Add JavaScript bindings and WASM support
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
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Matija Kecman
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// Copyright 2025 DeepMind Technologies Limited
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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// NOLINTBEGIN(whitespace/line_length)
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#ifndef MUJOCO_WASM_CODEGEN_GENERATED_BINDINGS_H_
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#define MUJOCO_WASM_CODEGEN_GENERATED_BINDINGS_H_
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#include <emscripten.h>
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#include <emscripten/bind.h>
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#include <cstddef>
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#include <cstdint>
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#include <memory>
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#include <mujoco/mujoco.h>
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namespace mujoco::wasm {
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// Create the types for anonymous structs
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using mjVisualGlobal = decltype(::mjVisual::global);
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using mjVisualQuality = decltype(::mjVisual::quality);
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using mjVisualHeadlight = decltype(::mjVisual::headlight);
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using mjVisualMap = decltype(::mjVisual::map);
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using mjVisualScale = decltype(::mjVisual::scale);
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using mjVisualRgba = decltype(::mjVisual::rgba);
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// {{ AUTOGENNED_STRUCT_DEFINITIONS }}
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struct MjVisualGlobal {
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MjVisualGlobal();
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explicit MjVisualGlobal(mjVisualGlobal *ptr);
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MjVisualGlobal(const MjVisualGlobal &);
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MjVisualGlobal &operator=(const MjVisualGlobal &);
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~MjVisualGlobal();
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std::unique_ptr<MjVisualGlobal> copy();
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// INSERT-GENERATED-MjVisualGlobal-DEFINITIONS
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mjVisualGlobal* get() const { return ptr_; }
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void set(mjVisualGlobal* ptr) { ptr_ = ptr; }
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private:
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mjVisualGlobal* ptr_;
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bool owned_ = false;
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};
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struct MjVisualQuality {
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MjVisualQuality();
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explicit MjVisualQuality(mjVisualQuality *ptr);
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MjVisualQuality(const MjVisualQuality &);
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MjVisualQuality &operator=(const MjVisualQuality &);
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~MjVisualQuality();
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std::unique_ptr<MjVisualQuality> copy();
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// INSERT-GENERATED-MjVisualQuality-DEFINITIONS
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mjVisualQuality* get() const { return ptr_; }
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void set(mjVisualQuality* ptr) { ptr_ = ptr; }
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private:
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mjVisualQuality* ptr_;
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bool owned_ = false;
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};
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struct MjVisualHeadlight {
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MjVisualHeadlight();
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explicit MjVisualHeadlight(mjVisualHeadlight *ptr);
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MjVisualHeadlight(const MjVisualHeadlight &);
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MjVisualHeadlight &operator=(const MjVisualHeadlight &);
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~MjVisualHeadlight();
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std::unique_ptr<MjVisualHeadlight> copy();
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// INSERT-GENERATED-MjVisualHeadlight-DEFINITIONS
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mjVisualHeadlight* get() const { return ptr_; }
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void set(mjVisualHeadlight* ptr) { ptr_ = ptr; }
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private:
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mjVisualHeadlight* ptr_;
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bool owned_ = false;
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};
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struct MjVisualMap {
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MjVisualMap();
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explicit MjVisualMap(mjVisualMap *ptr);
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MjVisualMap(const MjVisualMap &);
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MjVisualMap &operator=(const MjVisualMap &);
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~MjVisualMap();
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std::unique_ptr<MjVisualMap> copy();
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// INSERT-GENERATED-MjVisualMap-DEFINITIONS
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mjVisualMap* get() const { return ptr_; }
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void set(mjVisualMap* ptr) { ptr_ = ptr; }
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private:
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mjVisualMap* ptr_;
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bool owned_ = false;
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};
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struct MjVisualScale {
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MjVisualScale();
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explicit MjVisualScale(mjVisualScale *ptr);
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MjVisualScale(const MjVisualScale &);
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MjVisualScale &operator=(const MjVisualScale &);
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~MjVisualScale();
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std::unique_ptr<MjVisualScale> copy();
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// INSERT-GENERATED-MjVisualScale-DEFINITIONS
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mjVisualScale* get() const { return ptr_; }
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void set(mjVisualScale* ptr) { ptr_ = ptr; }
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private:
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mjVisualScale* ptr_;
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bool owned_ = false;
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};
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struct MjVisualRgba {
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MjVisualRgba();
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explicit MjVisualRgba(mjVisualRgba *ptr);
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MjVisualRgba(const MjVisualRgba &);
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MjVisualRgba &operator=(const MjVisualRgba &);
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~MjVisualRgba();
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std::unique_ptr<MjVisualRgba> copy();
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// INSERT-GENERATED-MjVisualRgba-DEFINITIONS
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mjVisualRgba* get() const { return ptr_; }
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void set(mjVisualRgba* ptr) { ptr_ = ptr; }
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private:
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mjVisualRgba* ptr_;
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bool owned_ = false;
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};
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struct MjVisual {
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MjVisual();
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explicit MjVisual(mjVisual *ptr_);
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MjVisual(const MjVisual &);
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MjVisual &operator=(const MjVisual &);
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~MjVisual();
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std::unique_ptr<MjVisual> copy();
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// INSERT-GENERATED-MjVisual-DEFINITIONS
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mjVisual* get() const { return ptr_; }
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void set(mjVisual* ptr) { ptr_ = ptr; }
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private:
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mjVisual* ptr_;
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bool owned_ = false;
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public:
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MjVisualGlobal global;
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MjVisualQuality quality;
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MjVisualHeadlight headlight;
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MjVisualMap map;
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MjVisualScale scale;
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MjVisualRgba rgba;
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};
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struct MjModel {
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explicit MjModel(mjModel *m);
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explicit MjModel(const MjModel &other);
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~MjModel();
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std::unique_ptr<MjModel> copy();
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// INSERT-GENERATED-MjModel-DEFINITIONS
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mjModel* get() const { return ptr_; }
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void set(mjModel* ptr) { ptr_ = ptr; }
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private:
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mjModel* ptr_;
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public:
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MjOption opt;
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MjStatistic stat;
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MjVisual vis;
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};
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struct MjData {
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MjData(MjModel *m);
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explicit MjData(const MjModel &, const MjData &);
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~MjData();
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std::vector<MjSolverStat> InitSolverArray();
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std::vector<MjTimerStat> InitTimerArray();
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std::vector<MjWarningStat> InitWarningArray();
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std::vector<MjContact> contact() const;
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std::unique_ptr<MjData> copy();
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// INSERT-GENERATED-MjData-DEFINITIONS
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mjData* get() const { return ptr_; }
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void set(mjData* ptr) { ptr_ = ptr; }
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private:
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mjData* ptr_;
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public:
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mjModel *model;
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std::vector<MjSolverStat> solver;
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std::vector<MjTimerStat> timer;
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std::vector<MjWarningStat> warning;
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};
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struct MjvScene {
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MjvScene();
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MjvScene(MjModel *m, int maxgeom);
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// MjvScene(const MjvScene &);
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~MjvScene();
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std::unique_ptr<MjvScene> copy();
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int GetSumFlexFaces() const;
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std::vector<MjvLight> InitLightsArray();
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std::vector<MjvGLCamera> InitCameraArray();
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std::vector<MjvGeom> geoms() const;
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emscripten::val geomorder() const {
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return emscripten::val(
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emscripten::typed_memory_view(ptr_->ngeom, ptr_->geomorder));
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}
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emscripten::val flexedgeadr() const {
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return emscripten::val(
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emscripten::typed_memory_view(ptr_->nflex, ptr_->flexedgeadr));
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}
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emscripten::val flexedgenum() const {
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return emscripten::val(
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emscripten::typed_memory_view(ptr_->nflex, ptr_->flexedgenum));
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}
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emscripten::val flexvertadr() const {
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return emscripten::val(
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emscripten::typed_memory_view(ptr_->nflex, ptr_->flexvertadr));
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}
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emscripten::val flexvertnum() const {
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return emscripten::val(
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emscripten::typed_memory_view(ptr_->nflex, ptr_->flexvertnum));
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}
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emscripten::val flexfaceadr() const {
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return emscripten::val(
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emscripten::typed_memory_view(ptr_->nflex, ptr_->flexfaceadr));
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}
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emscripten::val flexfacenum() const {
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return emscripten::val(
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emscripten::typed_memory_view(ptr_->nflex, ptr_->flexfacenum));
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}
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emscripten::val flexfaceused() const {
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return emscripten::val(
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emscripten::typed_memory_view(ptr_->nflex, ptr_->flexfaceused));
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}
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emscripten::val flexedge() const {
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return emscripten::val(
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emscripten::typed_memory_view(2 * model->nflexedge, ptr_->flexedge));
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}
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emscripten::val flexvert() const {
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return emscripten::val(
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emscripten::typed_memory_view(3 * model->nflexvert, ptr_->flexvert));
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}
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emscripten::val skinfacenum() const {
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return emscripten::val(
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emscripten::typed_memory_view(ptr_->nskin, ptr_->skinfacenum));
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}
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emscripten::val skinvertadr() const {
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return emscripten::val(
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emscripten::typed_memory_view(ptr_->nskin, ptr_->skinvertadr));
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}
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emscripten::val skinvertnum() const {
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return emscripten::val(
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emscripten::typed_memory_view(ptr_->nskin, ptr_->skinvertnum));
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}
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emscripten::val skinvert() const {
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return emscripten::val(
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emscripten::typed_memory_view(3 * model->nskinvert, ptr_->skinvert));
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}
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emscripten::val skinnormal() const {
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return emscripten::val(
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emscripten::typed_memory_view(3 * model->nskinvert, ptr_->skinnormal));
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}
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emscripten::val flexface() const {
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return emscripten::val(emscripten::typed_memory_view(
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9 * MjvScene::GetSumFlexFaces(), ptr_->flexface));
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}
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emscripten::val flexnormal() const {
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return emscripten::val(emscripten::typed_memory_view(
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9 * MjvScene::GetSumFlexFaces(), ptr_->flexnormal));
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}
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emscripten::val flextexcoord() const {
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return emscripten::val(emscripten::typed_memory_view(
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6 * MjvScene::GetSumFlexFaces(), ptr_->flextexcoord));
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}
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// INSERT-GENERATED-MjvScene-DEFINITIONS
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mjvScene* get() const { return ptr_; }
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void set(mjvScene* ptr) { ptr_ = ptr; }
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private:
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mjvScene* ptr_;
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bool owned_ = false;
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public:
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mjModel *model;
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std::vector<MjvLight> lights;
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std::vector<MjvGLCamera> camera;
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};
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struct MjSpec {
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MjSpec();
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explicit MjSpec(mjSpec *ptr);
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MjSpec(const MjSpec &);
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MjSpec &operator=(const MjSpec &);
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~MjSpec();
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std::unique_ptr<MjSpec> copy();
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// INSERT-GENERATED-MjSpec-DEFINITIONS
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mjSpec* get() const { return ptr_; }
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void set(mjSpec* ptr) { ptr_ = ptr; }
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private:
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mjSpec* ptr_;
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bool owned_ = false;
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public:
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MjOption option;
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MjVisual visual;
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MjStatistic stat;
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MjsCompiler compiler;
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MjsElement element;
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};
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// TODO: Refactor, Structs Manually added so functions.cc compile -- //
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struct MjpResourceProvider {
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MjpResourceProvider(mjpResourceProvider *ptr_) { ptr = ptr_; };
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~MjpResourceProvider() {}
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mjpResourceProvider *get() const { return ptr; }
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mjpResourceProvider *ptr;
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};
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struct MjpPlugin {
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MjpPlugin(mjpPlugin *ptr_) { ptr = ptr_; };
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~MjpPlugin() {}
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mjpPlugin *get() const { return ptr; }
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mjpPlugin *ptr;
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};
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// TODO: Factory and debug helper functions, some should be removed when
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// functions are generated -- //
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std::unique_ptr<MjModel> loadFromXML(std::string filename);
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void step(MjModel *model, MjData *data);
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void error(const std::string &msg);
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void kinematics(MjModel *m, MjData *d);
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std::unique_ptr<MjSpec> parseXMLString(const std::string &xml);
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std::unique_ptr<MjsBody> findBody(MjSpec *spec, const std::string &name);
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std::unique_ptr<MjsGeom> findGeom(MjSpec *spec, const std::string &name);
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} // namespace mujoco::wasm
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#endif // MUJOCO_WASM_CODEGEN_GENERATED_BINDINGS_H_
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// NOLINTEND(whitespace/line_length)
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