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Migrate mjModel size fields from int to mjtSize.

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This change updates all size-related members within the `mjModel` struct from `int` to `mjtSize`. This allows MuJoCo to handle models with a larger number of elements. Corresponding changes were made to macros, function signatures, and I/O routines to accommodate the new `mjtSize` type.

PiperOrigin-RevId: 860144595
Change-Id: I701c6d607715d240766b6210a9773cd9e4258c59
This commit is contained in:
Yuval Tassa
2026-01-23 09:40:42 -08:00
committed by Copybara-Service
parent 4a64017a5f
commit 30b903b6c0
24 changed files with 832 additions and 802 deletions
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src/render/render_context.c
+3 -2
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@@ -14,6 +14,7 @@
#include "render/render_context.h"
#include <inttypes.h> // IWYU pragma: keep
#include <math.h>
#include <stdio.h>
#include <stdlib.h>
@@ -1308,7 +1309,7 @@ static void makeMaterial(const mjModel* m, mjrContext* con) {
for (int i=0; i < m->ntex; i++) {
if (m->tex_type[i] == mjTEXTURE_SKYBOX) {
if (m->nmat >= mjMAXMATERIAL-2) {
mju_error("With skybox, maximum number of materials is %d, got %d",
mju_error("With skybox, maximum number of materials is %d, got %" PRId64,
mjMAXMATERIAL-1, m->nmat);
}
for (int j=0; j < mjNTEXROLE; j++) {
@@ -1321,7 +1322,7 @@ static void makeMaterial(const mjModel* m, mjrContext* con) {
}
if (m->nmat >= mjMAXMATERIAL-1) {
mju_error("Maximum number of materials is %d, got %d", mjMAXMATERIAL, m->nmat);
mju_error("Maximum number of materials is %d, got %" PRId64, mjMAXMATERIAL, m->nmat);
}
for (int i=0; i < m->nmat; i++) {
if (m->mat_texid[i*mjNTEXROLE + mjTEXROLE_RGB] >= 0) {