Refactor stack allocations to have a clean byte allocation interface.

PiperOrigin-RevId: 558881470 Change-Id: I08c45cb5fa25a1a9c39560e598e805cfa5141c3e
2023-08-21 13:17:48 -07:00
parent 22fd0586b1
commit 59138af10b
10 changed files with 67 additions and 64 deletions
@@ -456,8 +456,8 @@ static void collideBVH(const mjModel* m, mjData* d, int g,
    int node;
  };
  typedef struct CollideTreeArgs_ CollideTreeArgs;
-  CollideTreeArgs* stack = (CollideTreeArgs*)mj_stackAlloc(
-      d, max_stack * sizeof(CollideTreeArgs*) / sizeof(mjtNum));
+  CollideTreeArgs* stack = (CollideTreeArgs*)mj_stackAllocBytes(
+      d, max_stack * sizeof(CollideTreeArgs));

  int nstack = 0;
  stack[nstack].node = 0;