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
committed by
Copybara-Service
Copybara-Service
parent
4d85a464cc
commit
58fd72f53d
+50
-31
@@ -434,8 +434,7 @@
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// define symbols needed in MJDATA_POINTERS (corresponding to number of columns)
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#define MJDATA_POINTERS_PREAMBLE( m ) \
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int nv = m->nv; \
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int njmax = m->njmax;
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int nv = m->nv;
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// pointer fields of mjData
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@@ -490,38 +489,12 @@
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X( mjtNum, qLD, nM, 1 ) \
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X( mjtNum, qLDiagInv, nv, 1 ) \
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X( mjtNum, qLDiagSqrtInv, nv, 1 ) \
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X( mjContact, contact, nconmax, 1 ) \
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X( int, efc_type, njmax, 1 ) \
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X( int, efc_id, njmax, 1 ) \
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X( int, efc_J_rownnz, njmax, 1 ) \
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X( int, efc_J_rowadr, njmax, 1 ) \
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X( int, efc_J_rowsuper, njmax, 1 ) \
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X( int, efc_J_colind, njmax, MJ_M(nv) ) \
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X( int, efc_JT_rownnz, nv, 1 ) \
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X( int, efc_JT_rowadr, nv, 1 ) \
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X( int, efc_JT_rowsuper, nv, 1 ) \
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X( int, efc_JT_colind, nv, MJ_M(njmax) ) \
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X( mjtNum, efc_J, njmax, MJ_M(nv) ) \
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X( mjtNum, efc_JT, nv, MJ_M(njmax) ) \
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X( mjtNum, efc_pos, njmax, 1 ) \
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X( mjtNum, efc_margin, njmax, 1 ) \
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X( mjtNum, efc_frictionloss, njmax, 1 ) \
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X( mjtNum, efc_diagApprox, njmax, 1 ) \
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X( mjtNum, efc_KBIP, njmax, 4 ) \
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X( mjtNum, efc_D, njmax, 1 ) \
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X( mjtNum, efc_R, njmax, 1 ) \
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X( int, efc_AR_rownnz, njmax, 1 ) \
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X( int, efc_AR_rowadr, njmax, 1 ) \
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X( int, efc_AR_colind, njmax, MJ_M(njmax) ) \
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X( mjtNum, efc_AR, njmax, MJ_M(njmax) ) \
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X( mjtNum, ten_velocity, ntendon, 1 ) \
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X( mjtNum, actuator_velocity, nu, 1 ) \
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X( mjtNum, cvel, nbody, 6 ) \
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X( mjtNum, cdof_dot, nv, 6 ) \
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X( mjtNum, qfrc_bias, nv, 1 ) \
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X( mjtNum, qfrc_passive, nv, 1 ) \
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X( mjtNum, efc_vel, njmax, 1 ) \
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X( mjtNum, efc_aref, njmax, 1 ) \
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X( mjtNum, subtree_linvel, nbody, 3 ) \
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X( mjtNum, subtree_angmom, nbody, 3 ) \
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X( mjtNum, qH, nM, 1 ) \
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@@ -535,9 +508,6 @@
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X( mjtNum, qfrc_actuator, nv, 1 ) \
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X( mjtNum, qfrc_smooth, nv, 1 ) \
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X( mjtNum, qacc_smooth, nv, 1 ) \
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X( mjtNum, efc_b, njmax, 1 ) \
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X( mjtNum, efc_force, njmax, 1 ) \
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X( int, efc_state, njmax, 1 ) \
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X( mjtNum, qfrc_constraint, nv, 1 ) \
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X( mjtNum, qfrc_inverse, nv, 1 ) \
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X( mjtNum, cacc, nbody, 6 ) \
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@@ -545,6 +515,55 @@
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X( mjtNum, cfrc_ext, nbody, 6 )
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// macro for annotating that an array size in an X macro is a member of mjData
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// by default this macro does nothing, but users can redefine it as necessary
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#define MJ_D(n) n
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// array of contacts
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#define MJDATA_ARENA_POINTERS_CONTACT \
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X( mjContact, contact, MJ_D(ncon), 1 )
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// array fields of mjData that are used in the primal problem
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#define MJDATA_ARENA_POINTERS_PRIMAL \
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X( int, efc_type, MJ_D(nefc), 1 ) \
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X( int, efc_id, MJ_D(nefc), 1 ) \
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X( int, efc_J_rownnz, MJ_D(nefc), 1 ) \
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X( int, efc_J_rowadr, MJ_D(nefc), 1 ) \
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X( int, efc_J_rowsuper, MJ_D(nefc), 1 ) \
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X( int, efc_J_colind, MJ_D(nefc), MJ_M(nv) ) \
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X( int, efc_JT_rownnz, MJ_M(nv), 1 ) \
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X( int, efc_JT_rowadr, MJ_M(nv), 1 ) \
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X( int, efc_JT_rowsuper, MJ_M(nv), 1 ) \
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X( int, efc_JT_colind, MJ_M(nv), MJ_D(nefc) ) \
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X( mjtNum, efc_J, MJ_D(nefc), MJ_M(nv) ) \
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X( mjtNum, efc_JT, MJ_M(nv), MJ_D(nefc) ) \
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X( mjtNum, efc_pos, MJ_D(nefc), 1 ) \
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X( mjtNum, efc_margin, MJ_D(nefc), 1 ) \
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X( mjtNum, efc_frictionloss, MJ_D(nefc), 1 ) \
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X( mjtNum, efc_diagApprox, MJ_D(nefc), 1 ) \
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X( mjtNum, efc_KBIP, MJ_D(nefc), 4 ) \
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X( mjtNum, efc_D, MJ_D(nefc), 1 ) \
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X( mjtNum, efc_R, MJ_D(nefc), 1 ) \
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X( mjtNum, efc_vel, MJ_D(nefc), 1 ) \
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X( mjtNum, efc_aref, MJ_D(nefc), 1 ) \
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X( mjtNum, efc_b, MJ_D(nefc), 1 ) \
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X( mjtNum, efc_force, MJ_D(nefc), 1 ) \
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X( int, efc_state, MJ_D(nefc), 1 ) \
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// array fields of mjData that are used in the dual problem
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#define MJDATA_ARENA_POINTERS_DUAL \
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X( int, efc_AR_rownnz, MJ_D(nefc), 1 ) \
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X( int, efc_AR_rowadr, MJ_D(nefc), 1 ) \
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X( int, efc_AR_colind, MJ_D(nefc), MJ_D(nefc) ) \
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X( mjtNum, efc_AR, MJ_D(nefc), MJ_D(nefc) )
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// array fields of mjData that live in d->arena
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#define MJDATA_ARENA_POINTERS \
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MJDATA_ARENA_POINTERS_CONTACT \
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MJDATA_ARENA_POINTERS_PRIMAL \
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MJDATA_ARENA_POINTERS_DUAL
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// scalar fields of mjData
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#define MJDATA_SCALAR \
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X( int, nstack ) \
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