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Fix mj_loadXML hang in single-threaded WASM builds

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The top-level CMakeLists.txt unconditionally added -pthread for all Emscripten builds, but PTHREAD_POOL_SIZE was only set when MUJOCO_WASM_THREADS=ON. This gave the ST build a live pthread runtime with zero pre-spawned workers, causing CompileMeshesAndTextures to deadlock when it tried to spawn a ThreadPool on the main thread.

Fix by making -pthread conditional on MUJOCO_WASM_THREADS. Without -pthread, hardware_concurrency() returns 0 and the existing nthread < 2 guards naturally select the serial compilation path.

PiperOrigin-RevId: 900191420
Change-Id: I0481b81fc6f7cccb52c7d7592dcf9dd317b5bad1
This commit is contained in:
Matija Kecman
2026-04-15 08:56:35 -07:00
committed by Copybara-Service
parent e047f1101a
commit 7ac30a39fe
2 changed files with 6 additions and 4 deletions
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wasm/CMakeLists.txt
-2
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@@ -31,8 +31,6 @@ if(NOT MUJOCO_WASM_FILES)
message(FATAL_ERROR "No source files found in codegen/generated/")
endif()
option(MUJOCO_WASM_THREADS "Build with multi-threading support" ON)
# Set Emscripten linker flags
set(EMCC_LINKER_FLAGS
"--bind"