Dynamically allocate `contact` and `efc_` arrays on a new memory arena.

- Add private function `mj_arenaAlloc`. This is used internally to allocate memory from the arena.

- Add private function `mj_nefc` to count constraints. This function returns a tight upper bound on `d->nefc`. The number of counted constraints can be slightly bigger than exact `d->nefc` in the case of constraints with empty Jacobian, as when placing a frictional tendon between two world sites.

- Add new `memory` attribute to the `size` XML element for specification of arena memory size. This attribute is mutually exclusive with `nstack` and `njmax` specifications, which are now deprecated (but left around for the time being for legacy compatibility).

- Move `d->stack` to the end of the new arena space. The stack now grows in reverse from the end.

PiperOrigin-RevId: 479341539
Change-Id: Ie019c202e0908577ffc6f833a37920858116f667

This commit is contained in:

Saran Tunyasuvunakool

2022-10-06 10:02:35 -07:00

committed by

Copybara-Service

parent 4d85a464cc

commit 58fd72f53d

29 changed files with 1281 additions and 433 deletions

									
										doc/APIreference.rst
									
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				@@ -4188,6 +4188,8 @@ mj_rnePostConstraint

				RNE with complete data: compute cacc, cfrc_ext, cfrc_int.

				.. _mj_collision:

				mj_collision

				~~~~~~~~~~~~

Dynamically allocate contact and efc_ arrays on a new memory arena.

Dynamically allocate `contact` and `efc_` arrays on a new memory arena.