ABI contract (exports & wrappers)

mujoco-wasm-forge treats exported symbols as an explicit contract.

The contract

• The definitive list of exported C symbols is dist/<ver>/abi/exports.lst.

• The WASM build consumes it via Emscripten -sEXPORTED_FUNCTIONS=@.../exports.lst.

That means “what is exported” is always reviewable as a plain text diff.

A ∩ B = C (flat exports)

The export pipeline intentionally keeps three sets visible:

• A: header-derived declarations (introspection).

• B: implemented symbols (from nm_symbols.json).

• C: wrapper exports (the supported surface, typically mjwf_*).

Generators under abi_exports/ merge these inputs and produce:

• wrapper sources (mjwf_abi_funcs.*, mjwf_abi_structs.*),

• wrapper export manifests (for auditing),

• exports.lst (used for linking).

JS/Runtime surface

The primary output is Emscripten mujoco.js/.wasm. Runtime entrypoints such as ccall/cwrap are exported by the link flags in app/CMakeLists.txt.