Add single threaded version

wasm/CMakeLists.txt

@@ -31,11 +31,11 @@ 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"
-    "-pthread"
-    "-s PTHREAD_POOL_SIZE=navigator.hardwareConcurrency"
     "-s ASSERTIONS=1"
     "-s ALLOW_MEMORY_GROWTH=1"
     "-s EXPORT_ES6=1"
@@ -48,6 +48,13 @@ set(EMCC_LINKER_FLAGS
     "-g"
     "--emit-tsd mujoco.d.ts"
 )
+if(MUJOCO_WASM_THREADS)
+    list(APPEND EMCC_LINKER_FLAGS
+        "-pthread"
+        "-s PTHREAD_POOL_SIZE=navigator.hardwareConcurrency"
+    )
+    add_definitions(-DMUJOCO_WASM_THREADS)
+endif()
 string (REPLACE ";" " " EMCC_LINKER_FLAGS_STR "${EMCC_LINKER_FLAGS}")
 
 add_executable(mujoco_wasm ${MUJOCO_WASM_FILES})

wasm/package.npm.json

@@ -24,13 +24,31 @@
     "javascript",
     "typescript"
   ],
-  "main": "mujoco.js",
-  "types": "mujoco.d.ts",
+  "exports": {
+    ".": {
+      "types": "./mujoco.d.ts",
+      "import": "./mujoco.js",
+      "default": "./mujoco.js"
+    },
+    "./mt": {
+      "types": "./mt/mujoco.d.ts",
+      "import": "./mt/mujoco.js",
+      "default": "./mt/mujoco.js"
+    },
+    "./mujoco.wasm": "./mujoco.wasm",
+    "./mujoco.wasm.map": "./mujoco.wasm.map",
+    "./mt/mujoco.wasm": "./mt/mujoco.wasm",
+    "./mt/mujoco.wasm.map": "./mt/mujoco.wasm.map"
+  },
   "files": [
     "mujoco.js",
     "mujoco.d.ts",
     "mujoco.wasm",
     "mujoco.wasm.map",
+    "mt/mujoco.js",
+    "mt/mujoco.d.ts",
+    "mt/mujoco.wasm",
+    "mt/mujoco.wasm.map",
     "README.md"
   ],
   "author": "Google DeepMind",