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

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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
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src/engine/engine_core_constraint.c
+13 -13
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@@ -374,9 +374,9 @@ void mj_instantiateEquality(const mjModel* m, mjData* d) {
jac[1] = mj_stackAlloc(d, 6*nv);
jacdif = mj_stackAlloc(d, 6*nv);
if (issparse) {
chain = (int*)mj_stackAlloc(d, nv);
chain2 = (int*)mj_stackAlloc(d, nv);
buf_ind = (int*)mj_stackAlloc(d, nv);
chain = mj_stackAllocInt(d, nv);
chain2 = mj_stackAllocInt(d, nv);
buf_ind = mj_stackAllocInt(d, nv);
sparse_buf = mj_stackAlloc(d, nv);
}
@@ -775,7 +775,7 @@ void mj_instantiateContact(const mjModel* m, mjData* d) {
jac1r = mj_stackAlloc(d, 3*NV);
jac2r = mj_stackAlloc(d, 3*NV);
if (issparse) {
chain = (int*)mj_stackAlloc(d, NV);
chain = mj_stackAllocInt(d, NV);
}
// find contacts to be included
@@ -1321,8 +1321,8 @@ static inline int mj_ne(const mjModel* m, mjData* d, int* nnz) {
mjMARKSTACK;
if (nnz) {
chain = (int*)mj_stackAlloc(d, nv);
chain2 = (int*)mj_stackAlloc(d, nv);
chain = mj_stackAllocInt(d, nv);
chain2 = mj_stackAllocInt(d, nv);
}
// find active equality constraints
@@ -1692,13 +1692,13 @@ void mj_projectConstraint(const mjModel* m, mjData* d) {
// sparse
if (mj_isSparse(m)) {
// space for JM2 and JM2T indices
int* rownnz = (int*)mj_stackAlloc(d, nefc);
int* rowadr = (int*)mj_stackAlloc(d, nefc);
int* colind = (int*)mj_stackAlloc(d, nefc*nv);
int* rowsuper = (int*)mj_stackAlloc(d, nefc);
int* rownnzT = (int*)mj_stackAlloc(d, nv);
int* rowadrT = (int*)mj_stackAlloc(d, nv);
int* colindT = (int*)mj_stackAlloc(d, nv*nefc);
int* rownnz = mj_stackAllocInt(d, nefc);
int* rowadr = mj_stackAllocInt(d, nefc);
int* colind = mj_stackAllocInt(d, nefc*nv);
int* rowsuper = mj_stackAllocInt(d, nefc);
int* rownnzT = mj_stackAllocInt(d, nv);
int* rowadrT = mj_stackAllocInt(d, nv);
int* colindT = mj_stackAllocInt(d, nv*nefc);
// construct JM2 = backsubM2(J')' by rows
for (int r=0; r<nefc; r++) {