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Fix memory allocation error when memory size is larger than 2G. Fixes #1606

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PiperOrigin-RevId: 627058355
Change-Id: Iebef647a0107d1f112a876d705f5b3ea888b4a41
This commit is contained in:
Yuval Tassa
2024-04-22 09:14:43 -07:00
committed by Copybara-Service
parent 6540289eb1
commit 546a27ca72
9 changed files with 102 additions and 26 deletions
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doc/changelog.rst
+16 -13
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@@ -15,34 +15,37 @@ General
- :ref:`material/metallic<asset-material-metallic>` attribute and corresponding ``mjModel.material_metallic`` field.
- :ref:`material/roughness<asset-material-roughness>` attribute and corresponding ``mjModel.material_roughness``
field.
3. The type of the ``size`` argument of :ref:`mj_stackAllocNum` and :ref:`mj_stackAllocInt` was changed from ``int``
to ``size_t``.
MJX
^^^
.. admonition:: Breaking API changes
:class: attention
3. Removed deprecated ``mjx.device_get_into`` and ``mjx.device_put`` functions as they lack critical new
4. Removed deprecated ``mjx.device_get_into`` and ``mjx.device_put`` functions as they lack critical new
functionality.
**Migration:** Use ``mjx.get_data_into`` instead of ``mjx.device_get_into``, and ``mjx.put_data`` instead of
``mjx.device_put``.
4. Added cylinder plane collisions.
5. Added ``efc_type`` to ``mjx.Data`` and ``dim``, ``efc_address`` to ``mjx.Contact``.
6. Added ``geom`` to ``mjx.Contact`` and marked ``geom1``, ``geom2`` deprecated.
7. Added ``ne``, ``nf``, ``nl``, ``nefc``, and ``ncon`` to ``mjx.Data`` to match ``mujoco.MjData``.
8. Given the above added fields, removed ``mjx.get_params``, ``mjx.ncon``, and ``mjx.count_constraints``.
9. Changed the way meshes are organized on device to speed up collision detection when a mesh is replicated for many
geoms.
10. Fixed a bug where capsules might be ignored in broadphase colliision checking.
11. Added cylinder collisions using SDFs.
5. Added cylinder plane collisions.
6. Added ``efc_type`` to ``mjx.Data`` and ``dim``, ``efc_address`` to ``mjx.Contact``.
7. Added ``geom`` to ``mjx.Contact`` and marked ``geom1``, ``geom2`` deprecated.
8. Added ``ne``, ``nf``, ``nl``, ``nefc``, and ``ncon`` to ``mjx.Data`` to match ``mujoco.MjData``.
9. Given the above added fields, removed ``mjx.get_params``, ``mjx.ncon``, and ``mjx.count_constraints``.
10. Changed the way meshes are organized on device to speed up collision detection when a mesh is replicated for many
geoms.
11. Fixed a bug where capsules might be ignored in broadphase colliision checking.
12. Added cylinder collisions using SDFs.
Bug fixes
^^^^^^^^^
12. Defaults of lights were not being saved, now fixed.
13. Prevent overwriting of frame names by body names when saving an XML. Bug introduced in 3.1.4.
14. Fixed bug in Python binding of :ref:`mj_saveModel`: ``buffer`` argument was documented as optional but was actually
13. Defaults of lights were not being saved, now fixed.
14. Prevent overwriting of frame names by body names when saving an XML. Bug introduced in 3.1.4.
15. Fixed bug in Python binding of :ref:`mj_saveModel`: ``buffer`` argument was documented as optional but was actually
not optional.
16. Fixed bug that prevented memory allocations larger than 2.15 GB.
Version 3.1.4 (April 10th, 2024)
doc/includes/references.h
+2 -2
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@@ -2453,8 +2453,8 @@ void mj_resetDataKeyframe(const mjModel* m, mjData* d, int key);
void mj_markStack(mjData* d);
void mj_freeStack(mjData* d);
void* mj_stackAllocByte(mjData* d, size_t bytes, size_t alignment);
mjtNum* mj_stackAllocNum(mjData* d, int size);
int* mj_stackAllocInt(mjData* d, int size);
mjtNum* mj_stackAllocNum(mjData* d, size_t size);
int* mj_stackAllocInt(mjData* d, size_t size);
void mj_deleteData(mjData* d);
void mj_resetCallbacks(void);
void mj_setConst(mjModel* m, mjData* d);