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Refactor stack allocations to have a clean byte allocation interface.

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PiperOrigin-RevId: 558881470
Change-Id: I08c45cb5fa25a1a9c39560e598e805cfa5141c3e
This commit is contained in:
Matthew Bennice
2023-08-21 13:17:48 -07:00
committed by Copybara-Service
parent 22fd0586b1
commit 59138af10b
10 changed files with 67 additions and 64 deletions
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src/engine/engine_collision_driver.c
+3 -9
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@@ -208,11 +208,7 @@ int mj_collideOBB(const mjtNum aabb1[6], const mjtNum aabb2[6],
}
static mjCollisionTree* mj_stackAllocTree(mjData* d, int max_stack) {
// check that the quotient is an integer
_Static_assert(sizeof(mjCollisionTree*) % sizeof(mjtNum) == 0,
"mjCollisionTree has a different size from mjtNum");
return (mjCollisionTree*)mj_stackAlloc(
d, max_stack * sizeof(mjCollisionTree*) / sizeof(mjtNum));
return (mjCollisionTree*)mj_stackAllocBytes(d, max_stack * sizeof(mjCollisionTree*));
}
// binary search between two body trees
@@ -754,10 +750,8 @@ int mj_broadphase(const mjModel* m, mjData* d, int* pair, int maxpair) {
}
// allocate sort buffer
int quot = sizeof(mjtBroadphase)/sizeof(mjtNum);
int rem = sizeof(mjtBroadphase)%sizeof(mjtNum);
sortbuf = (mjtBroadphase*)mj_stackAlloc(d, 2*bufcnt*(quot + (rem ? 1 : 0)));
activebuf = (mjtBroadphase*)mj_stackAlloc(d, 2*bufcnt*(quot + (rem ? 1 : 0)));
sortbuf = (mjtBroadphase*)mj_stackAllocBytes(d, 2 * bufcnt * sizeof(mjtBroadphase));
activebuf = (mjtBroadphase*)mj_stackAllocBytes(d, 2 *bufcnt * sizeof(mjtBroadphase));
// init sortbuf with axis0
int k = 0;