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Stop using stack allocation for catenary drawing

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PiperOrigin-RevId: 810434095
Change-Id: Iee8c01ff721c2af216c5725fc9eaf6267b2e5284
This commit is contained in:
Yuval Tassa
2025-09-23 07:36:42 -07:00
committed by Copybara-Service
parent 09e6723dab
commit 33b09e0822
1 changed files with 14 additions and 18 deletions
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src/engine/engine_vis_visualize.c
+14 -18
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@@ -2236,16 +2236,6 @@ void mjv_addGeoms(const mjModel* m, mjData* d, const mjvOption* vopt,
objtype = mjOBJ_TENDON; objtype = mjOBJ_TENDON;
category = mjCAT_DYNAMIC; category = mjCAT_DYNAMIC;
if (vopt->flags[mjVIS_TENDON] && (category & catmask) && m->ntendon) { if (vopt->flags[mjVIS_TENDON] && (category & catmask) && m->ntendon) {
// mark actuated tendons
mj_markStack(d);
int* tendon_actuated = mjSTACKALLOC(d, m->ntendon, int);
mju_zeroInt(tendon_actuated, m->ntendon);
for (int i=0; i < m->nu; i++) {
if (m->actuator_trntype[i] == mjTRN_TENDON) {
tendon_actuated[m->actuator_trnid[2*i]] = 1;
}
}
// draw tendons // draw tendons
for (int i=0; i < m->ntendon; i++) { for (int i=0; i < m->ntendon; i++) {
if (vopt->tendongroup[mjMAX(0, mjMIN(mjNGROUP-1, m->tendon_group[i]))]) { if (vopt->tendongroup[mjMAX(0, mjMIN(mjNGROUP-1, m->tendon_group[i]))]) {
@@ -2272,8 +2262,17 @@ void mjv_addGeoms(const mjModel* m, mjData* d, const mjvOption* vopt,
m->tendon_num[i] == 2 && // only two sites on the tendon m->tendon_num[i] == 2 && // only two sites on the tendon
(limitedspring != limitedconstraint) && // either spring or constraint length limits (limitedspring != limitedconstraint) && // either spring or constraint length limits
m->tendon_damping[i] == 0 && // no damping m->tendon_damping[i] == 0 && // no damping
m->tendon_frictionloss[i] == 0 && // no frictionloss m->tendon_frictionloss[i] == 0; // no frictionloss
tendon_actuated[i] == 0; // no actuator
// no actuator
if (draw_catenary) {
for (int j=0; j < m->nu; j++) {
if (m->actuator_trntype[j] == mjTRN_TENDON && m->actuator_trnid[2*j] == i) {
draw_catenary = 0;
break;
}
}
}
// conditions not met: draw straight lines // conditions not met: draw straight lines
if (!draw_catenary) { if (!draw_catenary) {
@@ -2338,11 +2337,9 @@ void mjv_addGeoms(const mjModel* m, mjData* d, const mjvOption* vopt,
length = m->tendon_lengthspring[2*i+1]; length = m->tendon_lengthspring[2*i+1];
} }
// get number of points along catenary path // get number of points along catenary path (capped at 100)
int ncatenary = m->vis.quality.numslices + 1; int ncatenary = mjMIN(m->vis.quality.numslices + 1, 100);
mjtNum catenary[300];
// allocate catenary
mjtNum* catenary = mjSTACKALLOC(d, 3*ncatenary, mjtNum);
// points along catenary path // points along catenary path
int npoints = mjv_catenary(x0, x1, m->opt.gravity, length, catenary, ncatenary); int npoints = mjv_catenary(x0, x1, m->opt.gravity, length, catenary, ncatenary);
@@ -2373,7 +2370,6 @@ void mjv_addGeoms(const mjModel* m, mjData* d, const mjvOption* vopt,
} }
} }
} }
mj_freeStack(d);
} }
// slider-crank // slider-crank