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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_solver.c
+4 -4
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@@ -1277,7 +1277,7 @@ static void HessianCone(const mjModel* m, mjData* d, mjCGContext* ctx) {
// storage for L'*J
mjtNum* LTJ = mj_stackAlloc(d, 6*nv);
mjtNum* LTJ_row = mj_stackAlloc(d, nv);
int* LTJ_ind = (int*) mj_stackAlloc(d, nv);
int* LTJ_ind = mj_stackAllocInt(d, nv);
// start with Hcone = H
mju_copy(ctx->Hcone, ctx->H, ctx->nnz);
@@ -1366,8 +1366,8 @@ static void HessianDirect(const mjModel* m, mjData* d, mjCGContext* ctx) {
if (mj_isSparse(m)) {
// create sparse inertia matrix M
int nnz = m->nD; // use sparse dof-dof matrix
int* M_rownnz = (int*) mj_stackAlloc(d, nv); // actual nnz count
int* M_colind = (int*) mj_stackAlloc(d, nnz);
int* M_rownnz = mj_stackAllocInt(d, nv); // actual nnz count
int* M_colind = mj_stackAllocInt(d, nnz);
mjtNum* M = mj_stackAlloc(d, nnz);
mj_makeMSparse(m, d, M, M_rownnz, NULL, M_colind);
@@ -1443,7 +1443,7 @@ static void HessianIncremental(const mjModel* m, mjData* d,
// local space
mjtNum* vec = mj_stackAlloc(d, nv);
int* vec_ind = (int*) mj_stackAlloc(d, nv);
int* vec_ind = mj_stackAllocInt(d, nv);
// clear update counter
ctx->nupdate = 0;