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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_island.c
+6 -6
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@@ -426,14 +426,14 @@ void mj_island(const mjModel* m, mjData* d) {
// allocate edge array
int nedge_max = countMaxEdge(m, d);
int* edge = mj_stackAllocInt(d, 2*nedge_max);
int* edge = mjSTACKALLOC(d, 2*nedge_max, int);
// get tree-tree edges and rownnz counts from efc arrays
int* rownnz = mj_stackAllocInt(d, ntree); // number of edges per tree
int* rownnz = mjSTACKALLOC(d, ntree, int); // number of edges per tree
int nedge = findEdges(m, d, rownnz, edge, nedge_max);
// compute starting address of tree's column indices while resetting rownnz
int* rowadr = mj_stackAllocInt(d, ntree);
int* rowadr = mjSTACKALLOC(d, ntree, int);
rowadr[0] = 0;
for (int r=1; r < ntree; r++) {
rowadr[r] = rowadr[r-1] + rownnz[r-1];
@@ -442,7 +442,7 @@ void mj_island(const mjModel* m, mjData* d) {
rownnz[ntree-1] = 0;
// copy column indices: list each tree's neighbors
int* colind = mj_stackAllocInt(d, nedge);
int* colind = mjSTACKALLOC(d, nedge, int);
for (int e=0; e < nedge; e++) {
int row = edge[2*e];
int col = edge[2*e + 1];
@@ -450,8 +450,8 @@ void mj_island(const mjModel* m, mjData* d) {
}
// discover islands
int* tree_island = mj_stackAllocInt(d, ntree); // id of island assigned to tree
int* stack = mj_stackAllocInt(d, nedge);
int* tree_island = mjSTACKALLOC(d, ntree, int); // id of island assigned to tree
int* stack = mjSTACKALLOC(d, nedge, int);
d->nisland = mj_floodFill(tree_island, ntree, rownnz, rowadr, colind, stack);
// allocate island arrays on arena