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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_passive.c
+1 -1
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@@ -134,7 +134,7 @@ static void mj_springdamper(const mjModel* m, mjData* d) {
mjtNum kD = m->flex_damping[f] / m->opt.timestep;
mj_markStack(d);
mjtNum* qfrc = mj_stackAllocNum(d, 3*m->flex_vertnum[f]);
mjtNum* qfrc = mjSTACKALLOC(d, 3*m->flex_vertnum[f], mjtNum);
mju_zero(qfrc, 3*m->flex_vertnum[f]);
// compute force element-by-element