Check that alignment is power of 2 in mj_stackAlloc.

PiperOrigin-RevId: 562024496
Change-Id: I9230c6dc05ebb78e935f9b2f606aa77c921d67e5

doc/APIreference/functions.rst

@@ -1239,7 +1239,7 @@ mj_stackAlloc
 
 .. mujoco-include:: mj_stackAlloc
 
-Allocate a number of bytes on :ref:`mjData` stack at a specific alignment which must be a power of 2.
+Allocate a number of bytes on :ref:`mjData` stack at a specific alignment.
 Call mju_error on stack overflow.
 
 .. _mj_stackAllocNum:

include/mujoco/mujoco.h

@@ -188,7 +188,7 @@ MJAPI void mj_resetDataDebug(const mjModel* m, mjData* d, unsigned char debug_va
 // Reset data, set fields from specified keyframe.
 MJAPI void mj_resetDataKeyframe(const mjModel* m, mjData* d, int key);
 
-// Allocate a number of bytes on mjData stack at a specific alignment which must be a power of 2.
+// Allocate a number of bytes on mjData stack at a specific alignment.
 // Call mju_error on stack overflow.
 MJAPI void* mj_stackAlloc(mjData* d, size_t bytes, size_t alignment);
 

introspect/functions.py

@@ -699,7 +699,7 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
                  type=ValueType(name='size_t'),
              ),
          ),
-         doc='Allocate a number of bytes on mjData stack at a specific alignment which must be a power of 2. Call mju_error on stack overflow.',  # pylint: disable=line-too-long
+         doc='Allocate a number of bytes on mjData stack at a specific alignment. Call mju_error on stack overflow.',  # pylint: disable=line-too-long
      )),
     ('mj_stackAllocNum',
      FunctionDecl(

python/mujoco/bindings_test.py

@@ -948,7 +948,7 @@ Euler integrator, semi-implicit in velocity.
   def test_can_raise_error(self):
     self.data.pstack = self.data.narena
     with self.assertRaisesRegex(mujoco.FatalError,
-                                r'\AmjData stack overflow'):
+                                r'\Amj_stackAlloc: insufficient memory:'):
       mujoco.mj_forward(self.model, self.data)
 
   def test_mjcb_time(self):

src/engine/engine_crossplatform.h

@@ -25,7 +25,7 @@
 #endif
 // IWYU pragma: end_keep
 
-// Windows
+// Sorting and case-insensitive comparison functions.
 #ifdef _WIN32
   #define strcasecmp _stricmp
   #define strncasecmp _strnicmp
@@ -34,20 +34,15 @@
       qsort_s(buf, elnum, elsz, func, context)
   #define quicksortfunc(name, context, el1, el2) \
       static int name(void* context, const void* el1, const void* el2)
-
+#else  // assumes POSIX
-// Unix-common
-#else
   #include <strings.h>
 
-  // Apple
   #ifdef __APPLE__
     #define mjQUICKSORT(buf, elnum, elsz, func, context) \
         qsort_r(buf, elnum, elsz, context, func)
     #define quicksortfunc(name, context, el1, el2) \
         static int name(void* context, const void* el1, const void* el2)
-
+  #else  // non-Apple
-  // non-Apple
-  #else
     #define mjQUICKSORT(buf, elnum, elsz, func, context) \
         qsort_r(buf, elnum, elsz, func, context)
     #define quicksortfunc(name, context, el1, el2) \
@@ -55,6 +50,7 @@
   #endif
 #endif
 
+// Switch-case fallthrough annotation.
 #if defined(__cplusplus)
   #define mjFALLTHROUGH [[fallthrough]]
 #elif defined(__clang__) || (defined(__GNUC__) && __GNUC__ >= 7)
@@ -63,10 +59,20 @@
   #define mjFALLTHROUGH ((void) 0)
 #endif
 
+// MSVC only provides max_align_t in C++.
 #if defined(_MSC_VER) && !defined(__clang__) && !defined(__cplusplus)
   typedef long double mjtMaxAlign;
 #else
   typedef max_align_t mjtMaxAlign;
 #endif
 
+// Branch prediction hints.
+#if defined(__GNUC__)
+  #define mjLIKELY(x) __builtin_expect(!!(x), 1)
+  #define mjUNLIKELY(x) __builtin_expect(!!(x), 0)
+#else
+  #define mjLIKELY(x) (x)
+  #define mjUNLIKELY(x) (x)
+#endif
+
 #endif  // MUJOCO_SRC_ENGINE_ENGINE_CROSSPLATFORM_H_

src/engine/engine_io.c

@@ -26,7 +26,7 @@
 #include <mujoco/mjmacro.h>
 #include <mujoco/mjplugin.h>
 #include <mujoco/mjxmacro.h>
-#include "engine/engine_array_safety.h"  // IWYU pragma: keep
+#include "engine/engine_crossplatform.h"
 #include "engine/engine_resource.h"
 #include "engine/engine_macro.h"
 #include "engine/engine_plugin.h"
@@ -45,9 +45,13 @@
 
 static const int MAX_ARRAY_SIZE = INT_MAX / 4;
 
-// compute a % b assuming that the second argument is a power of 2
+// compute a % b with a fast code path if the second argument is a power of 2
-static inline size_t modpow2(size_t a, size_t b) {
+static inline size_t fastmod(size_t a, size_t b) {
-  return a & (b - 1);
+  // (b & (b - 1)) == 0 implies that b is a power of 2
+  if (mjLIKELY((b & (b - 1)) == 0)) {
+    return a & (b - 1);
+  }
+  return a % b;
 }
 
 //------------------------------ mjLROpt -----------------------------------------------------------
@@ -1187,12 +1191,12 @@ mjData* mj_copyData(mjData* dest, const mjModel* m, const mjData* src) {
 
 // allocate memory from the mjData arena
 void* mj_arenaAlloc(mjData* d, size_t bytes, size_t alignment) {
-  size_t misalignment = modpow2(d->parena, alignment);
+  size_t misalignment = fastmod(d->parena, alignment);
   size_t padding = misalignment ? alignment - misalignment : 0;
 
   // check size
   size_t bytes_available = d->narena - d->pstack;
-  if (d->parena + padding + bytes > bytes_available) {
+  if (mjUNLIKELY(d->parena + padding + bytes > bytes_available)) {
     return NULL;
   }
 
@@ -1218,7 +1222,7 @@ void* mj_arenaAlloc(mjData* d, size_t bytes, size_t alignment) {
 // declared inline so that modular arithmetic with specific alignments can be optimized out
 static inline void* stackalloc(mjData* d, size_t size, size_t alignment) {
   // return NULL if empty
-  if (!size) {
+  if (mjUNLIKELY(!size)) {
     return NULL;
   }
 
@@ -1242,7 +1246,7 @@ static inline void* stackalloc(mjData* d, size_t size, size_t alignment) {
   uintptr_t start_ptr = end_ptr - (size + mjREDZONE);
 
   // align the pointer
-  start_ptr -= modpow2(start_ptr, alignment);
+  start_ptr -= fastmod(start_ptr, alignment);
 
   // new top of the stack
   uintptr_t new_pstack_ptr = start_ptr - mjREDZONE;
@@ -1255,8 +1259,8 @@ static inline void* stackalloc(mjData* d, size_t size, size_t alignment) {
   // check size
   size_t stack_available_bytes = end_ptr - ((uintptr_t)d->arena + d->parena);
   size_t stack_required_bytes = end_ptr - new_pstack_ptr;
-  if (stack_required_bytes > stack_available_bytes) {
+  if (mjUNLIKELY(stack_required_bytes > stack_available_bytes)) {
-    mju_error("mjData stack overflow: max = %zu, available = %zu, requested = %zu "
+    mju_error("mj_stackAlloc: insufficient memory: max = %zu, available = %zu, requested = %zu "
               "(ne = %d, nf = %d, nefc = %d, ncon = %d)",
               stack_size_bytes, stack_available_bytes, stack_required_bytes,
               d->ne, d->nf, d->nefc, d->ncon);

src/engine/engine_io.h

@@ -102,10 +102,10 @@ MJAPI void mj_resetDataDebug(const mjModel* m, mjData* d, unsigned char debug_va
 // reset data, set fields from specified keyframe
 MJAPI void mj_resetDataKeyframe(const mjModel* m, mjData* d, int key);
 
-// mjData arena allocate (alignment must be a power of 2)
+// mjData arena allocate
 MJAPI void* mj_arenaAlloc(mjData* d, size_t bytes, size_t alignment);
 
-// mjData stack allocate (alignment must be a power of 2)
+// mjData stack allocate
 MJAPI void* mj_stackAlloc(mjData* d, size_t bytes, size_t alignment);
 
 // mjData stack allocate for array of mjtNums