mjvPerturb) {
MjvPerturb::MjvPerturb() : ptr_(new mjvPerturb()) {
owned_ = true;
mjv_defaultPerturb(ptr_);
}
@@ -7750,7 +7809,7 @@ MjVisual::~MjVisual() {
delete ptr_;
}
}
MjVisual::MjVisual() : ptr_(new mjVisual), global(&ptr_->global), quality(&ptr_->quality), headlight(&ptr_->headlight), map(&ptr_->map), scale(&ptr_->scale), rgba(&ptr_->rgba) {
MjVisual::MjVisual() : ptr_(new mjVisual()), global(&ptr_->global), quality(&ptr_->quality), headlight(&ptr_->headlight), map(&ptr_->map), scale(&ptr_->scale), rgba(&ptr_->rgba) {
owned_ = true;
mj_defaultVisual(ptr_);
}
@@ -12375,6 +12434,13 @@ EMSCRIPTEN_BINDINGS(mujoco_bindings) {
.property("tolerance", &MjOption::tolerance, &MjOption::set_tolerance, reference())
.property("viscosity", &MjOption::viscosity, &MjOption::set_viscosity, reference())
.property("wind", &MjOption::wind);
emscripten::class_<MjPreContact>("MjPreContact")
.constructor<>()
.function("copy", &MjPreContact::copy, take_ownership())
.property("dist", &MjPreContact::dist, &MjPreContact::set_dist, reference())
.property("normal", &MjPreContact::normal)
.property("pos", &MjPreContact::pos)
.property("tangent", &MjPreContact::tangent);
emscripten::class_<MjSolverStat>("MjSolverStat")
.constructor<>()
.function("copy", &MjSolverStat::copy, take_ownership())
wasm/codegen/generators/constants.py
+1
View File
@@ -292,6 +292,7 @@ STRUCTS_TO_BIND: list[str] = list(
NO_DEFAULT_CONSTRUCTORS: tuple[str, ...] = (
# go/keep-sorted start
"mjContact",
"mjPreContact",
"mjSolverStat",
"mjStatistic",
"mjTimerStat",
wasm/codegen/generators/structs.py
+1 -1
View File
@@ -493,7 +493,7 @@ def build_struct_source(
if not is_mjs:
# default constructor
with builder.function(f"{w}::{w}() : ptr_(new {s}){fields_init}"):
with builder.function(f"{w}::{w}() : ptr_(new {s}()){fields_init}"):
builder.line("owned_ = true;")
default_func = _default_function_statement(s)
if default_func:
wasm/codegen/tests/generators_test.py
+1 -1
View File
@@ -266,7 +266,7 @@ MjvLight::~MjvLight() {
delete ptr_;
}
}
MjvLight::MjvLight() : ptr_(new mjvLight) {
MjvLight::MjvLight() : ptr_(new mjvLight()) {
owned_ = true;
}
MjvLight::MjvLight(const MjvLight &other) : MjvLight() {