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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_support.c
+3 -3
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@@ -953,8 +953,8 @@ void mj_addM(const mjModel* m, mjData* d, mjtNum* dst,
mjMARKSTACK;
// 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);
@@ -1048,7 +1048,7 @@ void mj_addMSparse(const mjModel* m, mjData* d, mjtNum* dst,
}
mjMARKSTACK;
int* buf_ind = (int*) mj_stackAlloc(d, nv);
int* buf_ind = mj_stackAllocInt(d, nv);
mjtNum* sparse_buf = mj_stackAlloc(d, nv);
// add to destination