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Add code generation for mjModel named accessors.

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Most of it is done leveraging existing X Macros (indexers.h, indexer_xmacro.h) used for python bindings already.

PiperOrigin-RevId: 856205245
Change-Id: Ic72443999065040af3042bbf3f9f68c5b70d309d
This commit is contained in:
Google DeepMind
2026-01-14 07:30:43 -08:00
committed by Copybara-Service
parent cc4c2bc398
commit c996f288e1
4 changed files with 588 additions and 5 deletions
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wasm/codegen/generators/structs.py
+36 -3
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@@ -20,8 +20,8 @@ import math
from typing import Tuple, Union, cast
from introspect import ast_nodes
from introspect import structs as introspect_structs
from introspect import functions as introspect_functions
from introspect import structs as introspect_structs
from wasm.codegen.generators import code_builder
from wasm.codegen.generators import common
@@ -376,6 +376,33 @@ def build_struct_header(
for line in field.declaration.splitlines():
builder.line(line)
# accessors declarations
if w == "MjModel":
builder.line("""
// Generates functions to return accessor classes.
#define X_ACCESSOR(NAME, Name, OBJTYPE, accessor_name, nfield) \\
MjModel##Name##Accessor accessor_name(const NumberOrString& val) const { \\
if (val.isString()) { \\
int id = mj_name2id(ptr_, OBJTYPE, val.as<std::string>().c_str()); \\
if (id == -1) { \\
mju_error("Invalid name, MjModel." #accessor_name " not found"); \\
} \\
return MjModel##Name##Accessor(ptr_, id); \\
} else if (val.isNumber()) { \\
int id = val.as<int>(); \\
if (id < 0 || id >= ptr_->nfield) { \\
mju_error_i("Invalid id %d for MjModel." #accessor_name, id); \\
} \\
return MjModel##Name##Accessor(ptr_, id); \\
} else { \\
mju_error(#accessor_name "() argument must be a string or number"); \\
return MjModel##Name##Accessor(nullptr, 0); \\
} \\
}
MJMODEL_ACCESSORS
#undef X_ACCESSOR""".lstrip())
# define private struct members
builder.private()
builder.line(f"{s}* ptr_;")
@@ -481,11 +508,17 @@ def _build_struct_bindings(
builder.line(".constructor<MjModel *>()")
builder.line(".constructor<const MjModel &, const MjData &>()")
elif w == "MjModel":
w = common.wrapped_function_name(
fn = common.wrapped_function_name(
introspect_functions.FUNCTIONS["mj_loadXML"]
)
builder.line(f'.class_function("mj_loadXML", &{w}, take_ownership())')
builder.line(f'.class_function("mj_loadXML", &{fn}, take_ownership())')
builder.line(".constructor<const MjModel &>()")
builder.line("""
// Binds the functions on MjModel that return accessors.
#define X_ACCESSOR(NAME, Name, OBJTYPE, field_name, nfield) \\
.function(#field_name, &MjModel::field_name)
MJMODEL_ACCESSORS
#undef X_ACCESSOR""".lstrip())
elif w == "MjSpec":
builder.line(".constructor<const MjSpec &>()")
elif w == "MjvScene":