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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_derivative.c
+3 -3
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@@ -1122,8 +1122,8 @@ void mjd_ellipsoidFluid(const mjModel* m, mjData* d, int bodyid) {
int rownnz[6], rowadr[6];
mjtNum* J = mj_stackAlloc(d, 6*nv);
mjtNum* tmp = mj_stackAlloc(d, 3*nv);
int* colind = (int*) mj_stackAlloc(d, 6*nv);
int* colind_compressed = (int*) mj_stackAlloc(d, 6*nv);
int* colind = mj_stackAllocInt(d, 6*nv);
int* colind_compressed = mj_stackAllocInt(d, 6*nv);
mjtNum lvel[6], wind[6], lwind[6];
mjtNum geom_interaction_coef, magnus_lift_coef, kutta_lift_coef;
@@ -1239,7 +1239,7 @@ void mjd_inertiaBoxFluid(const mjModel* m, mjData* d, int i)
int rownnz[6], rowadr[6];
mjtNum* J = mj_stackAlloc(d, 6*nv);
mjtNum* tmp = mj_stackAlloc(d, 3*nv);
int* colind = (int*) mj_stackAlloc(d, 6*nv);
int* colind = mj_stackAllocInt(d, 6*nv);
mjtNum lvel[6], wind[6], lwind[6], box[3], B;
mjtNum* inertia = m->body_inertia + 3*i;