Avoid overflowing the stack when allocating memory for polytope in EPA.

PiperOrigin-RevId: 688641864
Change-Id: I3eef7e821ffbfa8d97a946ecf86d098cb4f0c233

src/engine/engine_io.h

@@ -75,7 +75,7 @@ MJAPI void mj_saveModel(const mjModel* m, const char* filename, void* buffer, in
 // load binary MJB
 mjModel* mj_loadModelBuffer(const void* buffer, int buffer_sz);
 
-// de-allocate model
+// deallocate model
 MJAPI void mj_deleteModel(mjModel* m);
 
 // size of buffer needed to hold model
@@ -128,6 +128,9 @@ void mj__freeStack(mjData* d) __attribute__((noinline));
 
 #endif  // ADDRESS_SANITIZER
 
+// returns the number of bytes available on the stack
+MJAPI size_t mj_stackBytesAvailable(mjData* d);
+
 // mjData stack allocate
 MJAPI void* mj_stackAllocByte(mjData* d, size_t bytes, size_t alignment);
 
@@ -137,7 +140,7 @@ MJAPI mjtNum* mj_stackAllocNum(mjData* d, size_t size);
 // mjData stack allocate for array of ints
 MJAPI int* mj_stackAllocInt(mjData* d, size_t size);
 
-// de-allocate data
+// deallocate data
 MJAPI void mj_deleteData(mjData* d);
 
 // clear arena pointers in mjData