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Fix more mjData stack leakages.

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PiperOrigin-RevId: 562545230
Change-Id: I2facf25b00878669dc12d5865767a44229d2ca48
This commit is contained in:
Saran Tunyasuvunakool
2023-09-04 06:37:53 -07:00
committed by Copybara-Service
parent 5a21e202ed
commit 0e36f00857
9 changed files with 20 additions and 14 deletions
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src/engine/engine_core_smooth.c
+2 -2
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@@ -394,13 +394,13 @@ void mj_tendon(const mjModel* m, mjData* d) {
mjtNum dif[3], divisor, wpnt[12], wlen;
mjtNum *L = d->ten_length, *J = d->ten_J;
mjtNum *jac1, *jac2, *jacdif, *tmp, *sparse_buf = NULL;
mjMARKSTACK;
if (!nten) {
return;
}
// allocate space
mjMARKSTACK;
jac1 = mj_stackAllocNum(d, 3*nv);
jac2 = mj_stackAllocNum(d, 3*nv);
jacdif = mj_stackAllocNum(d, 3*nv);
@@ -622,13 +622,13 @@ void mj_transmission(const mjModel* m, mjData* d) {
mjtNum *jac, *jacA, *jacS;
mjtNum *length = d->actuator_length, *moment = d->actuator_moment, *gear;
mjtNum *jacref = NULL, *moment_tmp = NULL; // required for site actuators
mjMARKSTACK;
if (!nu) {
return;
}
// allocate space, clear moments
mjMARKSTACK;
jac = mj_stackAllocNum(d, 3*nv);
jacA = mj_stackAllocNum(d, 3*nv);
jacS = mj_stackAllocNum(d, 3*nv);