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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/user/user_objects.cc
+5 -5
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@@ -4825,7 +4825,7 @@ void mjCTexture::BuiltinCube(void) {
if (w > std::numeric_limits<int>::max() / w) {
throw mjCError(this, "Cube texture width is too large.");
}
int ww = width*width;
mjtSize ww = width*width;
// convert fixed colors
for (int j = 0; j < 3; j++) {
@@ -4838,7 +4838,7 @@ void mjCTexture::BuiltinCube(void) {
// gradient
if (builtin == mjBUILTIN_GRADIENT) {
if (ww > std::numeric_limits<int>::max() / 18) {
if (ww > std::numeric_limits<std::int64_t>::max() / 18) {
throw mjCError(this, "Gradient texture width is too large.");
}
for (int r = 0; r < w; r++) {
@@ -5176,7 +5176,7 @@ void mjCTexture::LoadCubeSingle(std::string filename, const mjVFS* vfs) {
// allocate data
std::int64_t size = static_cast<std::int64_t>(width)*height;
if (size >= std::numeric_limits<int>::max() / 3 || size <= 0) {
if (size >= std::numeric_limits<std::int64_t>::max() / 3 || size <= 0) {
throw mjCError(this, "Cube texture too large");
}
try {
@@ -5293,7 +5293,7 @@ void mjCTexture::LoadCubeSeparate(const mjVFS* vfs) {
}
height = 6*width;
std::int64_t size = static_cast<std::int64_t>(width)*height;
if (size >= std::numeric_limits<int>::max() / 3 || size <= 0) {
if (size >= std::numeric_limits<mjtSize>::max() / 3 || size <= 0) {
throw mjCError(this, "PNG texture too large");
}
try {
@@ -5378,7 +5378,7 @@ void mjCTexture::Compile(const mjVFS* vfs) {
}
std::int64_t size = static_cast<std::int64_t>(width)*height;
if (size >= std::numeric_limits<int>::max() / nchannel || size <= 0) {
if (size >= std::numeric_limits<int64_t>::max() / nchannel || size <= 0) {
throw mjCError(this, "Builtin texture too large");
}
// allocate data