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Remove mjMARKSTACK and mjFREESTACK macros.

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PiperOrigin-RevId: 562844184
Change-Id: Id2f57f5d132c47094dad75c6dab7297d7aa73458
This commit is contained in:
Saran Tunyasuvunakool
2023-09-05 11:41:01 -07:00
committed by Copybara-Service
parent 329ed193ac
commit 4929077211
35 changed files with 239 additions and 258 deletions
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src/engine/engine_core_smooth.c
+10 -10
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@@ -178,7 +178,7 @@ void mj_kinematics(const mjModel* m, mjData* d) {
// map inertias and motion dofs to global frame centered at subtree-CoM
void mj_comPos(const mjModel* m, mjData* d) {
mjtNum offset[3], axis[3];
mjMARKSTACK;
mj_markStack(d);
mjtNum* mass_subtree = mj_stackAllocNum(d, m->nbody);
// clear subtree
@@ -261,7 +261,7 @@ void mj_comPos(const mjModel* m, mjData* d) {
}
}
mjFREESTACK;
mj_freeStack(d);
}
@@ -400,7 +400,7 @@ void mj_tendon(const mjModel* m, mjData* d) {
}
// allocate space
mjMARKSTACK;
mj_markStack(d);
jac1 = mj_stackAllocNum(d, 3*nv);
jac2 = mj_stackAllocNum(d, 3*nv);
jacdif = mj_stackAllocNum(d, 3*nv);
@@ -609,7 +609,7 @@ void mj_tendon(const mjModel* m, mjData* d) {
}
}
mjFREESTACK;
mj_freeStack(d);
}
@@ -628,7 +628,7 @@ void mj_transmission(const mjModel* m, mjData* d) {
}
// allocate space, clear moments
mjMARKSTACK;
mj_markStack(d);
jac = mj_stackAllocNum(d, 3*nv);
jacA = mj_stackAllocNum(d, 3*nv);
jacS = mj_stackAllocNum(d, 3*nv);
@@ -954,7 +954,7 @@ void mj_transmission(const mjModel* m, mjData* d) {
}
}
mjFREESTACK;
mj_freeStack(d);
}
@@ -1383,7 +1383,7 @@ void mj_comVel(const mjModel* m, mjData* d) {
// subtree linear velocity and angular momentum
void mj_subtreeVel(const mjModel* m, mjData* d) {
mjtNum dx[3], dv[3], dp[3], dL[3];
mjMARKSTACK;
mj_markStack(d);
mjtNum* body_vel = mj_stackAllocNum(d, 6*m->nbody);
// bodywise quantities
@@ -1440,7 +1440,7 @@ void mj_subtreeVel(const mjModel* m, mjData* d) {
mju_addTo3(d->subtree_angmom+3*parent, dL);
}
mjFREESTACK;
mj_freeStack(d);
}
@@ -1449,7 +1449,7 @@ void mj_subtreeVel(const mjModel* m, mjData* d) {
// RNE: compute M(qpos)*qacc + C(qpos,qvel); flg_acc=0 removes inertial term
void mj_rne(const mjModel* m, mjData* d, int flg_acc, mjtNum* result) {
mjtNum tmp[6], tmp1[6];
mjMARKSTACK;
mj_markStack(d);
mjtNum* loc_cacc = mj_stackAllocNum(d, m->nbody*6);
mjtNum* loc_cfrc_body = mj_stackAllocNum(d, m->nbody*6);
@@ -1495,7 +1495,7 @@ void mj_rne(const mjModel* m, mjData* d, int flg_acc, mjtNum* result) {
result[i] = mju_dot(d->cdof+6*i, loc_cfrc_body+6*m->dof_bodyid[i], 6);
}
mjFREESTACK;
mj_freeStack(d);
}