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Sparse ten_J and ten_J_colind memory

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PiperOrigin-RevId: 868834376
Change-Id: Iec92d9e09e3134666895e54a78cb02439d74a4de
This commit is contained in:
Google DeepMind
2026-02-11 14:04:45 -08:00
committed by Copybara-Service
parent b466829482
commit 336e1026a4
21 changed files with 43 additions and 118 deletions
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src/engine/engine_io.c
+11 -3
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@@ -224,7 +224,7 @@ void mj_makeModel(mjModel** dest,
// CHECK SIZE PARAMETERS
{
// dummy variables for MJMODEL_SIZES set after mjModel construction
int nnames_map = 0, nJmom = 0, nJten = 0, ngravcomp = 0, nemax = 0, njmax = 0, nconmax=0;
int nnames_map=0, nJmom=0, ngravcomp=0, nemax=0, njmax=0, nconmax=0;
int nuserdata=0, nsensordata=0, npluginstate=0, nhistory=0, narena=0, nbuffer=0;
// sizes must be non-negative and fit in int, except for the byte arrays texdata and textdata
@@ -240,10 +240,10 @@ void mj_makeModel(mjModel** dest,
return; \
}
MJMODEL_SIZES
#undef X
#undef X
// suppress unused variable warnings
(void)nnames_map; (void)nJmom; (void)nJten; (void)ngravcomp; (void)nemax; (void)njmax; (void)nconmax;
(void)nnames_map; (void)nJmom; (void)ngravcomp; (void)nemax; (void)njmax; (void)nconmax;
(void)nuserdata; (void)nsensordata; (void)npluginstate; (void)nhistory; (void)narena;
(void)nbuffer;
}
@@ -964,6 +964,9 @@ void mj_makeDofDofMaps(int nv, int nM, int nC, int nD,
static void mj_setPtrData(const mjModel* m, mjData* d) {
char* ptr = (char*)d->buffer;
// prepare symbols needed by xmacro
MJDATA_POINTERS_PREAMBLE(m);
// assign pointers with padding
#define X(type, name, nr, nc) \
d->name = (type*)(ptr + SKIP((intptr_t)ptr)); \
@@ -1044,6 +1047,9 @@ void mj_makeRawData(mjData** dest, const mjModel* m) {
mjERROR("could not allocate mjData");
}
// prepare symbols needed by xmacro
MJDATA_POINTERS_PREAMBLE(m);
// compute buffer size
d->nbuffer = 0;
d->buffer = d->arena = NULL;
@@ -1154,6 +1160,7 @@ mjData* mj_copyDataVisual(mjData* dest, const mjModel* m, const mjData* src, int
// copy buffer
{
MJDATA_POINTERS_PREAMBLE(m)
if (flg_all) {
#define X(type, name, nr, nc) \
memcpy((char*)dest->name, (const char*)src->name, sizeof(type)*(m->nr)*nc);
@@ -1339,6 +1346,7 @@ static void _resetData(const mjModel* m, mjData* d, unsigned char debug_value) {
#ifdef ADDRESS_SANITIZER
{
#define X(type, name, nr, nc) memset(d->name, (int)debug_value, sizeof(type)*(m->nr)*(nc));
MJDATA_POINTERS_PREAMBLE(m)
MJDATA_POINTERS
#undef X
}