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

PiperOrigin-RevId: 517672195 Change-Id: Ie14e6c9c99e8b9e1c5d3686b77631f2df0651c67
2023-03-18 13:03:11 -07:00
parent fae5e822c0
commit 8696247f9d
17 changed files with 103 additions and 48 deletions
@@ -695,7 +695,27 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
                 type=ValueType(name='int'),
             ),
         ),
-         doc='Allocate array of specified size on mjData stack. Call mju_error on stack overflow.',  # pylint: disable=line-too-long
+         doc='Allocate array of mjtNums on mjData stack. Call mju_error on stack overflow.',  # pylint: disable=line-too-long
+     )),
+    ('mj_stackAllocInt',
+     FunctionDecl(
+         name='mj_stackAllocInt',
+         return_type=PointerType(
+             inner_type=ValueType(name='int'),
+         ),
+         parameters=(
+             FunctionParameterDecl(
+                 name='d',
+                 type=PointerType(
+                     inner_type=ValueType(name='mjData'),
+                 ),
+             ),
+             FunctionParameterDecl(
+                 name='size',
+                 type=ValueType(name='int'),
+             ),
+         ),
+         doc='Allocate array of ints on mjData stack. Call mju_error on stack overflow.',  # pylint: disable=line-too-long
     )),
    ('mj_deleteData',
     FunctionDecl(