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: 826094938 Change-Id: Id2658a187bc078056f4410c71202696753319e64
2025-10-30 10:37:06 -07:00
parent 10f4b36fb7
commit 76e64d96bb
56 changed files with 24362 additions and 22 deletions
@@ -0,0 +1,60 @@
+# 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.
+
+set(CMAKE_RUNTIME_OUTPUT_DIRECTORY "${CMAKE_SOURCE_DIR}/wasm/dist")
+
+set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++20 -O3")
+
+set(CMAKE_INSTALL_PREFIX ${PROJECT_SOURCE_DIR}/wasm)
+
+include_directories(${PROJECT_SOURCE_DIR}/include)
+include_directories(${PROJECT_SOURCE_DIR}/src)
+include_directories(${PROJECT_SOURCE_DIR}/wasm)
+
+link_directories(${CMAKE_BINARY_DIR}/lib)
+
+file(GLOB MUJOCO_WASM_FILES
+    "benchmark_test.cc"
+    "../unpack.cc"
+)
+
+if(NOT MUJOCO_WASM_FILES)
+    message(FATAL_ERROR "No source files found")
+endif()
+
+add_compile_options(-pthread)
+
+# Set Emscripten linker flags
+set(EMCC_LINKER_FLAGS
+    "--bind"
+    "-s ASSERTIONS=1"
+    "-s ALLOW_MEMORY_GROWTH=1"
+    "-s EXPORT_ES6=1"
+    "-s MODULARIZE=1"
+    "-s FORCE_FILESYSTEM=1"
+    "-s EXPORTED_RUNTIME_METHODS=['ccall','cwrap','FS','MEMFS']"
+    "-s EXPORT_NAME=loadMujoco"
+    "-gsource-map"
+    "-g"
+    "--emit-tsd mujoco_wasm_benchmark.d.ts"
+)
+string (REPLACE ";" " " EMCC_LINKER_FLAGS_STR "${EMCC_LINKER_FLAGS}")
+
+add_executable(mujoco_wasm_benchmark ${MUJOCO_WASM_FILES})
+
+set_target_properties(mujoco_wasm_benchmark PROPERTIES LINK_FLAGS "${EMCC_LINKER_FLAGS_STR}")
+
+target_link_libraries(mujoco_wasm_benchmark ccd lodepng mujoco tinyxml2 qhullstatic_r)
+
+install(TARGETS mujoco_wasm_benchmark DESTINATION ${DIVISIBLE_INSTALL_BIN_DIR})