467
edits
Changes
no edit summary
You could also run git show to see specific changes that have been made to the original mujoco 3.1.6. files e.g. ,5c4b86b > changes.txt
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* In `src/userengine/user_objectsengine_crossplatform.cc comment out h`, add a conditional block specifically for Emscripten within the line that includes lodepngpreprocessor directive. Inside this block, include the `sort_r.h` header and define the `mjQUICKSORT` and `quicksortfunc` macros appropriately. Replace the bodies of This will separate the mjCHField::LoadPNG handling for Apple, Emscripten, and mjCTexture::LoadPNG functions with a single return statementother platforms.
*
* In src/engine`cmake/engine_util_errmemMujocoOptions.c update cmake` file, remove the preprocessor condition `-Wno-int-in -bool-context` compiler warning flag from the mju_writeLog function by replacing __STDC_VERSION_TIME_H__ with __EMSCRIPTEN__ in list of warnings. In the #if directive`CMakeLists. The line should now include __EMSCRIPTEN__ in txt` file, make the following changes:* Change the default values of the options to disable the conditionbuilding of examples, simulate library, tests, and Python utility libraries by setting them to OFF: * Set `MUJOCO_BUILD_EXAMPLES` to OFF. *Set `MUJOCO_BUILD_SIMULATE` to OFF. * In src/engine/engine_crossplatformSet `MUJOCO_BUILD_TESTS` to OFF. * Set `MUJOCO_TEST_PYTHON_UTIL` to OFF.h add a conditional block specifically * Remove the `lodepng` library from the `target_link_libraries` list for Emscripten within the preprocessor directive `mujoco` target. Also, for example, in the engine_crossplatform`mjxmacro.h file. Inside this block`, include the sort_r.h header and define add explicit casting to `size_t` for the mjQUICKSORT calculations of `key_mpos` and quicksortfunc macros appropriately. This will separate the handling for Apple, Emscripten`key_mquat` array sizes, ensuring correct memory allocation and other platformspreventing potential integer overflow issues.
We'd suggest taking a look at https://github.com/stillonearth/MuJoCo-WASM/issues/1 (older 2.3.1 build but still relevant)
emmake make
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=== Notes ===
* Ensure that the Emscripten environment is correctly activated before starting the build process.
* Regularly clean the build directory to maintain a clean build environment.