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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_support.c
+12 -12
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@@ -279,7 +279,7 @@ void mj_jacBodyCom(const mjModel* m, const mjData* d, mjtNum* jacp, mjtNum* jacr
// compute subtree-com Jacobian
void mj_jacSubtreeCom(const mjModel* m, mjData* d, mjtNum* jacp, int body) {
int nv = m->nv;
mjMARKSTACK;
mj_markStack(d);
mjtNum* jacp_b = mj_stackAllocNum(d, 3*nv);
// clear output
@@ -300,7 +300,7 @@ void mj_jacSubtreeCom(const mjModel* m, mjData* d, mjtNum* jacp, int body) {
// normalize by subtree mass
mju_scl(jacp, jacp, 1/m->body_subtreemass[body], 3*nv);
mjFREESTACK;
mj_freeStack(d);
}
@@ -325,7 +325,7 @@ void mj_jacPointAxis(const mjModel* m, mjData* d, mjtNum* jacPoint, mjtNum* jacA
int nv = m->nv;
// get full Jacobian of point
mjMARKSTACK;
mj_markStack(d);
mjtNum* jacp = (jacPoint ? jacPoint : mj_stackAllocNum(d, 3*nv));
mjtNum* jacr = mj_stackAllocNum(d, 3*nv);
mj_jac(m, d, jacp, jacr, point, body);
@@ -339,7 +339,7 @@ void mj_jacPointAxis(const mjModel* m, mjData* d, mjtNum* jacPoint, mjtNum* jacA
}
}
mjFREESTACK;
mj_freeStack(d);
}
@@ -1014,7 +1014,7 @@ void mj_addM(const mjModel* m, mjData* d, mjtNum* dst,
// sparse
if (rownnz && rowadr && colind) {
int nv = m->nv;
mjMARKSTACK;
mj_markStack(d);
// create sparse inertia matrix M
int nnz = m->nD; // use sparse dof-dof matrix
int* M_rownnz = mj_stackAllocInt(d, nv); // actual nnz count
@@ -1024,7 +1024,7 @@ void mj_addM(const mjModel* m, mjData* d, mjtNum* dst,
mj_makeMSparse(m, d, M, M_rownnz, NULL, M_colind);
mj_addMSparse(m, d, dst, rownnz, rowadr, colind, M,
M_rownnz, NULL, M_colind);
mjFREESTACK;
mj_freeStack(d);
}
// dense
@@ -1111,7 +1111,7 @@ void mj_addMSparse(const mjModel* m, mjData* d, mjtNum* dst,
M_rowadr = d->D_rowadr;
}
mjMARKSTACK;
mj_markStack(d);
int* buf_ind = mj_stackAllocInt(d, nv);
mjtNum* sparse_buf = mj_stackAllocNum(d, nv);
@@ -1121,7 +1121,7 @@ void mj_addMSparse(const mjModel* m, mjData* d, mjtNum* dst,
rownnz[i], M_rownnz[i], colind + rowadr[i],
M_colind + M_rowadr[i], sparse_buf, buf_ind);
}
mjFREESTACK;
mj_freeStack(d);
}
@@ -1158,7 +1158,7 @@ void mj_addMDense(const mjModel* m, mjData* d, mjtNum* dst) {
// dst[D] = src[M], handle different sparsity representations
void mj_copyM2DSparse(const mjModel* m, mjData* d, mjtNum* dst, const mjtNum* src) {
int nv = m->nv;
mjMARKSTACK;
mj_markStack(d);
// init remaining
int* remaining = mj_stackAllocInt(d, nv);
@@ -1185,7 +1185,7 @@ void mj_copyM2DSparse(const mjModel* m, mjData* d, mjtNum* dst, const mjtNum* sr
}
}
mjFREESTACK;
mj_freeStack(d);
}
@@ -1223,7 +1223,7 @@ void mj_applyFT(const mjModel* m, mjData* d,
int nv = m->nv;
// allocate local variables
mjMARKSTACK;
mj_markStack(d);
mjtNum* jacp = mj_stackAllocNum(d, 3*nv);
mjtNum* jacr = mj_stackAllocNum(d, 3*nv);
mjtNum* qforce = mj_stackAllocNum(d, nv);
@@ -1246,7 +1246,7 @@ void mj_applyFT(const mjModel* m, mjData* d,
mju_addTo(qfrc_target, qforce, nv);
}
mjFREESTACK;
mj_freeStack(d);
}