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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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unity/Runtime/Bindings/MujocoBindings.cs
+32 -30
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@@ -549,8 +549,10 @@ public unsafe struct mjData_ {
public int nstack;
public int nbuffer;
public int nplugin;
public int pstack;
public UIntPtr pstack;
public UIntPtr parena;
public int maxuse_stack;
public UIntPtr maxuse_arena;
public int maxuse_con;
public int maxuse_efc;
public mjWarningStat_ warning0;
@@ -1584,7 +1586,7 @@ public unsafe struct mjData_ {
public double time;
public fixed double energy[2];
public void* buffer;
public double* stack;
public void* arena;
public double* qpos;
public double* qvel;
public double* act;
@@ -1635,30 +1637,6 @@ public unsafe struct mjData_ {
public double* qLD;
public double* qLDiagInv;
public double* qLDiagSqrtInv;
public mjContact_* contact;
public int* efc_type;
public int* efc_id;
public int* efc_J_rownnz;
public int* efc_J_rowadr;
public int* efc_J_rowsuper;
public int* efc_J_colind;
public int* efc_JT_rownnz;
public int* efc_JT_rowadr;
public int* efc_JT_rowsuper;
public int* efc_JT_colind;
public double* efc_J;
public double* efc_JT;
public double* efc_pos;
public double* efc_margin;
public double* efc_frictionloss;
public double* efc_diagApprox;
public double* efc_KBIP;
public double* efc_D;
public double* efc_R;
public int* efc_AR_rownnz;
public int* efc_AR_rowadr;
public int* efc_AR_colind;
public double* efc_AR;
public double* ten_velocity;
public double* actuator_velocity;
public double* cvel;
@@ -1680,14 +1658,38 @@ public unsafe struct mjData_ {
public double* qfrc_actuator;
public double* qfrc_smooth;
public double* qacc_smooth;
public double* efc_b;
public double* efc_force;
public int* efc_state;
public double* qfrc_constraint;
public double* qfrc_inverse;
public double* cacc;
public double* cfrc_int;
public double* cfrc_ext;
public mjContact_* contact;
public int* efc_type;
public int* efc_id;
public int* efc_J_rownnz;
public int* efc_J_rowadr;
public int* efc_J_rowsuper;
public int* efc_J_colind;
public int* efc_JT_rownnz;
public int* efc_JT_rowadr;
public int* efc_JT_rowsuper;
public int* efc_JT_colind;
public double* efc_J;
public double* efc_JT;
public double* efc_pos;
public double* efc_margin;
public double* efc_frictionloss;
public double* efc_diagApprox;
public double* efc_KBIP;
public double* efc_D;
public double* efc_R;
public double* efc_b;
public double* efc_force;
public int* efc_state;
public int* efc_AR_rownnz;
public int* efc_AR_rowadr;
public int* efc_AR_colind;
public double* efc_AR;
}
[StructLayout(LayoutKind.Sequential)]
@@ -3252,7 +3254,7 @@ public static unsafe extern void mju_warning_s([MarshalAs(UnmanagedType.LPStr)]s
public static unsafe extern void mju_clearHandlers();
[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
public static unsafe extern void* mju_malloc(uint size);
public static unsafe extern void* mju_malloc(UIntPtr size);
[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
public static unsafe extern void mju_free(void* ptr);