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Rename mj_stackAllocByte to mj_stackAlloc and make it public.

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PiperOrigin-RevId: 561133040
Change-Id: I4f5ffe51c1287aa0c82af68bfe17ed6dd2ad09da
This commit is contained in:
Saran Tunyasuvunakool
2023-08-29 14:07:02 -07:00
committed by Copybara-Service
parent a48e0aa355
commit 4c899b92cc
16 changed files with 93 additions and 46 deletions
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doc/changelog.rst
+6 -4
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@@ -38,20 +38,22 @@ General
Euler integrator. See the :ref:`Numerical Integration<geIntegration>` section for more details.
#. Added the flag :ref:`invdiscrete<option-flag-invdiscrete>`, which enables discrete-time inverse dynamics for all
:ref:`integrators<option-integrator>` other than ``RK4``. See the flag documentation for more details.
#. Renamed the function ``mj_stackAlloc`` to ``mj_stackAllocNum``.
#. Changed the function ``mj_stackAlloc`` to allocate an arbitrary number of bytes, rather than in multiples of
``sizeof(mjtNum)``, and add an additional argument for specifying the alignment of the returned pointer. The existing
functionality of allocating ``mjtNum`` arrays is still available through the new function ``mj_stackAllocNum``.
#. Renamed the ``nstack`` field in ``mjModel`` and ``mjData`` to ``narena``. Changed ``narena``, ``pstack``, and
``maxuse_stack`` to count number of bytes rather than number of ``mjtNum``s.
Python bindings
^^^^^^^^^^^^^^^
9. Fixed `#870 <https://github.com/deepmind/mujoco/issues/870>`__ where calling ``update_scene`` with an invalid
camera name used the default camera.
10. Fixed `#870 <https://github.com/deepmind/mujoco/issues/870>`__ where calling ``update_scene`` with an invalid
camera name used the default camera.
Bug fixes
^^^^^^^^^
10. Fixed a bug that was causing the geom margins to be ignored during the midphase.
11. Fixed a bug that was causing the geom margins to be ignored during the midphase.
Version 2.3.7 (July 20, 2023)