Update to MuJoCo 3.2.6

.github/workflows/main.yml

@@ -1,4 +1,4 @@
-name: Build mujoco_wasm
+name: Build mujoco_wasm3
 
 on:
   pull_request:
@@ -16,20 +16,9 @@ jobs:
       - name: Verify Emscripten is Installed
         run: emcc -v
 
-      - name: Linux - Build Base Binary
-        if: runner.os == 'Linux'
+      - name: Compilation
         run: |
           mkdir build
           cd build
           emcmake cmake ..
           make
-
-      - name: Linux - Upload Build
-        uses: actions/upload-artifact@v3
-        if: runner.os == 'Linux'
-        with:
-          name: mujoco_wasm
-          path: |
-            ./README.md
-            ./build
-            ./dist

CMakeLists.txt

@@ -1,19 +1,18 @@
-cmake_minimum_required(VERSION 3.2)
+cmake_minimum_required(VERSION 3.15)
 option(JS_ONLY "Compiles to native JS (No WASM)" OFF)
 set(CMAKE_RUNTIME_OUTPUT_DIRECTORY "${CMAKE_SOURCE_DIR}/dist")
 
 project(mujoco_wasm)
 
-set(CMAKE_CXX_STANDARD 11)
-set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11 -O3")
+set(CMAKE_CXX_STANDARD 17)
+set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++17 -O3")
 
-set(CMAKE_INSTALL_PREFIX ${PROJECT_SOURCE_DIR})
 
-set(MUJOCO_INSTALL_INCLUDE_DIR ${PROJECT_SOURCE_DIR}/include)
-set(MUJOCO_INSTALL_BIN_DIR ${PROJECT_SOURCE_DIR}/bin)
-set(MUJOCO_INSTALL_LIB_DIR ${PROJECT_SOURCE_DIR}/lib)
+list(APPEND CMAKE_MODULE_PATH "${CMAKE_CURRENT_SOURCE_DIR}/cmake")
 
-include_directories(${MUJOCO_INSTALL_INCLUDE_DIR})
-link_directories(${MUJOCO_INSTALL_LIB_DIR})
+include(dependencies)
+
+
+include_directories("${FETCHCONTENT_BASE_DIR}/mujoco-src/include")
 
 add_subdirectory(src)

README.md

@@ -1,28 +1,8 @@
-<p align="center">
-  <a href="https://zalo.github.io/mujoco_wasm/"><img src="./examples/MuJoCoWasmLogo.png" href></a>
-</p>
-<p align="left">
-  <a href="https://github.com/zalo/mujoco_wasm/deployments/activity_log?environment=github-pages">
-      <img src="https://img.shields.io/github/deployments/zalo/mujoco_wasm/github-pages?label=Github%20Pages%20Deployment" title="Github Pages Deployment"></a>
-  <!--<a href="https://github.com/zalo/mujoco_wasm/deployments/activity_log?environment=Production">
-      <img src="https://img.shields.io/github/deployments/zalo/mujoco_wasm/Production?label=Vercel%20Deployment" title="Vercel Deployment"></a> -->
-  <!--<a href="https://lgtm.com/projects/g/zalo/mujoco_wasm/context:javascript">
-      <img alt="Language grade: JavaScript" src="https://img.shields.io/lgtm/grade/javascript/g/zalo/mujoco_wasm.svg?logo=lgtm&logoWidth=18"/></a> -->
-  <a href="https://github.com/zalo/mujoco_wasm/commits/main">
-      <img src="https://img.shields.io/github/last-commit/zalo/mujoco_wasm" title="Last Commit Date"></a>
-  <a href="https://github.com/zalo/mujoco_wasm/blob/main/LICENSE">
-      <img src="https://img.shields.io/badge/license-MIT-brightgreen" title="License: MIT"></a>
-</p>
+## MuJoCo-wasm3
 
-## The Power of MuJoCo in your Browser.
+Load and Run MuJoCo 3.2.6 Models using JavaScript and WebAssembly.
 
-Load and Run MuJoCo 2.3.1 Models using JavaScript and WebAssembly.
-
-This repo is a fork of @stillonearth 's starter repository, adding tons of functionality and a comprehensive example scene.
-
-### [See the Live Demo Here](https://zalo.github.io/mujoco_wasm/)
-
-### [See a more Advanced Example Here](https://kzakka.com/robopianist/)
+This repo is a fork of [@zalo 's repository](https://github.com/zalo/mujoco_wasm), updated to MuJoCo 3.2.6.
 
 ## Building
 
@@ -40,10 +20,6 @@ make
 
 On Windows, run `build_windows.bat`.
 
-*3. (Optional) Update MuJoCo libs*
-
-Build MuJoCo libs with wasm target and place to lib. Currently v2.3.1 included.
-
 ## JavaScript API
 
 ```javascript
@@ -55,18 +31,12 @@ const mujoco = await load_mujoco();
 // Set up Emscripten's Virtual File System
 mujoco.FS.mkdir('/working');
 mujoco.FS.mount(mujoco.MEMFS, { root: '.' }, '/working');
-mujoco.FS.writeFile("/working/humanoid.xml", await (await fetch("./examples/scenes/humanoid.xml")).text());
+mujoco.FS.writeFile("/working/scene.xml", await (await fetch("url/to/your/mujoco/scene.xml")).text());
 
 // Load in the state from XML
-let model       = new mujoco.Model("/working/humanoid.xml");
+let model       = new mujoco.Model("/working/scene.xml");
 let state       = new mujoco.State(model);
 let simulation  = new mujoco.Simulation(model, state);
 ```
 
 Typescript definitions are available.
-
-## Work In Progress Disclaimer
-
-So far, most mjModel and mjData state variables and functions (that do not require custom structs) are exposed.
-
-At some point, I'd like to de-opinionate the binding and make it match the original MuJoCo API better.

build_windows.bat

@@ -1,12 +1,14 @@
 rem This script requires that the Emscripten SDK has been set up in the directory above this one.
 rem Follow the instructions here: https://emscripten.org/docs/getting_started/downloads.html
 
-call python src/parse_mjxmacro.py
 rmdir /s /q build
 call ../emsdk/emsdk activate latest
 mkdir build
 cd build
 call emcmake cmake ..
+cd ..
+call python src/parse_mjxmacro.py build/_deps/mujoco-src
+cd build
 call emmake make
 cd ../dist
 pause

cmake/dependencies.cmake

@@ -0,0 +1,38 @@
+include(FetchContent)
+
+
+#################################################
+# libccd
+
+set(ENABLE_DOUBLE_PRECISION ON)
+set(CCD_HIDE_ALL_SYMBOLS ON)
+
+set(LIBCCD_CMAKE_PATCH git apply ${CMAKE_CURRENT_SOURCE_DIR}/cmake/patches/libccd.patch)
+
+# Fetch the repositories
+FetchContent_Declare(
+    ccd
+    GIT_REPOSITORY https://github.com/danfis/libccd.git
+    GIT_TAG "7931e764a19ef6b21b443376c699bbc9c6d4fba8" # aka "v2.1"
+    PATCH_COMMAND ${LIBCCD_CMAKE_PATCH}
+    UPDATE_DISCONNECTED 1
+)
+
+FetchContent_MakeAvailable(ccd)
+
+
+#################################################
+# Mujoco
+
+set(MUJOCO_CMAKE_PATCH git apply ${CMAKE_CURRENT_SOURCE_DIR}/cmake/patches/mujoco.patch)
+
+# Fetch the repositories
+FetchContent_Declare(
+    mujoco
+    GIT_REPOSITORY https://github.com/google-deepmind/mujoco.git
+    GIT_TAG "0f64959e279e63b62a7610c23e0396c000f28c06" # aka "3.2.6"
+    PATCH_COMMAND ${MUJOCO_CMAKE_PATCH}
+    UPDATE_DISCONNECTED 1
+)
+
+FetchContent_MakeAvailable(mujoco)

cmake/patches/libccd.patch

@@ -0,0 +1,42 @@
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index 35bf430..1a35bb8 100644
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -1,4 +1,4 @@
+-cmake_minimum_required(VERSION 2.8.11)
++cmake_minimum_required(VERSION 3.15)
+
+ if(POLICY CMP0042)
+   cmake_policy(SET CMP0042 NEW)
+diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
+index 1407080..3ecb3f9 100644
+--- a/src/CMakeLists.txt
++++ b/src/CMakeLists.txt
+@@ -39,7 +39,7 @@ set(CCD_SOURCES
+   support.h
+   vec3.c)
+
+-add_library(ccd ${CCD_INCLUDES} ${CCD_SOURCES})
++add_library(ccd STATIC ${CCD_INCLUDES} ${CCD_SOURCES})
+ set_target_properties(ccd PROPERTIES
+   PUBLIC_HEADER "${CCD_INCLUDES}"
+   SOVERSION ${CCD_SOVERSION}
+@@ -48,7 +48,7 @@ target_include_directories(ccd PUBLIC
+   $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}>
+   $<BUILD_INTERFACE:${CMAKE_CURRENT_BINARY_DIR}>)
+
+-if(NOT WIN32)
++if(NOT WIN32 AND NOT (CMAKE_SYSTEM_NAME STREQUAL "Emscripten"))
+   find_library(LIBM_LIBRARY NAMES m)
+   if(NOT LIBM_LIBRARY)
+     message(FATAL_ERROR "Could NOT find required library LibM")
+@@ -83,6 +83,6 @@ if(UNIX)
+   endif()
+ endif()
+
+-if(NOT WIN32 AND BUILD_TESTING AND NOT CCD_HIDE_ALL_SYMBOLS)
+-  add_subdirectory(testsuites)
+-endif()
++# if(NOT WIN32 AND BUILD_TESTING AND NOT CCD_HIDE_ALL_SYMBOLS)
++#   add_subdirectory(testsuites)
++# endif()