Remove mjMARKSTACK and mjFREESTACK macros.

PiperOrigin-RevId: 562844184
Change-Id: Id2f57f5d132c47094dad75c6dab7297d7aa73458

test/engine/engine_derivative_test.cc

@@ -14,7 +14,10 @@
 
 // Tests for engine/engine_derivative.c.
 
+#include <iomanip>
+#include <iostream>
 #include <random>
+#include <string>
 #include <vector>
 
 #include <gmock/gmock.h>
@@ -287,7 +290,7 @@ TEST_F(DerivativeTest, StepSkip) {
 static void LinearSystem(const mjModel* m, mjData* d, mjtNum* A, mjtNum* B) {
   int nv = m->nv, nu = m->nu;
   mjtNum dt = m->opt.timestep;
-  mjMARKSTACK;
+  mj_markStack(d);
 
   // === state-transition matrix A
   if (A) {
@@ -330,7 +333,7 @@ static void LinearSystem(const mjModel* m, mjData* d, mjtNum* A, mjtNum* B) {
     mju_scl(B+nu*nv, BcT, dt, nu*nv);
   }
 
-  mjFREESTACK;
+  mj_freeStack(d);
 }
 
 // compare FD derivatives to analytic derivatives of linear dynamical system

test/engine/engine_util_container_test.cc

@@ -50,7 +50,7 @@ TEST(TestMjArrayList, TestMjArrayListSingleThreaded) {
   mjModel* m = LoadModelFromString("<mujoco/>", error.data(), error.size());
   ASSERT_THAT(m, NotNull()) << "Failed to load model: " << error.data();
   mjData* d = mj_makeData(m);
-  mjMARKSTACK;
+  mj_markStack(d);
 
   using DataType = int;
   constexpr int kInitialCapacity = 10;
@@ -76,7 +76,7 @@ TEST(TestMjArrayList, TestMjArrayListSingleThreaded) {
   EXPECT_EQ(mju_arrayListAt(array_list, kNumElements), nullptr);
   EXPECT_EQ(mju_arrayListAt(array_list, 100), nullptr);
 
-  mjFREESTACK;
+  mj_freeStack(d);
   mj_deleteData(d);
   mj_deleteModel(m);
 }
@@ -85,7 +85,7 @@ TEST(TestMjArrayList, ZeroInitialCapacity) {
   mjModel* m = LoadModelFromString("<mujoco/>", nullptr, 0);
   ASSERT_THAT(m, NotNull()) << "Failed to load model";
   mjData* d = mj_makeData(m);
-  mjMARKSTACK;
+  mj_markStack(d);
   mjArrayList* array_list =
       mju_arrayListCreate(d, sizeof(double), /*initial_capacity=*/0);
   EXPECT_EQ(mju_arrayListSize(array_list), 0);
@@ -101,7 +101,7 @@ TEST(TestMjArrayList, ZeroInitialCapacity) {
   }
   EXPECT_EQ(mju_arrayListAt(array_list, 35), nullptr);
 
-  mjFREESTACK;
+  mj_freeStack(d);
   mj_deleteData(d);
   mj_deleteModel(m);
 }