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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_forward.c
+12 -12
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@@ -199,7 +199,7 @@ void mj_fwdActuation(const mjModel* m, mjData* d) {
}
// local, clamped copy of ctrl
mjMARKSTACK;
mj_markStack(d);
mjtNum *ctrl = mj_stackAllocNum(d, nu);
if (mjDISABLED(mjDSBL_CLAMPCTRL)) {
mju_copy(ctrl, d->ctrl, nu);
@@ -392,7 +392,7 @@ void mj_fwdActuation(const mjModel* m, mjData* d) {
}
}
mjFREESTACK;
mj_freeStack(d);
TM_END(mjTIMER_ACTUATION);
}
@@ -401,7 +401,7 @@ void mj_fwdActuation(const mjModel* m, mjData* d) {
// add up all non-constraint forces, compute qacc_smooth
void mj_fwdAcceleration(const mjModel* m, mjData* d) {
TM_START;
mjMARKSTACK;
mj_markStack(d);
int nv = m->nv;
// qforce = sum of all non-constraint forces
@@ -413,7 +413,7 @@ void mj_fwdAcceleration(const mjModel* m, mjData* d) {
// qacc_smooth = M \ qfr_smooth
mj_solveM(m, d, d->qacc_smooth, d->qfrc_smooth, 1);
mjFREESTACK;
mj_freeStack(d);
TM_END(mjTIMER_ACCELERATION);
}
@@ -425,7 +425,7 @@ static void warmstart(const mjModel* m, mjData* d) {
// warmstart with best of (qacc_warmstart, qacc_smooth)
if (!mjDISABLED(mjDSBL_WARMSTART)) {
mjMARKSTACK;
mj_markStack(d);
mjtNum* jar = mj_stackAllocNum(d, nefc);
// start with qacc = qacc_warmstart
@@ -479,7 +479,7 @@ static void warmstart(const mjModel* m, mjData* d) {
}
}
mjFREESTACK;
mj_freeStack(d);
}
// coldstart with qacc = qacc_smooth, efc_force = 0
@@ -589,7 +589,7 @@ static void mj_advance(const mjModel* m, mjData* d,
// Euler integrator, semi-implicit in velocity, possibly skipping factorisation
void mj_EulerSkip(const mjModel* m, mjData* d, int skipfactor) {
int nv = m->nv, nM = m->nM;
mjMARKSTACK;
mj_markStack(d);
mjtNum* qfrc = mj_stackAllocNum(d, nv);
mjtNum* qacc = mj_stackAllocNum(d, nv);
@@ -633,7 +633,7 @@ void mj_EulerSkip(const mjModel* m, mjData* d, int skipfactor) {
// advance state and time
mj_advance(m, d, d->act_dot, qacc, NULL);
mjFREESTACK;
mj_freeStack(d);
}
@@ -672,7 +672,7 @@ void mj_RungeKutta(const mjModel* m, mjData* d, int N) {
}
// allocate space for intermediate solutions
mjMARKSTACK;
mj_markStack(d);
dX = mj_stackAllocNum(d, 2*nv+na);
for (int i=0; i < N; i++) {
X[i] = mj_stackAllocNum(d, nq+nv+na);
@@ -746,7 +746,7 @@ void mj_RungeKutta(const mjModel* m, mjData* d, int N) {
// advance state and time
mj_advance(m, d, dX+2*nv, dX+nv, dX);
mjFREESTACK;
mj_freeStack(d);
}
@@ -755,7 +755,7 @@ void mj_RungeKutta(const mjModel* m, mjData* d, int N) {
void mj_implicitSkip(const mjModel* m, mjData* d, int skipfactor) {
int nv = m->nv;
mjMARKSTACK;
mj_markStack(d);
mjtNum* qfrc = mj_stackAllocNum(d, nv);
mjtNum* qacc = mj_stackAllocNum(d, nv);
@@ -810,7 +810,7 @@ void mj_implicitSkip(const mjModel* m, mjData* d, int skipfactor) {
// advance state and time
mj_advance(m, d, d->act_dot, qacc, NULL);
mjFREESTACK;
mj_freeStack(d);
}