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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_derivative.c
+12 -12
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@@ -399,7 +399,7 @@ void mjd_rne_vel_dense(const mjModel* m, mjData* d) {
int nv = m->nv, nbody = m->nbody;
mjtNum mat[36], mat1[36], mat2[36], dmul[36], tmp[6];
mjMARKSTACK;
mj_markStack(d);
mjtNum* Dcvel = mj_stackAllocNum(d, nbody*6*nv);
mjtNum* Dcdofdot = mj_stackAllocNum(d, nv*6*nv);
mjtNum* Dcacc = mj_stackAllocNum(d, nbody*6*nv);
@@ -470,7 +470,7 @@ void mjd_rne_vel_dense(const mjModel* m, mjData* d) {
}
}
mjFREESTACK;
mj_freeStack(d);
}
@@ -614,7 +614,7 @@ static void mjd_rne_vel(const mjModel* m, mjData* d) {
mjtNum mat[36], mat1[36], mat2[36], dmul[36], tmp[6];
mjMARKSTACK;
mj_markStack(d);
mjtNum* Dcdofdot = mj_stackAllocNum(d, 6*m->nD);
mjtNum* Dcvel = mj_stackAllocNum(d, 6*m->nB);
mjtNum* Dcacc = mj_stackAllocNum(d, 6*m->nB);
@@ -687,7 +687,7 @@ static void mjd_rne_vel(const mjModel* m, mjData* d) {
mju_subFrom(d->qDeriv + Dadr[j], row, Bnnz[i]);
}
mjFREESTACK;
mj_freeStack(d);
}
@@ -734,7 +734,7 @@ static void addJTBJ(const mjModel* m, mjData* d, const mjtNum* J, const mjtNum*
int nv = m->nv;
// allocate dense row
mjMARKSTACK;
mj_markStack(d);
mjtNum* row = mj_stackAllocNum(d, nv);
// process non-zero elements of B
@@ -760,7 +760,7 @@ static void addJTBJ(const mjModel* m, mjData* d, const mjtNum* J, const mjtNum*
}
}
mjFREESTACK;
mj_freeStack(d);
}
@@ -773,7 +773,7 @@ static void addJTBJSparse(
int nv = m->nv;
// allocate row
mjMARKSTACK;
mj_markStack(d);
mjtNum* row = mj_stackAllocNum(d, nv);
// compute qDeriv(k,p) += sum_{i,j} ( J(i,k)*B(i,j)*J(j,p) )
@@ -808,7 +808,7 @@ static void addJTBJSparse(
}
// free space
mjFREESTACK;
mj_freeStack(d);
}
@@ -1226,7 +1226,7 @@ static inline void mjd_magnus_force(
// fluid forces based on ellipsoid approximation
void mjd_ellipsoidFluid(const mjModel* m, mjData* d, int bodyid) {
mjMARKSTACK;
mj_markStack(d);
int nv = m->nv;
int nnz = nv;
@@ -1331,14 +1331,14 @@ void mjd_ellipsoidFluid(const mjModel* m, mjData* d, int bodyid) {
}
}
mjFREESTACK;
mj_freeStack(d);
}
// fluid forces based on inertia-box approximation
void mjd_inertiaBoxFluid(const mjModel* m, mjData* d, int i)
{
mjMARKSTACK;
mj_markStack(d);
int nv = m->nv;
int rownnz[6], rowadr[6];
@@ -1488,7 +1488,7 @@ void mjd_inertiaBoxFluid(const mjModel* m, mjData* d, int i)
}
}
mjFREESTACK;
mj_freeStack(d);
}