Merge pull request #3184 from MatiasManevi:single-thread-npm

PiperOrigin-RevId: 886334046
Change-Id: If054286ac11f2b0e13e770922c049e334d136ab1

.github/workflows/build_steps.sh

@@ -211,8 +211,23 @@ build_test_wasm() {
     source emsdk/emsdk_env.sh
     export PATH="$(pwd)/node_modules/.bin:$PATH"
 
-    emcmake cmake -B build_wasm -DCMAKE_INTERPROCEDURAL_OPTIMIZATION:BOOL=OFF $WASM_CMAKE_ARGS
+    echo "Building Multi-Threaded version..."
-    cmake --build build_wasm
+    emcmake cmake -B build_wasm_mt \
+        -DCMAKE_INTERPROCEDURAL_OPTIMIZATION:BOOL=OFF \
+        -DMUJOCO_WASM_THREADS=ON \
+        $WASM_CMAKE_ARGS
+    cmake --build build_wasm_mt --parallel $(nproc)
+
+    echo "Moving Multi-Thread version under mt subfolder..."
+    mkdir -p wasm/dist/mt
+    mv wasm/dist/mujoco.* wasm/dist/mt/
+
+    echo "Building Single-Threaded version..."
+    emcmake cmake -B build_wasm_st \
+        -DCMAKE_INTERPROCEDURAL_OPTIMIZATION:BOOL=OFF \
+        -DMUJOCO_WASM_THREADS=OFF \
+        $WASM_CMAKE_ARGS
+    cmake --build build_wasm_st --parallel $(nproc)
 
     npm run test --prefix ./wasm
 }

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/README.md

@@ -19,6 +19,7 @@ TypeScript.
 > (installation succeeded on one Windows 11 machine but failed on others)._
 
 ## Installation
+
 The easiest way to use the MuJoCo JavaScript bindings is to install the
 `@mujoco/mujoco` package from npm:
 
@@ -30,6 +31,37 @@ This package is ESM (`type: module`) and includes the pre-compiled WebAssembly
 module, JavaScript bindings, and TypeScript declarations. Ensure your bundler or
 dev server serves the `.wasm` asset at runtime.
 
+### Threading Models
+
+The `@mujoco/mujoco` package includes two distinct builds of the engine to
+support different browser environments and performance needs.
+
+#### 1. Single-Threaded (Default)
+
+The standard single-threaded version is located at the root of the package. It
+is compatible with all modern browsers and does not require special security
+headers.
+```typescript
+import loadMujoco from '@mujoco/mujoco';
+```
+
+#### 2. Multi-Threaded (MT)
+
+The multi-threaded version is located in the `/mt` subfolder. It utilizes Web
+Workers and `SharedArrayBuffer` to parallelize physics computations.
+```typeScript
+import loadMujoco from '@mujoco/mujoco/mt';
+```
+
+> [!NOTE]
+> Due to the use of `SharedArrayBuffer`, browsers require Cross-Origin Isolation
+> to enable multi-threading. Your web server must send the following HTTP
+> headers:
+>    - `Cross-Origin-Opener-Policy: same-origin`
+>    - `Cross-Origin-Embedder-Policy: require-corp`
+>
+> If these headers are missing, the module will fail to initialize.
+
 ## Build from source
 
 ### Prerequisites
@@ -98,6 +130,14 @@ This command will generate the following folders under the project root:
 - `build`: contains MuJoCo compiled using Emscripten.
 - `wasm/dist`: contains the WebAssembly module, `.js` and `.d.ts` files.
 
+The assets inside those folders are compiled and prepared to run as
+single-threaded. If you need to operate with a multi-threaded version of the
+module make sure to pass the `-DMUJOCO_WASM_THREADS=ON` flag like:
+
+```sh
+emcmake cmake -B build -DMUJOCO_WASM_THREADS=ON && cmake --build build
+```
+
 ### Example Application
 
 After generating the bindings you will be ready to write web applications using

wasm/package.npm.json

@@ -24,13 +24,31 @@
     "javascript",
     "typescript"
   ],
-  "main": "mujoco.js",
+  "exports": {
-  "types": "mujoco.d.ts",
+    ".": {
+      "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",