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Add engine-internal convenience macro for allocating typed arrays, improve error message.

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PiperOrigin-RevId: 705126655
Change-Id: I2bd8fada6d33a919d2fb82297f93ac57958355a4
This commit is contained in:
Yuval Tassa
2024-12-11 09:03:39 -08:00
committed by Copybara-Service
parent 3ca97248a3
commit 2691887500
25 changed files with 283 additions and 274 deletions
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src/engine/engine_collision_gjk.c
+7 -9
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@@ -1291,8 +1291,8 @@ static mjtNum epa(mjCCDStatus* status, Polytope* pt, mjCCDObj* obj1, mjCCDObj* o
// initialize horizon
Horizon h;
mj_markStack(d);
h.indices = mj_stackAllocInt(d, 6 + status->max_iterations);
h.edges = mj_stackAllocInt(d, 6 + status->max_iterations);
h.indices = mjSTACKALLOC(d, 6 + status->max_iterations, int);
h.edges = mjSTACKALLOC(d, 6 + status->max_iterations, int);
h.nedges = 0;
h.pt = pt;
@@ -1483,9 +1483,9 @@ mjtNum mjc_ccd(const mjCCDConfig* config, mjCCDStatus* status, mjCCDObj* obj1, m
pt.nfaces = pt.nmap = pt.nverts = 0;
// allocate memory for vertices
pt.verts = mj_stackAllocNum(d, 3*(5 + N));
pt.verts1 = mj_stackAllocNum(d, 3*(5 + N));
pt.verts2 = mj_stackAllocNum(d, 3*(5 + N));
pt.verts = mjSTACKALLOC(d, 3*(5 + N), mjtNum);
pt.verts1 = mjSTACKALLOC(d, 3*(5 + N), mjtNum);
pt.verts2 = mjSTACKALLOC(d, 3*(5 + N), mjtNum);
// allocate memory for faces
pt.maxfaces = (6*N > 1000) ? 6*N : 1000; // use 1000 faces as lower bound
@@ -1497,11 +1497,9 @@ mjtNum mjc_ccd(const mjCCDConfig* config, mjCCDStatus* status, mjCCDObj* obj1, m
size_t max_size = mj_stackBytesAvailable(d) - 12*(N * sizeof(int));
if (size1 + size2 > max_size) {
pt.maxfaces = max_size / (sizeof(Face) + sizeof(Face*));
size1 = sizeof(Face) * pt.maxfaces;
size2 = sizeof(Face*) * pt.maxfaces;
}
pt.faces = mj_stackAllocByte(d, size1, _Alignof(Face));
pt.map = mj_stackAllocByte(d, size2, _Alignof(Face*));
pt.faces = mjSTACKALLOC(d, pt.maxfaces, Face);
pt.map = mjSTACKALLOC(d, pt.maxfaces, Face*);
int ret;
if (status->nsimplex == 2) {