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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_setconst.c
+7 -7
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@@ -65,22 +65,22 @@ static void set0(mjModel* m, mjData* d) {
int nv = m->nv;
mjtNum A[36] = {0}, pos[3], quat[4];
mj_markStack(d);
mjtNum* jac = mj_stackAllocNum(d, 6*nv);
mjtNum* tmp = mj_stackAllocNum(d, 6*nv);
mjtNum* moment = mj_stackAllocNum(d, nv);
mjtNum* jac = mjSTACKALLOC(d, 6*nv, mjtNum);
mjtNum* tmp = mjSTACKALLOC(d, 6*nv, mjtNum);
mjtNum* moment = mjSTACKALLOC(d, nv, mjtNum);
int* cammode = 0;
int* lightmode = 0;
// save camera and light mode, set to fixed
if (m->ncam) {
cammode = mj_stackAllocInt(d, m->ncam);
cammode = mjSTACKALLOC(d, m->ncam, int);
for (int i=0; i < m->ncam; i++) {
cammode[i] = m->cam_mode[i];
m->cam_mode[i] = mjCAMLIGHT_FIXED;
}
}
if (m->nlight) {
lightmode = mj_stackAllocInt(d, m->nlight);
lightmode = mjSTACKALLOC(d, m->nlight, int);
for (int i=0; i < m->nlight; i++) {
lightmode[i] = m->light_mode[i];
m->light_mode[i] = mjCAMLIGHT_FIXED;
@@ -427,7 +427,7 @@ static void setStat(mjModel* m, mjData* d) {
mjtNum xmax[3] = {-1E+10, -1E+10, -1E+10};
mjtNum rbound;
mj_markStack(d);
mjtNum* body = mj_stackAllocNum(d, m->nbody);
mjtNum* body = mjSTACKALLOC(d, m->nbody, mjtNum);
// compute bounding box of bodies, joint centers, geoms and sites
for (int i=1; i < m->nbody; i++) {
@@ -595,7 +595,7 @@ static mjtNum evalAct(const mjModel* m, mjData* d, int index, int side,
// dense actuator_moment row
mj_markStack(d);
mjtNum* moment = mj_stackAllocNum(d, nv);
mjtNum* moment = mjSTACKALLOC(d, nv, mjtNum);
mju_sparse2dense(moment, d->actuator_moment, 1, nv, d->moment_rownnz + index,
d->moment_rowadr + index, d->moment_colind);