chenlin/Mujoco_WASM
1
0
Fork 0
Code Issues Pull Requests Actions 2 Packages Projects Releases Wiki Activity

Add mj_stackAllocInt to get correct size for allocating ints on mjData stack. Reducing stack memory usage by 10% - 15%.

Browse Source 
PiperOrigin-RevId: 517672195
Change-Id: Ie14e6c9c99e8b9e1c5d3686b77631f2df0651c67
This commit is contained in:
Kyle Bayes
2023-03-18 13:03:11 -07:00
committed by Copybara-Service
parent fae5e822c0
commit 8696247f9d
17 changed files with 103 additions and 48 deletions
Download Patch File Download Diff File Expand all files Collapse all files
include/mujoco/mujoco.h
+4 -1
View File
@@ -201,9 +201,12 @@ MJAPI void mj_resetDataDebug(const mjModel* m, mjData* d, unsigned char debug_va
// Reset data, set fields from specified keyframe.
MJAPI void mj_resetDataKeyframe(const mjModel* m, mjData* d, int key);
// Allocate array of specified size on mjData stack. Call mju_error on stack overflow.
// Allocate array of mjtNums on mjData stack. Call mju_error on stack overflow.
MJAPI mjtNum* mj_stackAlloc(mjData* d, int size);
// Allocate array of ints on mjData stack. Call mju_error on stack overflow.
MJAPI int* mj_stackAllocInt(mjData* d, int size);
// Free memory allocation in mjData.
MJAPI void mj_deleteData(mjData* d);