Matias Manevi
4086261714
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: 826479070 Change-Id: I25acf36e6c20b091d8492e10798d028ae66f6733
55 lines
1.9 KiB
C++
55 lines
1.9 KiB
C++
// 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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#include <emscripten/bind.h>
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#include <emscripten/val.h>
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#include <algorithm>
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#include <mujoco/mujoco.h>
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#include "wasm/unpack.h"
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namespace mujoco::wasm {
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using emscripten::val;
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EMSCRIPTEN_DECLARE_VAL_TYPE(NumberArray);
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// TODO(matijak): Add a benchmark where the buffer shared with JS and C++ is
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// created in C++ rather than JS.
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val BenchmarkSortNumberArray(const NumberArray& vec) {
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UNPACK_ARRAY(mjtNum, vec);
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std::sort(vec_.data(), vec_.data() + vec_.size());
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return val::array(vec_.data(), vec_.data() + vec_.size());
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}
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val BenchmarkSortDoubleBuffer(const val& vec) {
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UNPACK_VALUE(mjtNum, vec);
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std::sort(vec_.data(), vec_.data() + vec_.size());
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return vec;
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}
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EMSCRIPTEN_BINDINGS(mujoco_benchmark_functions) {
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emscripten::class_<WasmBuffer<mjtNum>>("DoubleBuffer")
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.constructor<int>()
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.class_function("FromArray", &WasmBuffer<mjtNum>::FromArray)
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.function("GetPointer", &WasmBuffer<mjtNum>::GetPointer)
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.function("GetElementCount", &WasmBuffer<mjtNum>::GetElementCount)
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.function("GetView", &WasmBuffer<mjtNum>::GetView);
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emscripten::function("SortNumberArray", &BenchmarkSortNumberArray);
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emscripten::function("SortDoubleBuffer", &BenchmarkSortDoubleBuffer);
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emscripten::register_type<NumberArray>("number[]");
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}
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} // namespace mujoco::wasm
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