chenlin/Mujoco_WASM
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Add JavaScript bindings and WASM support

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Co-authored-by: Matija Kecman <matijak@google.com>
Co-authored-by: Sebastian Noreña Rendón <sebas.norena@creativa77.com.ar>
Co-authored-by: Kyle Bayes <kylebayes@google.com>
PiperOrigin-RevId: 826109484
Change-Id: I327fd54122762bd2e239cc31c602a3eb73051c26
This commit is contained in:
Matija Kecman
2025-10-30 11:10:55 -07:00
committed by Copybara-Service
parent 76e64d96bb
commit f2badc05ac
56 changed files with 22 additions and 24362 deletions
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cmake/MujocoDependencies.cmake
+1 -17
View File
@@ -109,11 +109,7 @@ if(NOT TARGET lodepng)
add_library(lodepng STATIC ${LODEPNG_HEADERS} ${LODEPNG_SRCS})
target_compile_options(lodepng PRIVATE ${MUJOCO_MACOS_COMPILE_OPTIONS})
target_link_options(lodepng PRIVATE ${MUJOCO_MACOS_LINK_OPTIONS})
if(NOT EMSCRIPTEN)
target_include_directories(lodepng PUBLIC ${lodepng_SOURCE_DIR})
else()
target_include_directories(lodepng PUBLIC $<BUILD_INTERFACE:${lodepng_SOURCE_DIR}> $<INSTALL_INTERFACE:include>)
endif()
target_include_directories(lodepng PUBLIC ${lodepng_SOURCE_DIR})
endif()
endif()
@@ -132,10 +128,6 @@ if(NOT TARGET marchingcubecpp)
endif()
set(QHULL_ENABLE_TESTING OFF)
# Patch changes in https://github.com/qhull/qhull/pull/173.patch
set(QHULL_PATCH_COMMAND
git apply --reject --whitespace=fix ${mujoco_SOURCE_DIR}/cmake/qhull-support-emscripten.patch
)
findorfetch(
USE_SYSTEM_PACKAGE
@@ -151,7 +143,6 @@ findorfetch(
TARGETS
qhull
EXCLUDE_FROM_ALL
PATCH_COMMAND ${QHULL_PATCH_COMMAND}
)
# MuJoCo includes a file from libqhull_r which is not exported by the qhull include directories.
# Add it to the target.
@@ -231,12 +222,6 @@ endif()
set(ENABLE_DOUBLE_PRECISION ON)
set(CCD_HIDE_ALL_SYMBOLS ON)
# Patch changes in https://github.com/danfis/libccd/pull/83.patch
set(CCD_PATCH_COMMAND
git apply --reject --whitespace=fix ${mujoco_SOURCE_DIR}/cmake/ccd-support-emscripten.patch
)
# update cmake_minimum_required version for compatibility with newer version of cmake
if(NOT DEFINED CMAKE_POLICY_VERSION_MINIMUM)
set(CMAKE_POLICY_VERSION_MINIMUM ${MUJOCO_CMAKE_MIN_REQ})
@@ -256,7 +241,6 @@ findorfetch(
TARGETS
ccd
EXCLUDE_FROM_ALL
PATCH_COMMAND ${CCD_PATCH_COMMAND}
)
if(CMAKE_POLICY_VERSION_MINIMUM_LOCALLY_DEFINED)
unset(CMAKE_POLICY_VERSION_MINIMUM)