Autogenned changes for freeing

zalo · May 4, 2023 · 4759515 · 4759515
1 parent 5da0408
commit 4759515
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Showing 4 changed files with 12 additions and 2 deletions.
diff --git a/dist/mujoco_wasm.d.ts b/dist/mujoco_wasm.d.ts
@@ -714,6 +714,8 @@ export enum mjtLRMode {
 export interface Model {
   new (filename : string) : Model;
   load_from_xml(str: string): Model;
+  /** Free the memory associated with the model */
+  free(): void;
   /** Retrive various parameters of the current simulation */
   getOptions(): any;
   // MODEL_INTERFACE
@@ -1413,12 +1415,16 @@ export interface Model {
 
 export interface State {
   new (model : Model) : State;
+  /** Free the memory associated with the state */
+  free(): void;
 }
 
 export interface Simulation {
   new (model : Model, state : State) : Simulation;
   state() : State;
   model() : Model;
+  /** Free the memory associated with both the model and the state in the simulation */
+  free()  : void;
   /** Apply cartesian force and torque (outside xfrc_applied mechanism) */
   applyForce(fx: number, fy: number, fz: number, tx: number, ty: number, tz: number, px: number, py: number, pz: number, body_id: number): void;
 

diff --git a/dist/mujoco_wasm.wasm b/dist/mujoco_wasm.wasm
diff --git a/examples/mujocoUtils.js b/examples/mujocoUtils.js
@@ -282,7 +282,7 @@ export async function loadSceneFromURL(mujoco, filename, parent) {
     let model = parent.model;
     let state = parent.state;
     let simulation = parent.simulation;
-  
+
     // Decode the null-terminated string names.
     let textDecoder = new TextDecoder("utf-8");
     let fullString = textDecoder.decode(model.names);

diff --git a/src/main.genned.cc b/src/main.genned.cc
@@ -415,6 +415,7 @@ class Simulation {
 
   State *state() { return _state; }
   Model *model() { return _model; }
+  void    free() { mju_free(_state); mju_free(_model); }
 
   void applyForce(
     mjtNum fx, mjtNum fy, mjtNum fz, 
@@ -951,6 +952,7 @@ EMSCRIPTEN_BINDINGS(mujoco_wasm) {
       .class_function("load_from_xml", &Model::load_from_xml)
       .class_function("load_from_mjb", &Model::load_from_mjb)
       .function("ptr", &Model::ptr, allow_raw_pointers())
+      .function("free"            , &Model::free        )
       .function("getVal"          , &Model::getVal      )
       .function("getOptions"      , &Model::getOptions  )
       // MJMODEL_BINDINGS
@@ -1305,14 +1307,16 @@ EMSCRIPTEN_BINDINGS(mujoco_wasm) {
   class_<State>("State")
       .constructor<Model>()
       .function("ptr"   , &State::ptr, allow_raw_pointers())
+      .function("free"  , &State::free  )
       .function("getVal", &State::getVal);
 
   class_<Simulation>("Simulation")
       .constructor<Model *, State *>()
       .function("state"     , &Simulation::state, allow_raw_pointers())
       .function("model"     , &Simulation::model, allow_raw_pointers())
+      .function("free"      , &Simulation::free      )
       .function("applyForce", &Simulation::applyForce)
-      .function("applyPose" , &Simulation::applyPose)
+      .function("applyPose" , &Simulation::applyPose )
       // MJDATA_BINDINGS
       .property("qpos"                  , &Simulation::qpos                  )
       .property("qvel"                  , &Simulation::qvel                  )