mujoco

// Copyright 2025 DeepMind Technologies Limited
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
//     http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.

// Main entry point for the Filament-based MuJoCo web app.

#include <emscripten.h>
#include <emscripten/bind.h>
#include <emscripten/val.h>

#include <filesystem>
#include <string>
#include <string_view>
#include <unordered_map>
#include <utility>

#include <mujoco/mujoco.h>
#include "experimental/platform/hal/graphics_mode.h"
#include "experimental/studio/app.h"

// Global app instance. Lifetime is controlled by Init/Deinit calls which are
// triggered by Javascript.
mujoco::studio::App* g_app = nullptr;

// Static registry of assets that are loaded in JSON before the main App is
// initialized.
class AssetRegistry {
 public:
  // Returns the singleton instance of the registry.
  static AssetRegistry& Instance() {
    static AssetRegistry instance;
    return instance;
  }

  // Registers asset contents with the given filename.
  void RegisterAsset(std::string filename, std::string contents) {
    std::filesystem::path(filename).filename().string();
    assets_[filename] = std::move(contents);
  }

  const std::string& Get(std::string_view filename) const {
    filename = filename.substr(filename.find_first_of(':') + 1);
    static std::string empty;
    auto it = assets_.find(std::string(filename));
    return it != assets_.end() ? it->second : empty;
  }

 private:
  std::unordered_map<std::string, std::string> assets_;
};

// Javascript-facing function to register an asset.
void RegisterAsset(std::string filename, std::string contents) {
  AssetRegistry::Instance().RegisterAsset(std::move(filename),
                                          std::move(contents));
}

// Javascript-facing function to initialize the app.
void Init() {
  // Note: dimensions do not matter as window will be resized to fit canvas.
  const int width = 100;
  const int height = 100;
  const std::string ini_path = "";

  mjpResourceProvider resource_provider;
  mjp_defaultResourceProvider(&resource_provider);

  resource_provider.open = [](mjResource* resource) {
    AssetRegistry& r = AssetRegistry::Instance();
    return static_cast<int>(r.Get(resource->name).size());
  };
  resource_provider.read = [](mjResource* resource, const void** buffer) {
    AssetRegistry& r = AssetRegistry::Instance();
    const std::string& contents = r.Get(resource->name);
    *buffer = contents.data();
    return static_cast<int>(contents.size());
  };
  resource_provider.close = [](mjResource* resource) {};

  resource_provider.prefix = "font";
  mjp_registerResourceProvider(&resource_provider);
  resource_provider.prefix = "filament";
  mjp_registerResourceProvider(&resource_provider);

  g_app = new mujoco::studio::App({
    .width = width,
    .height = height,
    .ini_path = ini_path,
    .gfx_mode = mujoco::platform::GraphicsMode::FilamentWebGl,
  });
  g_app->InitEmptyModel();
}

// Javascript-facing function to load a model from an uploaded file.
void LoadFile(const std::string& filename, const std::string& data) {
  if (!g_app) {
    return;
  }

  std::string content_type;
  if (filename.ends_with(".mjb")) {
    content_type = "application/mjb";
  } else if (filename.ends_with(".mjz")) {
    content_type = "application/zip";
  } else if (filename.ends_with(".zip")) {
    content_type = "application/zip";
  } else if (filename.ends_with(".xml")) {
    content_type = "text/xml";
  } else {
    return;
  }

  const auto ptr = reinterpret_cast<const std::byte*>(data.data());
  g_app->LoadModelFromBuffer({ptr, ptr + data.size()}, content_type, filename);
}

// Javascript-facing function to render a single frame.
void RenderFrame() {
  if (g_app) {
    if (g_app->Update()) {
      g_app->BuildGui();
      g_app->Render();
    }
  }
}

// Javascript-facing function to deinitialize the app.
void Deinit() {
  delete g_app;
  g_app = nullptr;
}

EMSCRIPTEN_BINDINGS(studio_bindings) {
  emscripten::function("registerAsset", &RegisterAsset);
  emscripten::function("init", &Init);
  emscripten::function("loadFile", &LoadFile);
  emscripten::function("renderFrame", &RenderFrame);
  emscripten::function("deinit", &Deinit);
}