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Add maxuse_threadstack to mjData

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PiperOrigin-RevId: 567334177
Change-Id: Ifd772350042e548a63ab269fd68fb5e5fef55831
This commit is contained in:
Matthew Bennice
2023-09-21 09:40:14 -07:00
committed by Copybara-Service
parent be75dda8d1
commit 4f34cacf35
13 changed files with 223 additions and 65 deletions
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include/mujoco/mjdata.h
+6 -4
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@@ -20,6 +20,7 @@
#include <mujoco/mjtnum.h>
#include <mujoco/mjmodel.h>
#include <mujoco/mjthread.h>
//---------------------------------- primitive types (mjt) -----------------------------------------
@@ -163,10 +164,11 @@ struct mjData_ {
size_t parena; // first available byte in arena
// memory utilization stats
size_t maxuse_stack; // maximum stack allocation
size_t maxuse_arena; // maximum arena allocation
int maxuse_con; // maximum number of contacts
int maxuse_efc; // maximum number of scalar constraints
size_t maxuse_stack; // maximum stack allocation in bytes
size_t maxuse_threadstack[mjMAXTHREADS]; // maximum stack allocation per thread in bytes
size_t maxuse_arena; // maximum arena allocation in bytes
int maxuse_con; // maximum number of contacts
int maxuse_efc; // maximum number of scalar constraints
// diagnostics
mjWarningStat warning[mjNWARNING]; // warning statistics
include/mujoco/mjthread.h
+2
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@@ -15,6 +15,8 @@
#ifndef MUJOCO_INCLUDE_MJTHREAD_H_
#define MUJOCO_INCLUDE_MJTHREAD_H_
#define mjMAXTHREADS 128 // maximum number of threads in a thread pool
typedef enum mjtTaskStatus_ { // status values for mjTask
mjTASK_NEW = 0, // newly created
mjTASK_QUEUED, // enqueued in a thread pool
include/mujoco/mjxmacro.h
+9 -8
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@@ -652,14 +652,15 @@
// vector fields of mjData
#define MJDATA_VECTOR \
X( mjWarningStat, warning, mjNWARNING, 1 ) \
X( mjTimerStat, timer, mjNTIMER, 1 ) \
X( mjSolverStat, solver, mjNILSAND, mjNSOLVER ) \
X( int, solver_niter, mjNISLAND, 1 ) \
X( int, solver_nnz, mjNISLAND, 1 ) \
X( mjtNum, solver_fwdinv, 2, 1 ) \
X( mjtNum, energy, 2, 1 )
#define MJDATA_VECTOR \
X( size_t, maxuse_threadstack, mjMAXTHREADS, 1 ) \
X( mjWarningStat, warning, mjNWARNING, 1 ) \
X( mjTimerStat, timer, mjNTIMER, 1 ) \
X( mjSolverStat, solver, mjNILSAND, mjNSOLVER ) \
X( int, solver_niter, mjNISLAND, 1 ) \
X( int, solver_nnz, mjNISLAND, 1 ) \
X( mjtNum, solver_fwdinv, 2, 1 ) \
X( mjtNum, energy, 2, 1 )
// alias XMJV to be the same as X