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

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- 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
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test/xml/xml_native_reader_test.cc
+141 -34
View File
@@ -37,9 +37,108 @@ using ::testing::IsNan;
using ::testing::IsNull;
using ::testing::NotNull;
using UserDataTest = MujocoTest;
using XMLReaderTest = MujocoTest;
TEST_F(UserDataTest, InvalidNUserBody) {
TEST_F(XMLReaderTest, MemorySize) {
std::array<char, 1024> error;
{
static constexpr char xml[] = R"(
<mujoco>
<size memory="128"/>
</mujoco>
)";
mjModel* model = LoadModelFromString(xml, error.data(), error.size());
ASSERT_THAT(model, NotNull());
EXPECT_EQ(model->nstack, 128 / sizeof(mjtNum));
mj_deleteModel(model);
}
{
static constexpr char xml[] = R"(
<mujoco>
<size memory="1K "/>
</mujoco>
)";
mjModel* model = LoadModelFromString(xml, error.data(), error.size());
ASSERT_THAT(model, NotNull());
EXPECT_EQ(model->nstack, 1024 / sizeof(mjtNum));
mj_deleteModel(model);
}
{
static constexpr char xml[] = R"(
<mujoco>
<size memory=" 10K"/>
</mujoco>
)";
mjModel* model = LoadModelFromString(xml, error.data(), error.size());
ASSERT_THAT(model, NotNull());
EXPECT_EQ(model->nstack, 10240 / sizeof(mjtNum));
mj_deleteModel(model);
}
{
static constexpr char xml[] = R"(
<mujoco>
<size memory=" 4M "/>
</mujoco>
)";
mjModel* model = LoadModelFromString(xml, error.data(), error.size());
ASSERT_THAT(model, NotNull());
EXPECT_EQ(model->nstack, 4*1024*1024 / sizeof(mjtNum));
mj_deleteModel(model);
}
{
static constexpr char xml[] = R"(
<mujoco>
<size memory="1G"/>
</mujoco>
)";
mjModel* model = LoadModelFromString(xml, error.data(), error.size());
ASSERT_THAT(model, NotNull());
EXPECT_EQ(model->nstack, 1024*1024*1024 / sizeof(mjtNum));
mj_deleteModel(model);
}
}
TEST_F(XMLReaderTest, InvalidMemorySize) {
std::array<char, 1024> error;
{
static constexpr char xml[] = R"(
<mujoco>
<size memory="-3"/>
</mujoco>
)";
mjModel* model = LoadModelFromString(xml, error.data(), error.size());
ASSERT_THAT(model, IsNull());
}
{
static constexpr char xml[] = R"(
<mujoco>
<size memory="1 M"/>
</mujoco>
)";
mjModel* model = LoadModelFromString(xml, error.data(), error.size());
ASSERT_THAT(model, IsNull());
}
{
static constexpr char xml[] = R"(
<mujoco>
<size memory="2X"/>
</mujoco>
)";
mjModel* model = LoadModelFromString(xml, error.data(), error.size());
ASSERT_THAT(model, IsNull());
}
{
static constexpr char xml[] = R"(
<mujoco>
<size memory="K"/>
</mujoco>
)";
mjModel* model = LoadModelFromString(xml, error.data(), error.size());
ASSERT_THAT(model, IsNull());
}
}
TEST_F(XMLReaderTest, InvalidNUserBody) {
static constexpr char xml[] = R"(
<mujoco>
<size nuser_body="-2"/>
@@ -51,7 +150,7 @@ TEST_F(UserDataTest, InvalidNUserBody) {
EXPECT_THAT(error.data(), HasSubstr("nuser_body"));
}
TEST_F(UserDataTest, InvalidNUserJoint) {
TEST_F(XMLReaderTest, InvalidNUserJoint) {
static constexpr char xml[] = R"(
<mujoco>
<size nuser_jnt="-2"/>
@@ -63,7 +162,7 @@ TEST_F(UserDataTest, InvalidNUserJoint) {
EXPECT_THAT(error.data(), HasSubstr("nuser_jnt"));
}
TEST_F(UserDataTest, InvalidNUserGeom) {
TEST_F(XMLReaderTest, InvalidNUserGeom) {
static constexpr char xml[] = R"(
<mujoco>
<size nuser_geom="-2"/>
@@ -75,7 +174,7 @@ TEST_F(UserDataTest, InvalidNUserGeom) {
EXPECT_THAT(error.data(), HasSubstr("nuser_geom"));
}
TEST_F(UserDataTest, InvalidNUserSite) {
TEST_F(XMLReaderTest, InvalidNUserSite) {
static constexpr char xml[] = R"(
<mujoco>
<size nuser_site="-2"/>
@@ -87,7 +186,7 @@ TEST_F(UserDataTest, InvalidNUserSite) {
EXPECT_THAT(error.data(), HasSubstr("nuser_site"));
}
TEST_F(UserDataTest, InvalidNUserCamera) {
TEST_F(XMLReaderTest, InvalidNUserCamera) {
static constexpr char xml[] = R"(
<mujoco>
<size nuser_cam="-2"/>
@@ -99,7 +198,7 @@ TEST_F(UserDataTest, InvalidNUserCamera) {
EXPECT_THAT(error.data(), HasSubstr("nuser_cam"));
}
TEST_F(UserDataTest, InvalidNUserTendon) {
TEST_F(XMLReaderTest, InvalidNUserTendon) {
static constexpr char xml[] = R"(
<mujoco>
<size nuser_tendon="-2"/>
@@ -111,7 +210,7 @@ TEST_F(UserDataTest, InvalidNUserTendon) {
EXPECT_THAT(error.data(), HasSubstr("nuser_tendon"));
}
TEST_F(UserDataTest, InvalidNUserActuator) {
TEST_F(XMLReaderTest, InvalidNUserActuator) {
static constexpr char xml[] = R"(
<mujoco>
<size nuser_actuator="-2"/>
@@ -123,7 +222,7 @@ TEST_F(UserDataTest, InvalidNUserActuator) {
EXPECT_THAT(error.data(), HasSubstr("nuser_actuator"));
}
TEST_F(UserDataTest, InvalidNUserSensor) {
TEST_F(XMLReaderTest, InvalidNUserSensor) {
static constexpr char xml[] = R"(
<mujoco>
<size nuser_sensor="-2"/>
@@ -135,7 +234,7 @@ TEST_F(UserDataTest, InvalidNUserSensor) {
EXPECT_THAT(error.data(), HasSubstr("nuser_sensor"));
}
TEST_F(UserDataTest, CanParseInf) {
TEST_F(XMLReaderTest, CanParseInf) {
static constexpr char xml[] = R"(
<mujoco>
<worldbody>
@@ -158,7 +257,7 @@ TEST_F(UserDataTest, CanParseInf) {
mj_deleteModel(model);
}
TEST_F(UserDataTest, CanParseNanAndRaisesWarning) {
TEST_F(XMLReaderTest, CanParseNanAndRaisesWarning) {
static constexpr char xml[] = R"(
<mujoco>
<worldbody>
@@ -187,7 +286,7 @@ TEST_F(UserDataTest, CanParseNanAndRaisesWarning) {
mj_deleteModel(model);
}
TEST_F(UserDataTest, InvalidArrayElement) {
TEST_F(XMLReaderTest, InvalidArrayElement) {
static constexpr char xml[] = R"(
<mujoco>
<worldbody>
@@ -203,7 +302,7 @@ TEST_F(UserDataTest, InvalidArrayElement) {
EXPECT_THAT(error.data(), HasSubstr("problem reading attribute 'axisangle'"));
}
TEST_F(UserDataTest, InvalidArrayLength) {
TEST_F(XMLReaderTest, InvalidArrayLength) {
static constexpr char xml[] = R"(
<mujoco>
<worldbody>
@@ -219,7 +318,7 @@ TEST_F(UserDataTest, InvalidArrayLength) {
EXPECT_THAT(error.data(), HasSubstr("has too much data"));
}
TEST_F(UserDataTest, InvalidNumber) {
TEST_F(XMLReaderTest, InvalidNumber) {
static constexpr char xml[] = R"(
<mujoco>
<worldbody>
@@ -235,7 +334,7 @@ TEST_F(UserDataTest, InvalidNumber) {
EXPECT_THAT(error.data(), HasSubstr("problem reading attribute"));
}
TEST_F(UserDataTest, AllowsSpaces) {
TEST_F(XMLReaderTest, AllowsSpaces) {
static constexpr char xml[] = R"(
<mujoco>
<worldbody>
@@ -251,7 +350,7 @@ TEST_F(UserDataTest, AllowsSpaces) {
mj_deleteModel(model);
}
TEST_F(UserDataTest, InvalidDoubleOrientation) {
TEST_F(XMLReaderTest, InvalidDoubleOrientation) {
std::string prefix = "<mujoco><worldbody><";
std::string suffix = "/></worldbody></mujoco>";
std::vector<std::string> orientations = {
@@ -270,15 +369,18 @@ TEST_F(UserDataTest, InvalidDoubleOrientation) {
if (orient1 == orient2) continue;
std::string xml = prefix + field + orient1 + orient2 + suffix;
std::array<char, 1024> error;
mjModel* model = LoadModelFromString(xml.c_str(), error.data(), error.size());
mjModel* model =
LoadModelFromString(xml.c_str(), error.data(), error.size());
ASSERT_THAT(model, IsNull());
EXPECT_THAT(error.data(), HasSubstr("multiple orientation specifiers for the same field"));
EXPECT_THAT(
error.data(),
HasSubstr("multiple orientation specifiers for the same field"));
}
}
}
}
TEST_F(UserDataTest, InvalidInertialOrientation) {
TEST_F(XMLReaderTest, InvalidInertialOrientation) {
static constexpr char xml[] = R"(
<mujoco>
<worldbody>
@@ -291,10 +393,11 @@ TEST_F(UserDataTest, InvalidInertialOrientation) {
std::array<char, 1024> error;
mjModel* model = LoadModelFromString(xml, error.data(), error.size());
ASSERT_THAT(model, IsNull());
EXPECT_THAT(error.data(), HasSubstr("multiple orientation specifiers for the same field"));
EXPECT_THAT(error.data(),
HasSubstr("multiple orientation specifiers for the same field"));
}
TEST_F(UserDataTest, ReadShellParameter) {
TEST_F(XMLReaderTest, ReadShellParameter) {
static constexpr char xml[] = R"(
<mujoco>
<asset>
@@ -313,7 +416,7 @@ TEST_F(UserDataTest, ReadShellParameter) {
mj_deleteModel(model);
}
TEST_F(UserDataTest, ReadsDamper) {
TEST_F(XMLReaderTest, ReadsDamper) {
static constexpr char xml[] = R"(
<mujoco>
<compiler autolimits="true"/>
@@ -339,7 +442,7 @@ TEST_F(UserDataTest, ReadsDamper) {
mj_deleteModel(model);
}
TEST_F(UserDataTest, RequiresPoisitiveDamping) {
TEST_F(XMLReaderTest, RequiresPoisitiveDamping) {
static constexpr char xml[] = R"(
<mujoco>
<worldbody>
@@ -356,10 +459,11 @@ TEST_F(UserDataTest, RequiresPoisitiveDamping) {
std::array<char, 1024> error;
mjModel* model = LoadModelFromString(xml, error.data(), error.size());
ASSERT_THAT(model, IsNull());
EXPECT_THAT(error.data(), HasSubstr("damping coefficient cannot be negative"));
EXPECT_THAT(error.data(),
HasSubstr("damping coefficient cannot be negative"));
}
TEST_F(UserDataTest, RequiresControlRange) {
TEST_F(XMLReaderTest, RequiresControlRange) {
static constexpr char xml[] = R"(
<mujoco>
<worldbody>
@@ -379,7 +483,7 @@ TEST_F(UserDataTest, RequiresControlRange) {
EXPECT_THAT(error.data(), HasSubstr("invalid control range"));
}
TEST_F(UserDataTest, PositiveControlRange) {
TEST_F(XMLReaderTest, PositiveControlRange) {
static constexpr char xml[] = R"(
<mujoco>
<worldbody>
@@ -399,7 +503,7 @@ TEST_F(UserDataTest, PositiveControlRange) {
EXPECT_THAT(error.data(), HasSubstr("control range cannot be negative"));
}
TEST_F(UserDataTest, ReadsSkinGroups) {
TEST_F(XMLReaderTest, ReadsSkinGroups) {
static constexpr char xml[] = R"(
<mujoco>
<worldbody>
@@ -430,7 +534,7 @@ TEST_F(UserDataTest, ReadsSkinGroups) {
mj_deleteModel(model);
}
TEST_F(UserDataTest, InvalidSkinGroup) {
TEST_F(XMLReaderTest, InvalidSkinGroup) {
static constexpr char xml[] = R"(
<mujoco>
<worldbody>
@@ -446,7 +550,9 @@ TEST_F(UserDataTest, InvalidSkinGroup) {
std::array<char, 1024> error;
mjModel* model = LoadModelFromString(xml, error.data(), error.size());
ASSERT_THAT(model, IsNull());
EXPECT_THAT(error.data(), HasSubstr("skin group must be between 0 and 5\nElement 'skin', line 7"));
EXPECT_THAT(
error.data(),
HasSubstr("skin group must be between 0 and 5\nElement 'skin', line 7"));
mj_deleteModel(model);
}
@@ -529,7 +635,8 @@ TEST_F(ActuatorTest, IncompleteActlimited) {
std::array<char, 1024> error;
mjModel* model = LoadModelFromString(xml, error.data(), error.size());
ASSERT_THAT(model, IsNull());
EXPECT_THAT(error.data(), HasSubstr("attribute 'actrange' does not have enough data"));
EXPECT_THAT(error.data(),
HasSubstr("attribute 'actrange' does not have enough data"));
}
TEST_F(ActuatorTest, ReadsByte) {
@@ -762,7 +869,7 @@ TEST_F(ActuatorParseTest, DampersDontRequireRange) {
mj_deleteModel(model);
}
TEST_F(UserDataTest, ZnearZeroNotAllowed) {
TEST_F(XMLReaderTest, ZnearZeroNotAllowed) {
static constexpr char xml[] = R"(
<mujoco>
<visual>
@@ -776,7 +883,7 @@ TEST_F(UserDataTest, ZnearZeroNotAllowed) {
EXPECT_THAT(error.data(), HasSubstr("znear must be strictly positive"));
}
TEST_F(UserDataTest, ZnearNegativeNotAllowed) {
TEST_F(XMLReaderTest, ZnearNegativeNotAllowed) {
static constexpr char xml[] = R"(
<mujoco>
<visual>
@@ -790,7 +897,7 @@ TEST_F(UserDataTest, ZnearNegativeNotAllowed) {
EXPECT_THAT(error.data(), HasSubstr("znear must be strictly positive"));
}
TEST_F(UserDataTest, ExtentZeroNotAllowed) {
TEST_F(XMLReaderTest, ExtentZeroNotAllowed) {
static constexpr char xml[] = R"(
<mujoco>
<statistic extent="0"/>
@@ -802,7 +909,7 @@ TEST_F(UserDataTest, ExtentZeroNotAllowed) {
EXPECT_THAT(error.data(), HasSubstr("extent must be strictly positive"));
}
TEST_F(UserDataTest, ExtentNegativeNotAllowed) {
TEST_F(XMLReaderTest, ExtentNegativeNotAllowed) {
static constexpr char xml[] = R"(
<mujoco>
<statistic extent="-1"/>