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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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src/engine/engine_io.c
+15 -11
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@@ -27,7 +27,6 @@
#include <mujoco/mjplugin.h>
#include <mujoco/mjxmacro.h>
#include "engine/engine_array_safety.h" // IWYU pragma: keep
#include "engine/engine_crossplatform.h" // IWYU pragma: keep
#include "engine/engine_resource.h"
#include "engine/engine_macro.h"
#include "engine/engine_plugin.h"
@@ -1200,9 +1199,9 @@ mjData* mj_copyData(mjData* dest, const mjModel* m, const mjData* src) {
// allocate memory from the mjData arena
void* mj_arenaAlloc(mjData* d, int bytes, int alignment) {
int misalignment = d->parena % alignment;
int padding = misalignment ? alignment - misalignment : 0;
void* mj_arenaAlloc(mjData* d, size_t bytes, size_t alignment) {
size_t misalignment = d->parena % alignment;
size_t padding = misalignment ? alignment - misalignment : 0;
// check size
size_t bytes_available = d->narena - d->pstack;
@@ -1228,8 +1227,9 @@ void* mj_arenaAlloc(mjData* d, int bytes, int alignment) {
// allocate size bytes on the mjData stack
void* mj_stackAllocByte(mjData* d, size_t size) {
// internal: allocate size bytes on the mjData stack
// declared inline so that modular arithmetic with specific alignments can be optimized out
static inline void* stackalloc(mjData* d, size_t size, size_t alignment) {
// return NULL if empty
if (!size) {
return NULL;
@@ -1254,8 +1254,8 @@ void* mj_stackAllocByte(mjData* d, size_t size) {
// start of the memory to be allocated to the buffer
uintptr_t start_ptr = end_ptr - (size + mjREDZONE);
// move start_ptr back to align to max_align_t
start_ptr -= start_ptr % _Alignof(max_align_t); // NOLINT
// align the pointer
start_ptr -= start_ptr % alignment;
// new top of the stack
uintptr_t new_pstack_ptr = start_ptr - mjREDZONE;
@@ -1269,7 +1269,7 @@ void* mj_stackAllocByte(mjData* d, size_t size) {
size_t stack_available_bytes = end_ptr - ((uintptr_t)d->arena + d->parena);
size_t stack_required_bytes = end_ptr - new_pstack_ptr;
if (stack_required_bytes > stack_available_bytes) {
mjERROR("stack overflow: max = %zu, available = %zu, requested = %zu "
mju_error("mjData stack overflow: max = %zu, available = %zu, requested = %zu "
"(ne = %d, nf = %d, nefc = %d, ncon = %d)",
stack_size_bytes, stack_available_bytes, stack_required_bytes,
d->ne, d->nf, d->nefc, d->ncon);
@@ -1303,12 +1303,16 @@ void* mj_stackAllocByte(mjData* d, size_t size) {
return (void*)start_ptr;
}
void* mj_stackAlloc(mjData* d, size_t bytes, size_t alignment) {
return stackalloc(d, bytes, alignment);
}
mjtNum* mj_stackAllocNum(mjData* d, int size) {
return (mjtNum*)mj_stackAllocByte(d, size * sizeof(mjtNum));
return (mjtNum*) stackalloc(d, size * sizeof(mjtNum), _Alignof(mjtNum));
}
int* mj_stackAllocInt(mjData* d, int size) {
return (int*)mj_stackAllocByte(d, size * sizeof(int));
return (int*) stackalloc(d, size * sizeof(int), _Alignof(int));
}