chenlin/Mujoco_WASM
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Add new mju_threadpool API function, and delete old threading API.

Browse Source 
PiperOrigin-RevId: 922838541
Change-Id: Id9f7e0fb298ffde61fcc49a802dc78971858ce51
This commit is contained in:
Kyle Bayes
2026-05-28 10:09:07 -07:00
committed by Copybara-Service
parent a22fc2423a
commit b935d4153c
47 changed files with 576 additions and 1755 deletions
Download Patch File Download Diff File Expand all files Collapse all files
wasm/codegen/generated/bindings.cc
+18 -14
View File
@@ -6455,15 +6455,24 @@ struct MjData {
void set_parena(size_t value) {
ptr_->parena = value;
}
uintptr_t threadpool() const {
return ptr_->threadpool;
}
void set_threadpool(uintptr_t value) {
ptr_->threadpool = value;
}
mjtBool threadlock() const {
return ptr_->threadlock;
}
void set_threadlock(mjtBool value) {
ptr_->threadlock = value;
}
int maxuse_stack() const {
return static_cast<int>(ptr_->maxuse_stack);
}
void set_maxuse_stack(int value) {
ptr_->maxuse_stack = static_cast<mjtSize>(value);
}
emscripten::val maxuse_threadstack() const {
return emscripten::val(emscripten::typed_memory_view(128, ptr_->maxuse_threadstack));
}
int maxuse_arena() const {
return static_cast<int>(ptr_->maxuse_arena);
}
@@ -7095,12 +7104,6 @@ struct MjData {
emscripten::val ifrc_constraint() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nidof, ptr_->ifrc_constraint));
}
uintptr_t threadpool() const {
return ptr_->threadpool;
}
void set_threadpool(uintptr_t value) {
ptr_->threadpool = value;
}
uint64_t signature() const {
return ptr_->signature;
}
@@ -10766,6 +10769,10 @@ void mju_symmetrize_wrapper(const val& res, const NumberArray& mat, int n) {
mju_symmetrize(res_.data(), mat_.data(), n);
}
void mju_threadpool_wrapper(MjData& d, int nthread) {
mju_threadpool(d.get(), nthread);
}
void mju_transformSpatial_wrapper(const val& res, const NumberArray& vec, int flg_force, const NumberArray& newpos, const NumberArray& oldpos, const NumberArray& rotnew2old) {
UNPACK_VALUE(mjtNum, res);
UNPACK_ARRAY(mjtNum, vec);
@@ -11467,10 +11474,6 @@ EMSCRIPTEN_BINDINGS(mujoco_bindings) {
.value("mjSTEREO_NONE", mjSTEREO_NONE)
.value("mjSTEREO_QUADBUFFERED", mjSTEREO_QUADBUFFERED)
.value("mjSTEREO_SIDEBYSIDE", mjSTEREO_SIDEBYSIDE);
enum_<mjtTaskStatus>("mjtTaskStatus")
.value("mjTASK_NEW", mjTASK_NEW)
.value("mjTASK_QUEUED", mjTASK_QUEUED)
.value("mjTASK_COMPLETED", mjTASK_COMPLETED);
enum_<mjtTexture>("mjtTexture")
.value("mjTEXTURE_2D", mjTEXTURE_2D)
.value("mjTEXTURE_CUBE", mjTEXTURE_CUBE)
@@ -11734,7 +11737,6 @@ EMSCRIPTEN_BINDINGS(mujoco_bindings) {
.property("maxuse_con", &MjData::maxuse_con, &MjData::set_maxuse_con, reference())
.property("maxuse_efc", &MjData::maxuse_efc, &MjData::set_maxuse_efc, reference())
.property("maxuse_stack", &MjData::maxuse_stack, &MjData::set_maxuse_stack, reference())
.property("maxuse_threadstack", &MjData::maxuse_threadstack)
.property("mocap_pos", &MjData::mocap_pos)
.property("mocap_quat", &MjData::mocap_quat)
.property("moment_colind", &MjData::moment_colind)
@@ -11804,6 +11806,7 @@ EMSCRIPTEN_BINDINGS(mujoco_bindings) {
.property("ten_wrapadr", &MjData::ten_wrapadr)
.property("ten_wrapnum", &MjData::ten_wrapnum)
.property("tendon_efcadr", &MjData::tendon_efcadr)
.property("threadlock", &MjData::threadlock, &MjData::set_threadlock, reference())
.property("threadpool", &MjData::threadpool, &MjData::set_threadpool, reference())
.property("time", &MjData::time, &MjData::set_time, reference())
.property("timer", &MjData::timer, reference())
@@ -13610,6 +13613,7 @@ EMSCRIPTEN_BINDINGS(mujoco_bindings) {
function("mju_sum", &mju_sum_wrapper);
function("mju_sym2dense", &mju_sym2dense_wrapper);
function("mju_symmetrize", &mju_symmetrize_wrapper);
function("mju_threadpool", &mju_threadpool_wrapper);
function("mju_transformSpatial", &mju_transformSpatial_wrapper);
function("mju_transpose", &mju_transpose_wrapper);
function("mju_trnVecPose", &mju_trnVecPose_wrapper);